version: 66.04
glider: 139
mission: 6
dive: 102
start: 4 12 109 1 49 4
data:
$ID,139
$MISSION,6
$DIVE,102
$D_SURF,6
$D_FLARE,3
$D_TGT,950
$D_ABORT,1050
$D_NO_BLEED,90
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,400
$T_MISSION,420
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51904
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,21.25
$TGT_DEFAULT_LON,-158
$TGT_AUTO_DEFAULT,0
$SM_CC,320
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,25000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1353372.9
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,435
$PITCH_MAX,3724
$C_PITCH,2850
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,155
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,227
$ROLL_MAX,3931
$ROLL_DEG,40
$C_ROLL_DIVE,1890
$C_ROLL_CLIMB,1990
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,2210
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,450
$VBD_MAX,3860
$C_VBD,2200
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-14.263241
$PRESSURE_SLOPE,0.000116328
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,30
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,750
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,1
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.4
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043401681
$SEABIRD_T_H,0.00063043466
$SEABIRD_T_I,2.4021314e-05
$SEABIRD_T_J,2.5358199e-06
$SEABIRD_C_G,-9.8723097
$SEABIRD_C_H,1.0932546
$SEABIRD_C_I,-0.0012359815
$SEABIRD_C_J,0.00017717193
$GPS1,014224,2142.886,-15829.354,38,1.4,56,9.9
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-70.4
$GPS2,014814,2142.893,-15829.353,33,1.6,33,9.9
$SPEED_LIMITS,0.137,0.221
$TGT_NAME,CENTRE2
$TGT_LATLONG,2140.200,-15834.800
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.220,-0.014
$KALMAN_X,-16413.0,-457.2,270.0,2272.1,8549.4
$KALMAN_Y,8946.3,-446.5,-167.9,-20030.6,2082.3
$MHEAD_RNG_PITCHd_Wd,256.4,10620,-16.6,-7.917
$D_GRID,950
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.18,-116.8,0.0,0.0,0,69,0.00,0.00,-52.05,0.000,2,0.000,0.000,427,1255,2575
$GC,72,-1.18,-116.8,3.9,-6.8,9,91,12.05,0.00,-1.67,0.000,4,0.150,0.000,2586,1255,2680
$GC,98,-1.18,-116.8,17.0,-37.5,13,103,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,1257,2681
$GC,304,-1.18,-116.8,53.0,-15.2,38,307,0.00,1.35,0.00,0.000,4,0.000,0.046,2586,476,2683
$GC,364,-1.18,-116.8,62.3,-13.6,43,370,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,475,2683
$GC,625,-1.18,-116.8,96.8,-13.4,68,628,0.00,0.00,0.00,0.000,4,0.000,0.000,2586,476,2684
$GC,753,-1.18,-116.8,115.9,-15.4,79,759,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,476,2685
$GC,1014,-1.18,-116.8,151.4,-12.9,104,1017,0.00,0.00,0.00,0.000,4,0.000,0.000,2586,476,2686
$GC,1149,-1.18,-116.8,169.1,-13.1,116,1152,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,476,2687
$GC,1417,-1.18,-116.8,199.0,-10.3,141,1420,0.00,0.00,0.00,0.000,4,0.000,0.000,2586,476,2688
$GC,1507,-1.18,-116.8,208.3,-10.6,146,1510,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,476,2688
$GC,1839,-1.18,-116.8,244.0,-10.2,162,1842,0.00,0.00,0.00,0.000,4,0.000,0.000,2586,476,2689
$GC,1911,-1.18,-116.8,251.1,-9.3,165,1914,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,475,2689
$GC,2238,-1.18,-116.8,282.5,-10.3,181,2241,0.00,0.00,0.00,0.000,4,0.000,0.000,2586,476,2689
$GC,2329,-1.18,-116.8,291.8,-9.8,185,2331,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,476,2689
$GC,2678,-1.18,-116.8,323.5,-9.1,196,2679,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,476,2687
$GC,3002,-1.18,-116.8,356.1,-10.1,204,3005,0.00,0.00,0.00,0.000,4,0.000,0.000,2586,476,2685
$GC,3057,-1.18,-116.8,361.3,-9.6,205,3060,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,476,2685
$GC,3376,-1.18,-116.8,391.6,-9.5,213,3378,0.00,0.00,0.00,0.000,4,0.000,0.000,2586,476,2683
$GC,3459,-1.18,-116.8,399.9,-9.7,214,3464,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,476,2682
$GC,3790,-1.18,-116.8,432.6,-9.6,223,3793,0.00,0.00,0.00,0.000,4,0.000,0.000,2586,476,2681
$GC,3856,-1.18,-116.8,438.8,-8.8,224,3859,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,476,2680
$GC,4204,-1.18,-116.8,466.1,-7.2,233,4208,0.00,0.00,0.00,0.000,4,0.000,0.000,2586,476,2678
$GC,4260,-1.18,-116.8,470.2,-7.2,234,4263,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,476,2678
$GC,4578,-1.18,-116.8,494.8,-7.6,242,4582,0.00,0.00,0.00,0.000,4,0.000,0.000,2586,476,2676
$GC,4633,-1.18,-116.8,499.3,-8.5,243,4637,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,476,2675
$GC,4952,-1.18,-116.8,525.7,-8.4,251,4955,0.00,0.00,0.00,0.000,4,0.000,0.000,2586,476,2674
$GC,5069,-1.18,-116.8,535.6,-7.5,253,5073,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,475,2673
$GC,5412,-1.18,-116.8,562.5,-7.4,262,5415,0.00,0.00,0.00,0.000,4,0.000,0.000,2586,474,2672
$GC,5457,-1.18,-116.8,565.9,-7.1,263,5460,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,474,2671
$GC,5787,-1.18,-116.8,593.2,-8.7,271,5788,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,474,2669
$GC,6111,-1.18,-116.8,625.3,-9.3,279,6114,0.00,0.00,0.00,0.000,4,0.000,0.000,2586,474,2668
$GC,6178,-1.18,-116.8,632.4,-10.1,280,6180,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,474,2668
$GC,6526,-1.18,-116.8,658.2,-7.1,289,6529,0.00,1.08,0.00,0.000,4,0.000,0.035,2586,1129,2666
$GC,6724,-1.18,-116.8,670.6,-6.1,293,6726,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,1129,2665
$GC,7036,-1.18,-116.8,691.8,-7.0,301,7038,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,1129,2663
$GC,7362,-1.18,-116.8,714.0,-7.5,309,7365,0.00,1.20,0.00,0.000,4,0.000,0.082,2586,488,2662
$GC,7518,-1.18,-116.8,725.7,-7.7,312,7521,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,488,2662
$GC,7866,-1.18,-116.8,753.9,-8.2,321,7870,0.00,1.08,0.00,0.000,4,0.000,0.048,2586,1112,2660
$GC,8124,-1.18,-116.8,777.2,-8.5,326,8127,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,1112,2659
$GC,8461,-1.18,-116.8,801.9,-6.9,335,8464,0.00,0.00,0.00,0.000,4,0.000,0.000,2586,1112,2658
$GC,8718,-1.18,-116.8,818.9,-6.9,340,8722,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,1112,2658
$GC,9055,-1.18,-116.8,845.4,-8.0,349,9056,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,1112,2657
$GC,9380,-1.18,-116.8,871.5,-8.1,357,9384,0.00,1.27,0.00,0.000,4,0.000,0.131,2586,501,2656
$GC,9571,-1.18,-116.8,887.3,-8.8,361,9574,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,500,2656
$GC,9890,-1.18,-116.8,911.9,-7.3,369,9891,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,499,2654
$GC,10215,-1.18,-116.8,933.8,-6.7,377,10219,0.00,1.20,0.00,0.000,4,0.000,0.107,2586,1105,2654
$GC,10379,-1.18,-116.8,944.5,-5.9,380,10382,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,1105,2653
$STATE,10475,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10475,begin apogee
$GC,10480,-0.31,0.0,951.2,6.8,383,10590,0.93,0.00,106.68,1.302,6,0.075,0.000,2780,1105,2200
$STATE,10591,end apogee,CONTROL_FINISHED_OK
$STATE,10591,begin climb
$GC,10594,1.18,116.8,953.3,0.0,385,10717,1.45,0.22,113.75,1.278,4,0.044,0.125,3105,1202,1722
$GC,10835,1.18,116.8,946.3,8.5,390,10839,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,1202,1713
$GC,11177,1.18,116.8,915.2,8.8,399,11178,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,1202,1709
$GC,11502,1.18,116.8,888.5,8.0,407,11505,0.00,0.00,0.00,0.000,4,0.000,0.000,3105,1202,1706
$GC,11727,1.18,118.6,872.2,7.8,412,11729,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,1203,1705
$GC,12056,1.18,118.6,844.9,8.9,420,12059,0.00,1.25,0.00,0.000,4,0.000,0.117,3105,598,1704
$GC,12111,1.22,143.4,840.8,6.8,421,12136,0.00,0.00,23.05,1.190,6,0.000,0.000,3105,598,1615
$GC,12463,1.22,143.4,806.5,10.3,429,12466,0.00,0.00,0.00,0.000,4,0.000,0.000,3105,598,1609
$GC,12610,1.22,143.6,793.2,7.9,432,12612,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,598,1609
$GC,12928,1.22,143.6,760.4,10.4,440,12931,0.00,0.00,0.00,0.000,4,0.000,0.000,3105,598,1607
$GC,13108,1.22,143.6,741.8,10.1,444,13111,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,598,1606
$GC,13437,1.22,143.6,708.1,9.6,452,13440,0.00,0.00,0.00,0.000,4,0.000,0.000,3105,598,1606
$GC,13635,1.23,152.1,690.5,7.5,456,13645,0.00,0.00,8.32,0.983,6,0.000,0.000,3105,597,1580
$GC,13982,1.23,152.1,660.2,9.0,465,13985,0.00,0.00,0.00,0.000,4,0.000,0.000,3104,598,1577
$GC,14172,1.23,152.1,643.4,8.9,469,14175,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,598,1577
$GC,14490,1.23,152.1,617.4,8.2,477,14494,0.00,0.00,0.00,0.000,4,0.000,0.000,3105,598,1576
$GC,14748,1.23,152.1,594.7,8.8,482,14751,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,598,1575
$GC,15084,1.23,152.1,566.1,8.0,491,15087,0.00,0.00,0.00,0.000,4,0.000,0.000,3105,598,1575
$GC,15302,1.23,152.1,549.6,9.4,495,15307,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,598,1575
$GC,15633,1.23,152.1,522.3,8.6,504,15636,0.00,0.00,0.00,0.000,4,0.000,0.000,3105,598,1574
$GC,15892,1.26,175.8,503.4,6.8,509,15917,0.00,0.00,23.05,0.992,6,0.000,0.000,3104,598,1483
$GC,16225,1.26,175.8,473.3,9.9,518,16227,0.00,0.00,0.00,0.000,4,0.000,0.000,3105,598,1478
$GC,16375,1.26,175.8,459.5,8.6,521,16378,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,598,1477
$GC,16688,1.26,181.3,433.4,7.7,529,16697,0.00,0.00,6.15,0.780,4,0.000,0.000,3105,598,1459
$GC,16884,1.29,204.5,419.3,6.9,533,16911,0.10,0.00,23.20,0.928,6,0.060,0.000,3135,598,1366
$GC,17235,1.29,204.5,384.5,11.1,542,17238,0.00,0.00,0.00,0.000,4,0.000,0.000,3135,598,1361
$GC,17386,1.29,204.5,365.8,13.2,545,17389,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,598,1360
$GC,17699,1.29,204.5,326.8,12.1,553,17702,0.00,0.00,0.00,0.000,4,0.000,0.000,3135,598,1359
$GC,17822,1.29,204.5,312.5,10.7,555,17825,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,598,1358
$GC,18141,1.29,204.5,279.1,10.4,568,18144,0.00,0.00,0.00,0.000,4,0.000,0.000,3135,598,1358
$GC,18398,1.29,204.5,250.3,12.8,579,18402,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,598,1357
$GC,18720,1.29,204.5,213.7,10.6,595,18723,0.00,0.00,0.00,0.000,4,0.000,0.000,3135,598,1357
$GC,18882,1.29,204.5,197.6,9.2,602,18888,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,598,1357
$GC,19144,1.36,259.6,180.4,5.4,627,19197,0.00,0.00,48.58,0.748,4,0.000,0.000,3135,598,1140
$GC,19411,1.36,259.6,156.5,10.0,651,19414,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,598,1135
$GC,19677,1.36,259.6,128.6,10.5,676,19680,0.00,0.00,0.00,0.000,4,0.000,0.000,3135,598,1133
$GC,19902,1.36,259.6,108.0,9.4,696,19905,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,598,1133
$GC,20168,1.36,259.6,84.6,9.1,721,20171,0.00,0.00,0.00,0.000,4,0.000,0.000,3135,598,1133
$GC,20427,1.36,259.6,61.6,8.8,744,20430,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,598,1132
$GC,20693,1.36,259.6,35.1,10.3,769,20697,0.00,1.02,0.00,0.000,4,0.000,0.025,3135,1254,1133
$GC,20728,1.36,259.6,31.6,8.7,772,20731,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,1255,1134
$GC,21003,1.42,305.9,7.7,5.8,819,21022,0.10,0.00,17.33,0.542,2,0.053,0.000,3170,1255,1060
$STATE,21023,end climb,SURFACE_DEPTH_REACHED
$STATE,21023,begin surface coast
$FINISH,0.3,1.011742
$STATE,21113,end surface coast,CONTROL_FINISHED_OK
$STATE,21113,begin surface
$SM_CCo,21134,34.22,0.551,0,0,895,320.12
$SM_GC,1.21,0.00,0.00,34.22,0.000,0.000,0.551,430,1254,895,-11.13,-17.98,320.12
$IRIDIUM_FIX,2131.85,-15955.67,060798,191906
$TT8_MAMPS,0.029146
$HUMID,1749
$INTERNAL_PRESSURE,8.00466
$TCM_TEMP,22.00
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,900.1,82.4
$24V_AH,23.1,30.163
$10V_AH,10.1,17.245
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,26.525,9.675,370.100,34.225,0.000,23.370,40.260,160.787,4.250,0.000,0.000,34.946,1736.549,15906.461,457.201,2877.615,529.529,33.358,1856.198,0.000,2801.876,0.000,27.554,0.000
$DEVICE_MAMPS,150.332,131.157,1301.599,550.706,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,570.234,409.656,533.800,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44333,838
$CAP_FILE_SIZE,146172,0
$CFSIZE,260165632,251768832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120409,074306,2142.980,-15829.103,41,1.2,41,9.9