version: 66.04
glider: 139
mission: 6
dive: 61
start: 4 1 109 23 43 17
data:
$ID,139
$MISSION,6
$DIVE,61
$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,-1352169.9
$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,27
$R_STBD_OVSHOOT,41
$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
$GPS1,233037,2141.305,-15830.899,54,1.5,54,9.9
$_CALLS,2
$_XMS_NAKs,26
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-68.8
$GPS2,234226,2141.364,-15830.890,34,1.5,34,9.9
$SPEED_LIMITS,0.137,0.233
$TGT_NAME,MIDN1
$TGT_LATLONG,2157.225,-15822.997
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.228,-0.046
$KALMAN_X,-54522.8,151.5,360.8,94949.2,-7091.5
$KALMAN_Y,3613.0,144.5,565.1,27107.7,-2382.6
$MHEAD_RNG_PITCHd_Wd,91.6,32353,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.14,-131.4,0.0,0.0,0,76,0.00,0.00,-56.80,0.000,2,0.000,0.000,425,1874,2613
$GC,79,-1.14,-131.4,4.3,-7.9,10,99,11.95,2.38,-1.98,0.000,4,0.143,0.048,2599,3299,2739
$GC,123,-1.14,-131.4,23.0,-40.0,17,129,0.00,2.40,0.00,0.000,6,0.000,0.036,2599,1891,2741
$GC,324,-1.14,-131.4,54.3,-16.3,40,325,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,1891,2742
$GC,578,-1.14,-131.4,92.2,-14.2,64,582,0.00,2.35,0.00,0.000,4,0.000,0.061,2599,3303,2742
$GC,595,-1.14,-131.4,94.4,-14.0,65,599,0.00,2.38,0.00,0.000,6,0.000,0.026,2599,1875,2742
$GC,856,-1.14,-131.4,127.6,-12.1,89,857,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1875,2743
$GC,1111,-1.14,-131.4,158.1,-12.3,113,1112,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1875,2743
$GC,1365,-1.14,-131.4,185.7,-10.2,137,1369,0.00,2.35,0.00,0.000,4,0.000,0.027,2599,3293,2744
$GC,1397,-1.14,-131.4,189.3,-10.2,139,1403,0.00,2.35,0.00,0.000,6,0.000,0.026,2599,1880,2744
$GC,1664,-1.14,-131.4,219.2,-11.3,157,1668,0.00,2.40,0.00,0.000,4,0.000,0.045,2599,477,2744
$GC,1714,-1.14,-131.4,225.2,-11.7,159,1718,0.00,2.30,0.00,0.000,6,0.000,0.021,2599,1902,2745
$GC,2041,-1.14,-131.4,259.7,-9.9,175,2045,0.00,2.45,0.00,0.000,4,0.000,0.044,2599,481,2745
$GC,2073,-1.14,-131.4,263.4,-10.8,176,2080,0.00,2.33,0.00,0.000,6,0.000,0.023,2599,1895,2745
$GC,2389,-1.14,-131.4,292.8,-8.9,192,2393,0.00,2.45,0.00,0.000,4,0.000,0.047,2599,480,2744
$GC,2433,-1.14,-131.4,297.2,-9.9,194,2437,0.00,2.30,0.00,0.000,6,0.000,0.024,2599,1895,2745
$GC,2755,-1.14,-131.4,326.6,-9.5,203,2759,0.00,2.33,0.00,0.000,4,0.000,0.034,2599,3286,2743
$GC,2770,-1.14,-131.4,328.2,-9.8,203,2774,0.00,2.35,0.00,0.000,6,0.000,0.029,2599,1881,2744
$GC,3118,-1.14,-131.4,361.5,-9.3,212,3122,0.00,2.42,0.00,0.000,4,0.000,0.050,2599,481,2742
$GC,3157,-1.14,-131.4,365.0,-8.4,213,3160,0.00,1.67,0.00,0.000,6,0.000,0.074,2599,1548,2742
$GC,3487,-1.14,-131.4,389.9,-7.2,221,3491,0.00,2.92,0.00,0.000,4,0.000,0.047,2599,3280,2740
$GC,3632,-1.14,-131.4,399.4,-6.4,224,3636,0.00,2.35,0.00,0.000,6,0.000,0.033,2599,1892,2739
$GC,3980,-1.14,-131.4,423.1,-7.4,233,3984,0.00,2.45,0.00,0.000,4,0.000,0.063,2599,478,2737
$GC,4029,-1.14,-131.4,427.5,-9.5,234,4033,0.00,2.35,0.00,0.000,6,0.000,0.030,2599,1891,2737
$GC,4347,-1.14,-131.4,457.0,-9.4,242,4351,0.00,2.50,0.00,0.000,4,0.000,0.086,2599,476,2734
$GC,4387,-1.14,-131.4,460.9,-9.5,243,4391,0.00,2.38,0.00,0.000,6,0.000,0.031,2599,1896,2734
$GC,4710,-1.14,-131.4,490.0,-8.8,251,4714,0.00,2.40,0.00,0.000,4,0.000,0.042,2599,3299,2731
$GC,4742,-1.14,-131.4,492.8,-8.6,251,4748,0.00,2.42,0.00,0.000,6,0.000,0.036,2599,1879,2732
$GC,5074,-1.14,-131.4,518.2,-7.5,260,5078,0.00,2.47,0.00,0.000,4,0.000,0.058,2598,477,2729
$GC,5106,-1.14,-131.4,521.0,-9.0,260,5113,0.00,2.40,0.00,0.000,6,0.000,0.033,2598,1897,2729
$GC,5438,-1.14,-131.4,543.7,-6.7,269,5442,0.00,2.53,0.00,0.000,4,0.000,0.059,2599,481,2727
$GC,5481,-1.14,-131.4,546.9,-7.3,270,5486,0.00,2.40,0.00,0.000,6,0.000,0.034,2599,1901,2726
$GC,5800,-1.14,-131.4,568.5,-6.7,278,5804,0.00,2.42,0.00,0.000,4,0.000,0.051,2599,3296,2725
$GC,5861,-1.14,-131.4,573.1,-7.2,279,5866,0.00,2.45,0.00,0.000,6,0.000,0.074,2598,1882,2724
$GC,6204,-1.14,-131.4,599.8,-8.4,288,6205,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,1882,2723
$GC,6528,-1.14,-131.4,627.9,-8.8,296,6529,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1882,2721
$GC,6854,-1.14,-131.4,654.1,-7.5,304,6858,0.00,2.50,0.00,0.000,4,0.000,0.054,2599,3294,2719
$GC,6874,-1.14,-131.4,656.0,-8.7,304,6879,0.00,2.47,0.00,0.000,6,0.000,0.045,2599,1878,2719
$GC,7217,-1.14,-131.4,680.7,-6.9,313,7221,0.00,2.55,0.00,0.000,4,0.000,0.090,2598,481,2718
$GC,7250,-1.14,-131.4,683.1,-7.2,313,7255,0.00,2.40,0.00,0.000,6,0.000,0.037,2598,1885,2717
$STATE,7541,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7541,begin apogee
$GC,7547,-0.31,0.0,701.6,6.3,320,7664,0.88,0.00,113.82,1.108,6,0.076,0.000,2782,2008,2199
$STATE,7665,end apogee,CONTROL_FINISHED_OK
$STATE,7665,begin climb
$GC,7668,1.14,131.4,704.4,0.0,323,7794,1.40,2.58,118.80,1.078,4,0.044,0.063,3096,3396,1663
$GC,7811,1.20,180.5,703.0,5.9,326,7861,0.00,2.55,44.15,1.045,6,0.000,0.071,3096,1986,1463
$GC,8199,1.20,180.5,662.6,11.0,336,8203,0.00,2.60,0.00,0.000,4,0.000,0.068,3096,573,1453
$GC,8253,1.20,180.5,656.5,11.4,337,8257,0.00,2.45,0.00,0.000,6,0.000,0.037,3096,1983,1450
$GC,8566,1.20,180.5,627.3,9.0,345,8570,0.00,2.58,0.00,0.000,4,0.000,0.092,3096,577,1449
$GC,8650,1.20,180.5,618.5,10.8,347,8654,0.00,2.45,0.00,0.000,6,0.000,0.036,3096,1995,1447
$GC,8973,1.20,180.5,586.3,9.8,355,8977,0.00,2.50,0.00,0.000,4,0.000,0.054,3096,3399,1447
$GC,8989,1.20,180.5,584.8,9.5,355,8993,0.00,2.47,0.00,0.000,6,0.000,0.074,3096,1984,1447
$GC,9330,1.20,180.5,553.0,9.2,364,9335,0.00,2.55,0.00,0.000,4,0.000,0.068,3096,576,1446
$GC,9363,1.20,180.5,549.5,10.6,364,9370,0.00,2.45,0.00,0.000,6,0.000,0.035,3096,2001,1445
$GC,9694,1.20,180.5,520.7,8.0,373,9695,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2002,1445
$GC,10019,1.20,180.5,494.3,8.1,381,10023,0.00,2.45,0.00,0.000,4,0.000,0.049,3096,3399,1445
$GC,10108,1.20,181.0,487.0,7.9,383,10112,0.00,2.42,0.00,0.000,6,0.000,0.069,3096,1985,1444
$GC,10426,1.21,195.6,463.1,7.3,391,10444,0.00,2.55,11.50,0.888,4,0.000,0.089,3096,577,1402
$GC,10558,1.21,195.6,451.5,9.7,394,10562,0.00,2.42,0.00,0.000,6,0.000,0.034,3096,1995,1399
$GC,10881,1.21,195.6,425.1,8.1,402,10885,0.00,2.53,0.00,0.000,4,0.000,0.088,3096,581,1398
$GC,10926,1.21,195.6,421.2,9.0,403,10930,0.00,2.40,0.00,0.000,6,0.000,0.068,3096,1991,1397
$GC,11255,1.21,195.6,393.7,8.3,411,11259,0.00,2.42,0.00,0.000,4,0.000,0.043,3096,3396,1397
$GC,11400,1.21,195.6,380.4,10.2,414,11404,0.00,2.38,0.00,0.000,6,0.000,0.067,3096,1988,1397
$GC,11712,1.21,195.6,353.2,8.7,422,11716,0.00,2.47,0.00,0.000,4,0.000,0.054,3096,582,1397
$GC,11758,1.21,195.6,348.8,9.9,423,11762,0.00,2.40,0.00,0.000,6,0.000,0.032,3097,2003,1395
$GC,12087,1.21,195.6,318.5,9.2,431,12091,0.00,2.53,0.00,0.000,4,0.000,0.053,3096,578,1395
$GC,12108,1.21,195.6,316.3,10.6,431,12112,0.00,2.40,0.00,0.000,6,0.000,0.031,3096,2000,1395
$GC,12431,1.21,195.6,290.3,8.1,442,12436,0.00,2.53,0.00,0.000,4,0.000,0.052,3096,571,1395
$GC,12499,1.21,195.6,284.6,8.4,445,12504,0.00,2.40,0.00,0.000,6,0.000,0.031,3096,1997,1394
$GC,12821,1.29,258.8,264.8,5.4,461,12885,0.15,2.45,56.30,0.798,4,0.051,0.039,3138,3395,1143
$GC,12959,1.29,258.8,252.8,10.6,467,12963,0.00,2.42,0.00,0.000,6,0.000,0.033,3138,1984,1141
$GC,13279,1.29,258.8,216.1,11.2,483,13283,0.00,2.45,0.00,0.000,4,0.000,0.051,3138,584,1137
$GC,13371,1.29,258.8,205.0,12.1,487,13375,0.00,2.38,0.00,0.000,6,0.000,0.028,3138,2003,1135
$GC,13696,1.29,258.8,171.7,10.0,515,13700,0.00,2.50,0.00,0.000,4,0.000,0.048,3138,580,1135
$GC,13729,1.29,258.8,167.4,12.5,517,13735,0.00,2.35,0.00,0.000,6,0.000,0.027,3138,1993,1134
$GC,13990,1.29,258.8,138.5,11.1,542,13994,0.00,2.35,0.00,0.000,4,0.000,0.035,3138,3388,1134
$GC,14022,1.29,258.8,134.9,11.4,544,14029,0.00,2.40,0.00,0.000,6,0.000,0.030,3138,1988,1134
$GC,14285,1.29,258.8,107.9,9.0,569,14289,0.00,2.45,0.00,0.000,4,0.000,0.047,3138,575,1134
$GC,14341,1.29,258.8,102.2,10.0,573,14347,0.00,2.35,0.00,0.000,6,0.000,0.024,3138,2005,1133
$GC,14602,1.29,258.8,75.9,11.1,598,14603,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2010,1133
$GC,14857,1.29,258.8,50.8,9.1,622,14861,0.00,2.45,0.00,0.000,4,0.000,0.043,3138,584,1133
$GC,14911,1.29,258.8,45.8,8.6,626,14918,0.00,2.33,0.00,0.000,6,0.000,0.022,3138,1991,1133
$GC,15178,1.29,258.8,25.0,8.9,656,15184,0.00,2.30,0.00,0.000,4,0.000,0.031,3138,3385,1134
$GC,15247,1.29,258.8,17.3,12.2,668,15253,0.00,2.33,0.00,0.000,6,0.000,0.026,3139,1973,1134
$STATE,15342,end climb,SURFACE_DEPTH_REACHED
$STATE,15342,begin surface coast
$FINISH,0.5,1.023849
$STATE,15410,end surface coast,CONTROL_FINISHED_OK
$STATE,15410,begin surface
$SM_CCo,15431,74.03,0.548,0,0,772,350.04
$SM_GC,1.29,0.00,0.00,74.03,0.000,0.000,0.548,421,1857,772,-11.17,-0.96,350.04
$IRIDIUM_FIX,2136.49,-15830.44,260698,232312
$TT8_MAMPS,0.029146
$HUMID,1756
$INTERNAL_PRESSURE,8.00466
$TCM_TEMP,22.00
$XPDR_PINGS,18
$ALTIM_BOTTOM_PING,701.6,15.5
$24V_AH,23.3,23.906
$10V_AH,10.2,13.545
$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,25.975,174.900,344.575,74.025,0.000,47.220,64.012,390.053,6.250,0.000,0.000,36.729,1353.402,11797.114,536.317,1782.474,734.565,33.356,1465.781,0.000,1721.351,0.000,16.584,0.000
$DEVICE_MAMPS,143.429,92.040,1107.548,548.405,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,471.819,373.263,515.262,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34834,697
$CAP_FILE_SIZE,128409,9
$CFSIZE,260165632,254574592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020409,040331,2140.674,-15828.889,68,1.0,69,9.9