version: 66.04
glider: 139
mission: 6
dive: 60
start: 4 1 109 19 29 1
data:
$ID,139
$MISSION,6
$DIVE,60
$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,135
$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,350
$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,-1352132.5
$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,26
$R_STBD_OVSHOOT,45
$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,550
$ALTIM_PING_DELTA,50
$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
$GPS1,191131,2140.861,-15832.459,39,1.6,40,9.9
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-67.9
$GPS2,192807,2140.934,-15832.452,11,1.3,11,9.9
$SPEED_LIMITS,0.137,0.233
$TGT_NAME,MIDN1
$TGT_LATLONG,2157.225,-15822.997
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.233,-0.002
$KALMAN_X,-51121.7,-225.9,92.8,89501.7,-5309.6
$KALMAN_Y,4743.3,-752.6,-520.4,27175.0,555.7
$MHEAD_RNG_PITCHd_Wd,80.6,34265,-15.6,-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,12,begin dive
$GC,15,-1.14,-131.4,0.0,0.0,0,70,0.00,0.00,-52.50,0.000,2,0.000,0.000,425,1876,2457
$GC,73,-1.14,-131.4,3.4,-6.0,9,92,11.93,0.00,-4.82,0.000,6,0.143,0.000,2596,1877,2738
$GC,294,-1.14,-131.4,49.1,-16.1,38,295,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,1878,2742
$GC,549,-1.14,-131.4,90.6,-14.7,62,553,0.00,2.35,0.00,0.000,4,0.000,0.028,2596,3292,2742
$GC,604,-1.14,-131.4,98.3,-12.8,66,611,0.00,2.38,0.00,0.000,6,0.000,0.028,2595,1892,2742
$GC,865,-1.14,-131.4,129.7,-12.0,91,866,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,1891,2742
$GC,1122,-1.14,-131.4,160.2,-12.2,115,1126,0.00,2.42,0.00,0.000,4,0.000,0.044,2595,471,2744
$GC,1154,-1.14,-131.4,164.3,-11.8,117,1160,0.00,2.30,0.00,0.000,6,0.000,0.021,2595,1900,2744
$GC,1415,-1.14,-131.4,194.4,-12.3,142,1419,0.00,2.28,0.00,0.000,4,0.000,0.029,2596,3277,2744
$GC,1460,-1.14,-131.4,199.6,-11.6,145,1466,0.00,2.33,0.00,0.000,6,0.000,0.027,2595,1880,2744
$GC,1713,-1.14,-131.4,226.4,-10.6,158,1717,0.00,2.40,0.00,0.000,4,0.000,0.045,2595,481,2745
$GC,1753,-1.14,-131.4,230.6,-11.1,160,1757,0.00,2.28,0.00,0.000,6,0.000,0.022,2595,1886,2745
$GC,2079,-1.14,-131.4,262.1,-9.5,176,2083,0.00,2.42,0.00,0.000,4,0.000,0.046,2595,487,2744
$GC,2100,-1.14,-131.4,264.2,-9.5,177,2104,0.00,2.30,0.00,0.000,6,0.000,0.024,2595,1897,2744
$GC,2427,-1.14,-131.4,293.6,-8.7,193,2428,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,1901,2743
$GC,2753,-1.14,-131.4,319.5,-7.9,203,2754,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,1902,2741
$GC,3078,-1.14,-131.4,346.9,-8.7,211,3079,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,1902,2740
$GC,3402,-1.14,-131.4,375.2,-8.7,219,3407,0.00,2.45,0.00,0.000,4,0.000,0.050,2595,489,2738
$GC,3435,-1.14,-131.4,378.3,-9.3,219,3442,0.00,2.30,0.00,0.000,6,0.000,0.028,2596,1884,2738
$GC,3766,-1.14,-131.4,404.7,-8.2,228,3770,0.00,2.35,0.00,0.000,4,0.000,0.038,2595,3286,2736
$GC,3793,-1.14,-131.4,406.9,-8.4,228,3797,0.00,2.38,0.00,0.000,6,0.000,0.033,2595,1882,2736
$GC,4136,-1.14,-131.4,434.6,-7.9,237,4140,0.00,2.40,0.00,0.000,4,0.000,0.038,2595,3292,2734
$GC,4197,-1.14,-131.4,438.9,-6.6,238,4201,0.00,2.38,0.00,0.000,6,0.000,0.035,2595,1888,2734
$GC,4545,-1.14,-131.4,461.5,-6.4,247,4549,0.00,2.40,0.00,0.000,4,0.000,0.038,2595,3295,2732
$GC,4589,-1.14,-131.4,464.5,-6.3,248,4594,0.00,2.40,0.00,0.000,6,0.000,0.036,2595,1885,2732
$GC,4907,-1.14,-131.4,485.4,-6.9,256,4912,0.00,2.47,0.00,0.000,4,0.000,0.090,2595,483,2730
$GC,4998,-1.14,-131.4,492.8,-8.5,258,5002,0.00,2.35,0.00,0.000,6,0.000,0.031,2596,1887,2729
$GC,5315,-1.14,-131.4,519.7,-8.8,266,5316,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,1892,2727
$GC,5640,-1.14,-131.4,549.3,-9.0,274,5644,0.00,2.42,0.00,0.000,4,0.000,0.046,2596,3294,2725
$GC,5667,-1.14,-131.4,552.0,-9.3,274,5671,0.00,2.42,0.00,0.000,6,0.000,0.040,2595,1884,2725
$GC,6004,-1.14,-131.4,580.6,-8.5,283,6008,0.00,2.50,0.00,0.000,4,0.000,0.063,2595,481,2724
$GC,6036,-1.14,-131.4,583.7,-9.3,283,6043,0.00,2.38,0.00,0.000,6,0.000,0.034,2595,1889,2723
$GC,6368,-1.14,-131.4,609.8,-7.7,292,6372,0.00,2.45,0.00,0.000,4,0.000,0.054,2595,3292,2722
$GC,6428,-1.14,-131.4,614.4,-7.8,293,6432,0.00,2.42,0.00,0.000,6,0.000,0.043,2595,1888,2722
$GC,6776,-1.14,-131.4,640.5,-7.4,302,6781,0.00,2.53,0.00,0.000,4,0.000,0.068,2595,483,2720
$GC,6843,-1.14,-131.4,645.5,-7.3,303,6848,0.00,2.40,0.00,0.000,6,0.000,0.036,2595,1895,2719
$STATE,6936,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6937,begin apogee
$GC,6943,-0.31,0.0,651.9,7.0,306,7060,0.88,0.00,113.70,1.062,6,0.074,0.000,2779,2012,2200
$STATE,7060,end apogee,CONTROL_FINISHED_OK
$STATE,7060,begin climb
$GC,7063,1.14,131.4,655.1,0.0,309,7189,1.40,2.55,117.80,1.039,4,0.042,0.058,3094,3381,1663
$GC,7217,1.17,160.9,653.2,6.7,312,7251,0.00,2.47,26.95,0.991,6,0.000,0.044,3094,1988,1542
$GC,7594,1.17,160.9,621.7,8.0,322,7598,0.00,2.58,0.00,0.000,4,0.000,0.064,3094,576,1532
$GC,7666,1.18,164.3,616.3,7.8,323,7670,0.00,2.42,0.00,0.000,6,0.000,0.035,3094,1982,1529
$GC,7997,1.24,212.6,596.1,6.0,331,8048,0.10,2.55,45.55,1.009,4,0.912,0.051,3119,3394,1332
$GC,8116,1.24,212.6,586.2,9.6,333,8122,0.00,2.47,0.00,0.000,6,0.000,0.041,3119,1986,1329
$GC,8446,1.24,212.6,553.4,10.1,342,8451,0.00,2.55,0.00,0.000,4,0.000,0.093,3119,578,1326
$GC,8462,1.24,212.6,551.4,10.4,342,8466,0.00,2.45,0.00,0.000,6,0.000,0.035,3119,2003,1324
$GC,8810,1.24,212.6,511.3,11.7,351,8814,0.00,2.45,0.00,0.000,4,0.000,0.048,3119,3397,1323
$GC,8915,1.24,212.6,498.5,12.7,353,8920,0.00,2.45,0.00,0.000,6,0.000,0.047,3119,1986,1323
$GC,9263,1.24,212.6,457.8,11.2,362,9268,0.00,2.53,0.00,0.000,4,0.000,0.091,3119,578,1321
$GC,9318,1.24,212.6,450.7,13.2,363,9323,0.00,2.42,0.00,0.000,6,0.000,0.033,3119,2000,1320
$GC,9632,1.24,212.6,415.0,11.4,371,9636,0.00,2.55,0.00,0.000,4,0.000,0.072,3119,582,1319
$GC,9697,1.24,212.6,406.1,13.7,372,9702,0.00,2.40,0.00,0.000,6,0.000,0.034,3119,1998,1318
$GC,10040,1.24,212.6,367.6,11.1,381,10041,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2002,1319
$GC,10365,1.24,212.6,336.6,9.1,389,10369,0.00,2.42,0.00,0.000,4,0.000,0.043,3120,3403,1318
$GC,10533,1.24,212.6,321.4,8.6,392,10539,0.00,2.42,0.00,0.000,6,0.000,0.036,3120,1989,1318
$GC,10845,1.24,212.6,294.3,9.1,402,10846,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1988,1317
$GC,11154,1.24,212.6,267.5,8.5,417,11159,0.00,2.50,0.00,0.000,4,0.000,0.054,3120,570,1317
$GC,11187,1.24,212.6,264.3,8.9,418,11194,0.00,2.42,0.00,0.000,6,0.000,0.031,3119,1993,1315
$GC,11502,1.24,212.6,236.2,8.7,434,11507,0.00,2.50,0.00,0.000,4,0.000,0.051,3119,578,1316
$GC,11565,1.24,212.6,230.2,9.6,437,11569,0.00,2.38,0.00,0.000,6,0.000,0.030,3120,1997,1315
$GC,11891,1.25,226.8,204.1,7.3,453,11907,0.00,2.38,10.88,0.692,4,0.000,0.037,3120,3391,1275
$GC,11918,1.26,234.6,202.0,7.6,453,11932,0.00,2.40,8.73,0.655,6,0.000,0.031,3119,1983,1242
$GC,12260,1.26,234.6,175.1,8.3,484,12264,0.00,2.45,0.00,0.000,4,0.000,0.050,3119,578,1239
$GC,12349,1.26,234.6,166.0,10.0,491,12356,0.00,2.35,0.00,0.000,6,0.000,0.026,3119,1996,1237
$GC,12610,1.26,234.6,145.3,8.1,516,12615,0.00,2.47,0.00,0.000,4,0.000,0.047,3120,574,1238
$GC,12638,1.26,234.6,143.0,8.2,518,12643,0.00,2.35,0.00,0.000,6,0.000,0.025,3120,1999,1237
$GC,12899,1.29,260.0,123.9,6.9,542,12927,0.00,2.38,22.48,0.646,4,0.000,0.032,3120,3388,1139
$GC,12977,1.29,260.0,117.9,8.7,548,12984,0.00,2.40,0.00,0.000,6,0.000,0.028,3120,1987,1139
$GC,13240,1.30,266.7,96.5,7.6,573,13252,0.00,2.47,7.55,0.538,4,0.000,0.069,3119,584,1111
$GC,13292,1.31,273.0,92.5,7.7,577,13303,0.00,2.05,6.68,0.512,6,0.000,0.052,3119,1874,1087
$GC,13560,1.32,278.6,71.4,7.7,602,13569,0.00,0.00,6.25,0.487,6,0.000,0.000,3120,1875,1064
$GC,13823,1.32,278.6,49.7,9.6,627,13825,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1875,1063
$GC,14082,1.32,278.6,24.8,10.1,655,14088,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1875,1063
$STATE,14260,end climb,SURFACE_DEPTH_REACHED
$STATE,14260,begin surface coast
$FINISH,0.4,1.011377
$STATE,14323,end surface coast,CONTROL_FINISHED_OK
$STATE,14323,begin surface
$SM_CCo,14344,60.03,0.542,0,0,773,350.04
$SM_GC,1.13,0.00,0.00,60.03,0.000,0.000,0.542,425,1874,773,-11.16,-0.45,350.04
$IRIDIUM_FIX,2134.17,-15830.44,260698,191948
$TT8_MAMPS,0.029146
$HUMID,1713
$INTERNAL_PRESSURE,8.01442
$TCM_TEMP,22.10
$XPDR_PINGS,12
$ALTIM_BOTTOM_PING,651.9,15.5
$24V_AH,22.2,23.764
$10V_AH,10.2,13.466
$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,25.875,140.225,366.550,60.025,0.000,88.482,90.953,561.430,4.250,0.000,0.000,13.208,1310.714,10941.383,519.626,1649.752,967.412,33.367,1380.506,0.000,1622.501,0.000,13.516,0.000
$DEVICE_MAMPS,911.963,92.807,1061.528,542.269,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,471.833,395.111,552.273,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34829,698
$CAP_FILE_SIZE,122467,4
$CFSIZE,260165632,254644224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010409,233037,2141.305,-15830.899,54,1.5,54,9.9