version: 66.04
glider: 139
mission: 6
dive: 106
start: 4 12 109 23 45 51
data:
$ID,139
$MISSION,6
$DIVE,106
$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,-1353515
$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,0.029999999
$ROLL_ADJ_DBAND,1
$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
$GPS1,233637,2141.420,-15833.621,31,1.3,32,9.9
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-70.7
$GPS2,234502,2141.461,-15833.669,32,1.5,32,9.9
$SPEED_LIMITS,0.137,0.221
$TGT_NAME,CENTRE2
$TGT_LATLONG,2140.200,-15834.800
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.132,-0.050
$KALMAN_X,3821.3,-236.1,621.7,-12046.5,1221.8
$KALMAN_Y,1083.4,346.2,750.6,-5067.4,-1122.2
$MHEAD_RNG_PITCHd_Wd,239.2,3041,-26.9,-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,-1.74,-46.0,0.0,0.0,0,68,0.00,0.00,-47.30,0.000,6,0.000,0.000,425,1866,2388
$GC,71,-1.75,-53.0,4.1,-7.1,9,91,11.23,2.42,-0.50,0.000,4,0.145,0.040,2462,3319,2419
$GC,344,-1.75,-53.0,66.0,-19.4,41,349,0.00,2.42,0.00,0.000,6,0.000,0.029,2462,1881,2422
$GC,605,-1.75,-53.0,112.9,-18.2,65,610,0.00,2.38,0.00,0.000,4,0.000,0.061,2462,3309,2423
$GC,814,-1.75,-53.0,150.5,-17.6,83,818,0.00,2.38,0.00,0.000,6,0.000,0.028,2462,1886,2423
$GC,1075,-1.75,-53.0,194.7,-14.9,107,1079,0.00,2.38,0.00,0.000,4,0.000,0.027,2462,3318,2425
$GC,1225,-1.75,-53.0,217.4,-13.4,115,1232,0.00,2.40,0.00,0.000,6,0.000,0.027,2462,1879,2426
$GC,1542,-1.75,-53.0,257.2,-13.4,131,1546,0.00,2.40,0.00,0.000,4,0.000,0.029,2462,3314,2427
$GC,1598,-1.75,-53.0,264.9,-13.5,133,1604,0.00,2.40,0.00,0.000,6,0.000,0.029,2462,1883,2427
$GC,1914,-1.75,-53.0,305.9,-12.7,148,1918,0.00,2.40,0.00,0.000,4,0.000,0.031,2462,3312,2427
$GC,1946,-1.75,-53.0,310.4,-12.8,148,1952,0.00,2.40,0.00,0.000,6,0.000,0.029,2462,1884,2427
$GC,2277,-1.75,-53.0,355.3,-14.1,157,2281,0.00,2.40,0.00,0.000,4,0.000,0.032,2462,3307,2425
$GC,2355,-1.75,-53.0,367.5,-14.9,158,2361,0.00,2.40,0.00,0.000,6,0.000,0.031,2462,1886,2425
$GC,2686,-1.75,-53.0,410.8,-12.0,167,2690,0.00,2.42,0.00,0.000,4,0.000,0.035,2462,3313,2424
$GC,2780,-1.75,-53.0,420.9,-10.7,169,2784,0.00,2.42,0.00,0.000,6,0.000,0.034,2462,1888,2423
$GC,3098,-1.75,-53.0,457.6,-12.1,177,3103,0.00,2.42,0.00,0.000,4,0.000,0.037,2462,3309,2422
$GC,3339,-1.75,-53.0,487.7,-12.5,182,3343,0.00,2.42,0.00,0.000,6,0.000,0.035,2462,1887,2420
$GC,3687,-1.75,-53.0,527.0,-11.1,191,3691,0.00,2.42,0.00,0.000,4,0.000,0.039,2462,3300,2417
$GC,3832,-1.75,-53.0,544.1,-12.3,194,3836,0.00,2.42,0.00,0.000,6,0.000,0.038,2462,1886,2416
$GC,4144,-1.75,-53.0,586.0,-13.6,202,4149,0.00,2.45,0.00,0.000,4,0.000,0.043,2462,3298,2415
$GC,4396,-1.75,-53.0,619.2,-12.6,207,4400,0.00,2.47,0.00,0.000,6,0.000,0.072,2462,1866,2413
$GC,4733,-1.75,-53.0,656.8,-10.5,216,4737,0.00,2.53,0.00,0.000,4,0.000,0.051,2462,3299,2411
$GC,4878,-1.75,-53.0,671.6,-10.3,219,4882,0.00,2.47,0.00,0.000,6,0.000,0.048,2462,1887,2410
$GC,5191,-1.75,-53.0,703.4,-9.8,227,5195,0.00,2.50,0.00,0.000,4,0.000,0.056,2462,3292,2409
$GC,5335,-1.75,-53.0,717.4,-9.3,230,5340,0.00,2.50,0.00,0.000,6,0.000,0.055,2462,1893,2407
$GC,5651,-1.75,-53.0,750.3,-11.1,238,5655,0.00,2.55,0.00,0.000,4,0.000,0.064,2462,3300,2406
$GC,5796,-1.75,-53.0,766.8,-10.5,241,5800,0.00,2.60,0.00,0.000,6,0.000,0.100,2462,1886,2405
$GC,6143,-1.75,-53.0,796.8,-8.1,250,6147,0.00,2.62,0.00,0.000,4,0.000,0.091,2462,3297,2404
$GC,6282,-1.75,-53.0,808.6,-9.1,253,6286,0.00,2.67,0.00,0.000,6,0.000,0.092,2462,1892,2403
$GC,6600,-1.75,-53.0,840.3,-10.7,261,6604,0.00,2.70,0.00,0.000,4,0.000,0.094,2462,3293,2401
$GC,6711,-1.75,-53.0,852.7,-11.1,263,6716,0.00,2.75,0.00,0.000,6,0.000,0.107,2462,1892,2401
$GC,7047,-1.75,-53.0,886.6,-9.4,272,7052,0.00,2.97,0.00,0.000,4,0.000,0.166,2461,470,2400
$GC,7079,-1.75,-53.0,889.8,-10.2,272,7086,0.00,2.72,0.00,0.000,6,0.000,0.094,2462,1878,2399
$GC,7411,-1.75,-53.0,916.9,-8.0,281,7415,0.00,2.92,0.00,0.000,4,0.000,0.128,2462,3303,2397
$GC,7544,-1.75,-53.0,927.7,-8.2,284,7549,0.00,2.97,0.00,0.000,6,0.000,0.156,2462,1886,2398
$STATE,7865,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7865,begin apogee
$GC,7871,-0.31,0.0,953.2,8.3,292,7922,1.58,0.00,47.60,1.289,6,0.097,0.000,2779,1989,2200
$STATE,7923,end apogee,CONTROL_FINISHED_OK
$STATE,7923,begin climb
$GC,7926,1.75,53.0,954.2,0.0,293,7990,2.00,3.25,54.20,1.266,4,0.044,0.160,3236,577,1982
$GC,8074,1.80,96.0,951.2,3.0,296,8125,0.00,2.92,42.70,1.253,6,0.000,0.117,3237,1992,1807
$GC,8462,1.80,96.0,916.1,9.7,306,8466,0.00,2.92,0.00,0.000,4,0.000,0.125,3237,3403,1799
$GC,8595,1.80,96.0,902.6,10.1,309,8600,0.00,2.92,0.00,0.000,6,0.000,0.117,3237,1985,1798
$GC,8914,1.80,96.0,872.7,9.1,317,8918,0.00,2.85,0.00,0.000,4,0.000,0.103,3237,3413,1795
$GC,9171,1.80,96.0,848.3,9.8,322,9177,0.00,2.80,0.00,0.000,6,0.000,0.109,3237,1984,1795
$GC,9502,1.82,109.2,826.1,6.4,331,9520,0.00,2.78,11.40,1.104,4,0.000,0.085,3237,3407,1753
$GC,9773,1.82,109.2,803.3,9.1,337,9778,0.00,2.70,0.00,0.000,6,0.000,0.105,3237,1978,1752
$GC,10092,1.82,109.2,777.8,8.3,345,10096,0.00,2.65,0.00,0.000,4,0.000,0.070,3237,3410,1750
$GC,10349,1.82,109.2,753.9,9.5,350,10355,0.00,2.58,0.00,0.000,6,0.000,0.067,3237,1987,1750
$GC,10680,1.82,109.2,723.1,9.4,359,10684,0.00,2.58,0.00,0.000,4,0.000,0.056,3237,3421,1748
$GC,10937,1.83,119.3,701.6,6.8,364,10952,0.00,2.53,10.30,1.028,6,0.000,0.045,3237,1985,1713
$GC,11265,1.83,119.3,673.9,8.6,373,11270,0.00,2.55,0.00,0.000,4,0.000,0.049,3237,3422,1710
$GC,11523,1.83,119.3,647.2,10.5,378,11529,0.00,2.50,0.00,0.000,6,0.000,0.041,3237,1988,1710
$GC,11854,1.83,119.3,614.3,9.4,387,11858,0.00,2.53,0.00,0.000,4,0.000,0.047,3237,3421,1709
$GC,11960,1.84,125.6,605.3,7.2,389,11974,0.00,2.50,6.82,0.890,6,0.000,0.045,3237,1986,1688
$GC,12306,1.85,139.4,580.8,6.3,398,12326,0.00,2.58,15.00,1.005,4,0.000,0.045,3237,3417,1631
$GC,12427,1.85,139.4,570.0,9.5,400,12433,0.00,2.50,0.00,0.000,6,0.000,0.071,3237,1989,1630
$GC,12758,1.85,139.4,536.1,11.0,409,12762,0.00,2.53,0.00,0.000,4,0.000,0.045,3237,3423,1627
$GC,12829,1.85,139.4,528.5,10.8,410,12834,0.00,2.50,0.00,0.000,6,0.000,0.035,3237,1978,1627
$GC,13166,1.85,139.4,489.7,12.0,419,13167,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1978,1626
$GC,13491,1.85,139.4,454.0,10.6,427,13495,0.00,2.53,0.00,0.000,4,0.000,0.044,3237,3422,1626
$GC,13517,1.85,139.4,451.4,8.8,427,13521,0.00,2.47,0.00,0.000,6,0.000,0.069,3237,1987,1626
$GC,13854,1.85,139.4,420.6,9.4,436,13855,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1987,1626
$GC,14179,1.85,139.4,388.7,9.6,444,14183,0.00,2.47,0.00,0.000,4,0.000,0.041,3237,3416,1625
$GC,14436,1.86,146.8,369.0,7.1,449,14448,0.00,2.45,7.55,0.788,6,0.000,0.067,3237,1987,1601
$GC,14772,1.86,147.6,342.6,7.8,458,14776,0.00,2.47,0.00,0.000,4,0.000,0.040,3237,3416,1599
$GC,14843,1.86,147.6,335.1,11.3,459,14848,0.00,2.45,0.00,0.000,6,0.000,0.032,3237,1982,1598
$GC,15180,1.86,147.6,299.0,11.0,468,15184,0.00,2.47,0.00,0.000,4,0.000,0.046,3237,3420,1598
$GC,15285,1.86,147.6,288.0,9.9,472,15292,0.00,2.42,0.00,0.000,6,0.000,0.033,3237,1989,1598
$GC,15601,1.86,147.6,259.1,8.8,488,15605,0.00,2.47,0.00,0.000,4,0.000,0.039,3237,3423,1599
$GC,15858,1.87,152.9,237.3,7.3,499,15870,0.00,2.45,7.05,0.690,6,0.000,0.031,3237,1981,1576
$GC,16191,1.87,152.9,209.6,8.5,516,16195,0.00,2.47,0.00,0.000,4,0.000,0.038,3237,3422,1575
$GC,16230,1.88,157.9,206.6,7.3,517,16240,0.00,2.45,5.82,0.626,6,0.000,0.031,3237,1984,1556
$GC,16558,1.90,177.5,188.9,5.7,543,16584,0.12,2.53,19.15,0.738,4,0.057,0.049,3270,590,1476
$GC,16681,1.90,177.5,177.8,9.3,554,16686,0.00,2.40,0.00,0.000,6,0.000,0.028,3270,2026,1472
$GC,16944,1.90,177.5,155.9,8.8,578,16945,0.00,0.00,0.00,0.000,6,0.000,0.000,3270,2030,1471
$GC,17197,1.90,177.5,132.5,8.7,602,17201,0.00,2.53,0.00,0.000,4,0.000,0.044,3270,573,1471
$GC,17274,1.90,177.5,125.6,8.6,608,17281,0.00,2.38,0.00,0.000,6,0.000,0.026,3271,1989,1469
$GC,17536,1.93,202.2,108.3,5.1,633,17568,0.00,2.45,22.48,0.653,4,0.000,0.031,3270,3388,1374
$GC,17573,1.95,215.6,106.1,6.4,636,17591,0.00,2.38,13.35,0.614,6,0.000,0.026,3270,1977,1320
$GC,17846,1.95,215.6,80.6,10.1,662,17850,0.00,2.38,0.00,0.000,4,0.000,0.030,3271,3385,1317
$GC,18054,1.95,215.6,61.5,8.0,680,18058,0.00,2.35,0.00,0.000,6,0.000,0.026,3270,1977,1317
$GC,18315,1.95,215.6,37.8,8.2,704,18319,0.00,2.40,0.00,0.000,4,0.000,0.042,3270,575,1317
$GC,18371,1.95,215.6,33.0,9.0,709,18376,0.00,2.33,0.00,0.000,6,0.000,0.022,3271,2001,1316
$GC,18646,1.95,215.6,7.0,10.5,754,18652,0.00,2.28,0.00,0.000,4,0.000,0.025,3270,3393,1315
$STATE,18656,end climb,SURFACE_DEPTH_REACHED
$STATE,18656,begin surface coast
$FINISH,0.5,1.023720
$STATE,18713,end surface coast,CONTROL_FINISHED_OK
$STATE,18714,begin surface
$SM_CCo,18738,86.62,0.558,0,0,895,320.12
$SM_GC,1.19,0.00,0.00,86.62,0.000,0.000,0.558,425,1870,895,-11.15,-0.57,320.12
$IRIDIUM_FIX,2131.85,-15830.44,070798,191940
$TT8_MAMPS,0.029146
$HUMID,1734
$INTERNAL_PRESSURE,8.00466
$TCM_TEMP,22.20
$XPDR_PINGS,18
$24V_AH,23.1,30.672
$10V_AH,10.2,17.583
$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,27.300,198.200,263.425,86.625,0.000,62.452,58.671,183.375,8.250,0.000,0.000,34.770,1623.999,14043.251,491.831,2590.466,566.328,32.350,1751.760,0.000,2502.456,0.000,34.480,0.000
$DEVICE_MAMPS,144.963,166.439,1288.560,557.609,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,520.107,382.648,501.889,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41204,766
$CAP_FILE_SIZE,151366,10
$CFSIZE,260165632,251494400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130409,050055,2140.241,-15835.563,39,1.5,40,9.9