version: 66.04
glider: 139
mission: 6
dive: 104
start: 4 12 109 14 9 19
data:
$ID,139
$MISSION,6
$DIVE,104
$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,0
$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,-1353445.6
$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,25
$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
$GPS1,135807,2141.602,-15830.664,75,1.7,75,9.9
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-68.5
$GPS2,140830,2141.644,-15830.660,37,1.3,37,9.9
$SPEED_LIMITS,0.137,0.221
$TGT_NAME,CENTRE2
$TGT_LATLONG,2140.200,-15834.800
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.168,-0.114
$KALMAN_X,492.1,492.1,492.1,-4181.3,-3053.1
$KALMAN_Y,-11.7,-11.7,-11.7,-2503.4,72.8
$MHEAD_RNG_PITCHd_Wd,225.8,7611,-18.3,-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,12,begin dive
$GC,14,-1.27,-97.1,0.0,0.0,0,63,0.00,0.00,-46.05,0.000,2,0.000,0.000,432,1868,2369
$GC,66,-1.29,-116.8,3.0,-5.3,8,91,11.82,2.42,-5.53,0.000,4,0.146,0.054,2565,488,2681
$GC,264,-1.29,-116.8,48.0,-19.0,35,271,0.00,2.35,0.00,0.000,6,0.000,0.021,2566,1916,2683
$GC,525,-1.29,-116.8,94.7,-18.4,60,529,0.00,2.25,0.00,0.000,4,0.000,0.025,2565,3283,2684
$GC,565,-1.29,-116.8,101.1,-15.7,63,569,0.00,2.35,0.00,0.000,6,0.000,0.027,2565,1879,2684
$GC,827,-1.29,-116.8,141.7,-15.1,87,829,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1879,2685
$GC,1081,-1.29,-116.8,175.5,-12.0,111,1082,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1878,2686
$GC,1335,-1.29,-116.8,203.5,-11.1,134,1339,0.00,2.35,0.00,0.000,4,0.000,0.028,2565,3289,2686
$GC,1390,-1.29,-116.8,209.7,-10.5,136,1397,0.00,2.38,0.00,0.000,6,0.000,0.028,2565,1887,2687
$GC,1705,-1.29,-116.8,244.3,-10.5,152,1709,0.00,2.42,0.00,0.000,4,0.000,0.080,2565,480,2687
$GC,1728,-1.29,-116.8,247.0,-11.9,153,1732,0.00,2.30,0.00,0.000,6,0.000,0.023,2565,1896,2688
$GC,2055,-1.29,-116.8,284.6,-11.3,169,2059,0.00,2.33,0.00,0.000,4,0.000,0.031,2565,3285,2688
$GC,2081,-1.29,-116.8,287.8,-11.5,170,2085,0.00,2.35,0.00,0.000,6,0.000,0.030,2565,1890,2688
$GC,2405,-1.29,-116.8,323.7,-11.1,181,2410,0.00,2.45,0.00,0.000,4,0.000,0.081,2565,483,2686
$GC,2433,-1.29,-116.8,327.0,-11.7,181,2437,0.00,2.33,0.00,0.000,6,0.000,0.026,2565,1894,2687
$GC,2764,-1.29,-116.8,358.6,-9.4,189,2768,0.00,2.35,0.00,0.000,4,0.000,0.035,2565,3295,2685
$GC,2864,-1.29,-116.8,368.8,-10.5,191,2868,0.00,2.40,0.00,0.000,6,0.000,0.032,2565,1881,2684
$GC,3182,-1.29,-116.8,400.2,-10.0,199,3187,0.00,2.45,0.00,0.000,4,0.000,0.052,2565,481,2682
$GC,3204,-1.29,-116.8,402.7,-11.2,199,3208,0.00,2.35,0.00,0.000,6,0.000,0.028,2565,1894,2682
$GC,3546,-1.29,-116.8,438.7,-10.3,208,3548,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1898,2680
$GC,3871,-1.29,-116.8,472.1,-10.3,216,3875,0.00,2.50,0.00,0.000,4,0.000,0.054,2565,480,2678
$GC,3898,-1.29,-116.8,474.9,-10.0,216,3902,0.00,2.38,0.00,0.000,6,0.000,0.031,2565,1897,2678
$GC,4240,-1.29,-116.8,503.6,-8.3,225,4244,0.00,2.38,0.00,0.000,4,0.000,0.041,2565,3289,2675
$GC,4261,-1.29,-116.8,505.5,-8.5,225,4265,0.00,2.25,0.00,0.000,6,0.000,0.070,2565,1946,2675
$GC,4603,-1.29,-116.8,538.9,-10.9,234,4608,0.00,2.60,0.00,0.000,4,0.000,0.058,2564,480,2673
$GC,4647,-1.29,-116.8,544.1,-11.4,235,4651,0.00,2.38,0.00,0.000,6,0.000,0.032,2565,1890,2672
$GC,4971,-1.29,-116.8,577.6,-10.1,243,4975,0.00,2.42,0.00,0.000,4,0.000,0.045,2565,3293,2670
$GC,4998,-1.29,-116.8,580.3,-9.8,243,5003,0.00,2.42,0.00,0.000,6,0.000,0.040,2565,1890,2670
$GC,5335,-1.29,-116.8,611.1,-9.0,252,5336,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1890,2669
$GC,5660,-1.29,-116.8,641.5,-9.2,260,5661,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1890,2667
$GC,5985,-1.29,-116.8,671.0,-9.1,268,5986,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1888,2665
$GC,6311,-1.29,-116.8,697.2,-7.8,276,6315,0.00,2.60,0.00,0.000,4,0.000,0.082,2564,480,2664
$GC,6332,-1.29,-116.8,699.2,-8.7,276,6336,0.00,2.45,0.00,0.000,6,0.000,0.039,2565,1881,2663
$GC,6675,-1.29,-116.8,722.8,-6.9,285,6676,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1882,2662
$GC,7000,-1.29,-116.8,747.1,-7.7,293,7004,0.00,2.60,0.00,0.000,4,0.000,0.073,2565,3303,2660
$GC,7032,-1.29,-116.8,749.9,-8.0,293,7040,0.00,2.58,0.00,0.000,6,0.000,0.097,2565,1896,2660
$STATE,7364,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7364,begin apogee
$GC,7370,-0.31,0.0,776.7,8.1,302,7478,1.05,0.00,105.12,1.181,6,0.080,0.000,2783,1997,2200
$STATE,7479,end apogee,CONTROL_FINISHED_OK
$STATE,7479,begin climb
$GC,7482,1.29,116.8,779.0,0.0,304,7597,1.55,0.00,111.00,1.154,6,0.044,0.000,3134,1997,1723
$GC,7889,1.29,116.8,756.3,9.1,314,7894,0.00,2.60,0.00,0.000,4,0.000,0.069,3134,3397,1711
$GC,7939,1.29,116.8,751.5,9.5,315,7943,0.00,2.58,0.00,0.000,6,0.000,0.091,3134,1984,1710
$GC,8252,1.29,116.8,721.2,9.7,323,8256,0.00,2.58,0.00,0.000,4,0.000,0.059,3134,3397,1707
$GC,8336,1.29,116.8,713.0,9.9,325,8340,0.00,2.53,0.00,0.000,6,0.000,0.054,3134,1988,1707
$GC,8659,1.29,116.8,685.2,8.3,333,8660,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,1988,1705
$GC,8984,1.31,130.6,661.1,7.2,341,9000,0.00,2.58,10.62,0.996,4,0.000,0.051,3134,3409,1666
$GC,9016,1.33,152.3,658.8,6.7,341,9045,0.00,2.55,22.33,1.058,6,0.000,0.052,3134,1982,1579
$GC,9389,1.33,152.3,626.8,9.1,351,9393,0.00,2.55,0.00,0.000,4,0.000,0.064,3134,575,1573
$GC,9410,1.33,152.3,624.7,9.8,351,9414,0.00,2.47,0.00,0.000,6,0.000,0.038,3134,1999,1571
$GC,9752,1.33,152.3,591.5,9.8,360,9756,0.00,2.47,0.00,0.000,4,0.000,0.050,3134,3400,1570
$GC,9824,1.33,152.3,584.1,9.6,361,9828,0.00,2.47,0.00,0.000,6,0.000,0.072,3134,1984,1570
$GC,10161,1.33,152.3,551.8,9.5,370,10165,0.00,2.50,0.00,0.000,4,0.000,0.048,3134,3398,1568
$GC,10305,1.33,152.3,539.4,8.4,373,10310,0.00,2.47,0.00,0.000,6,0.000,0.073,3134,1978,1568
$GC,10619,1.33,152.3,514.6,7.9,381,10623,0.00,2.53,0.00,0.000,4,0.000,0.047,3134,3408,1567
$GC,10668,1.33,152.3,510.4,8.3,382,10672,0.00,2.47,0.00,0.000,6,0.000,0.058,3134,1986,1567
$GC,10987,1.33,152.3,482.2,9.0,390,10988,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,1986,1566
$GC,11312,1.33,152.3,454.3,8.4,398,11316,0.00,2.47,0.00,0.000,4,0.000,0.044,3134,3397,1566
$GC,11418,1.34,154.4,445.7,7.8,400,11422,0.00,2.45,0.00,0.000,6,0.000,0.062,3134,1980,1566
$GC,11760,1.35,163.0,420.2,7.4,409,11774,0.00,2.53,9.02,0.850,4,0.000,0.044,3134,3399,1534
$GC,11893,1.35,163.0,409.9,8.1,412,11897,0.00,2.45,0.00,0.000,6,0.000,0.037,3134,1979,1534
$GC,12223,1.35,163.2,384.9,7.9,420,12224,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,1979,1532
$GC,12548,1.37,181.9,360.7,6.9,428,12572,0.00,2.58,18.70,0.881,4,0.000,0.042,3134,3400,1458
$GC,12635,1.38,193.8,354.1,7.3,430,12654,0.00,2.45,12.85,0.834,6,0.000,0.035,3134,1982,1408
$GC,12963,1.38,193.8,325.9,9.2,438,12967,0.00,2.47,0.00,0.000,4,0.000,0.041,3134,3400,1404
$GC,12989,1.38,193.8,323.2,10.3,438,12993,0.00,2.45,0.00,0.000,6,0.000,0.068,3134,1988,1404
$GC,13307,1.38,193.8,292.2,9.7,448,13311,0.00,2.50,0.00,0.000,4,0.000,0.087,3134,582,1403
$GC,13339,1.38,193.8,288.9,10.2,449,13345,0.00,2.42,0.00,0.000,6,0.000,0.067,3134,2011,1402
$GC,13655,1.38,193.8,259.9,9.0,465,13659,0.00,2.55,0.00,0.000,4,0.000,0.053,3135,577,1402
$GC,13698,1.38,193.8,255.8,8.6,467,13702,0.00,2.40,0.00,0.000,6,0.000,0.037,3134,1996,1401
$GC,14025,1.38,193.8,226.5,9.8,483,14026,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2001,1401
$GC,14334,1.39,200.1,201.4,7.6,498,14345,0.00,2.40,5.70,0.607,4,0.000,0.036,3134,3397,1383
$GC,14367,1.40,205.5,198.9,7.6,499,14379,0.00,2.42,6.68,0.633,6,0.000,0.031,3134,1978,1362
$GC,14635,1.44,235.8,181.5,6.3,524,14669,0.12,2.50,28.17,0.731,4,0.051,0.036,3170,3398,1237
$GC,14698,1.44,235.8,176.5,8.8,530,14702,0.00,2.42,0.00,0.000,6,0.000,0.032,3170,1987,1237
$GC,14958,1.44,235.8,153.2,9.9,554,14962,0.00,2.40,0.00,0.000,4,0.000,0.034,3170,3392,1234
$GC,14986,1.44,235.8,150.1,11.0,556,14991,0.00,2.38,0.00,0.000,6,0.000,0.030,3170,1988,1234
$GC,15247,1.44,235.8,122.8,10.1,580,15251,0.00,2.45,0.00,0.000,4,0.000,0.047,3170,577,1233
$GC,15264,1.44,235.8,121.0,10.6,581,15268,0.00,2.35,0.00,0.000,6,0.000,0.025,3170,2000,1233
$GC,15526,1.44,235.8,97.7,8.7,605,15530,0.00,2.47,0.00,0.000,4,0.000,0.045,3171,579,1232
$GC,15614,1.44,235.8,88.8,10.2,612,15621,0.00,2.33,0.00,0.000,6,0.000,0.024,3170,2002,1231
$GC,15876,1.44,235.8,66.6,9.3,637,15880,0.00,2.33,0.00,0.000,4,0.000,0.065,3170,3391,1231
$GC,16053,1.45,245.3,51.3,7.4,652,16068,0.00,2.35,9.07,0.538,6,0.000,0.026,3170,1979,1199
$GC,16325,1.45,245.3,27.7,9.1,679,16331,0.00,2.38,0.00,0.000,4,0.000,0.042,3170,584,1198
$GC,16377,1.45,245.3,22.9,9.5,688,16384,0.00,2.28,0.00,0.000,6,0.000,0.021,3170,1994,1197
$STATE,16534,end climb,SURFACE_DEPTH_REACHED
$STATE,16534,begin surface coast
$FINISH,0.5,1.022976
$STATE,16603,end surface coast,CONTROL_FINISHED_OK
$STATE,16603,begin surface
$SM_CCo,16624,62.53,0.559,0,0,895,320.12
$SM_GC,1.29,0.00,0.00,62.53,0.000,0.000,0.559,426,1875,895,-11.15,-0.40,320.12
$IRIDIUM_FIX,2134.17,-15830.44,070798,141454
$TT8_MAMPS,0.029146
$HUMID,1754
$INTERNAL_PRESSURE,8.01442
$TCM_TEMP,22.20
$XPDR_PINGS,19
$ALTIM_BOTTOM_PING,776.7,17.4
$24V_AH,23.2,30.438
$10V_AH,10.2,17.412
$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,26.350,166.275,339.275,62.525,0.000,52.179,53.918,304.343,5.500,0.000,0.000,39.108,1395.979,12975.031,513.659,1766.944,643.927,30.190,1428.080,0.000,1710.811,0.000,8.737,0.000
$DEVICE_MAMPS,146.497,97.409,1181.180,559.143,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,494.410,383.042,516.995,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38058,728
$CAP_FILE_SIZE,127862,8
$CFSIZE,260165632,251645952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120409,184855,2139.965,-15832.968,49,1.6,50,9.9