version: 66.04
glider: 139
mission: 6
dive: 63
start: 4 2 109 8 25 48
data:
$ID,139
$MISSION,6
$DIVE,63
$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,-1352298.9
$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,56
$R_STBD_OVSHOOT,49
$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
$GPS1,075850,2141.398,-15828.880,12,1.6,12,9.9
$_CALLS,5
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-68.3
$GPS2,082457,2141.412,-15829.021,93,3.0,112,9.9
$SPEED_LIMITS,0.137,0.233
$TGT_NAME,MIDN1
$TGT_LATLONG,2157.225,-15822.997
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.118,0.201
$KALMAN_X,-59920.5,1228.0,444.8,102395.3,-9390.8
$KALMAN_Y,558.6,306.5,-105.0,30768.3,-4532.2
$MHEAD_RNG_PITCHd_Wd,20.5,31060,-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,-52.45,0.000,2,0.000,0.000,423,1852,2474
$GC,73,-1.14,-131.4,3.7,-6.4,9,98,12.00,2.42,-4.40,0.000,4,0.147,0.038,2596,3285,2740
$GC,128,-1.14,-131.4,23.0,-26.9,18,134,0.00,2.28,0.00,0.000,6,0.000,0.035,2595,1919,2742
$GC,329,-1.14,-131.4,51.7,-16.2,42,333,0.00,2.47,0.00,0.000,4,0.000,0.043,2595,476,2743
$GC,380,-1.14,-131.4,60.5,-17.5,46,384,0.00,2.30,0.00,0.000,6,0.000,0.020,2595,1903,2743
$GC,642,-1.14,-131.4,98.6,-14.7,70,646,0.00,2.45,0.00,0.000,4,0.000,0.044,2595,483,2743
$GC,675,-1.14,-131.4,104.1,-16.3,72,681,0.00,2.25,0.00,0.000,6,0.000,0.020,2595,1898,2743
$GC,936,-1.14,-131.4,139.7,-12.6,97,940,0.00,2.28,0.00,0.000,4,0.000,0.027,2595,3283,2744
$GC,959,-1.14,-131.4,142.3,-11.3,99,963,0.00,2.33,0.00,0.000,6,0.000,0.026,2595,1880,2744
$GC,1220,-1.14,-131.4,171.5,-12.2,123,1223,0.00,2.40,0.00,0.000,4,0.000,0.077,2595,480,2744
$GC,1298,-1.14,-131.4,181.2,-11.7,130,1302,0.00,2.25,0.00,0.000,6,0.000,0.020,2595,1885,2744
$GC,1567,-1.14,-131.4,208.9,-10.2,151,1571,0.00,1.62,0.00,0.000,4,0.000,0.074,2595,2913,2744
$GC,1606,-1.14,-131.4,213.1,-10.5,152,1612,0.00,1.73,0.00,0.000,6,0.000,0.027,2595,1885,2745
$GC,1921,-1.14,-131.4,245.3,-10.5,168,1925,0.00,2.33,0.00,0.000,4,0.000,0.029,2595,3279,2744
$GC,1943,-1.14,-131.4,247.6,-10.1,169,1947,0.00,2.33,0.00,0.000,6,0.000,0.027,2595,1883,2745
$GC,2270,-1.14,-131.4,278.9,-9.6,185,2271,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,1883,2745
$GC,2579,-1.14,-131.4,307.6,-9.2,198,2580,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,1883,2744
$GC,2903,-1.14,-131.4,336.6,-8.7,206,2907,0.00,2.42,0.00,0.000,4,0.000,0.055,2595,485,2742
$GC,2929,-1.14,-131.4,339.2,-9.2,206,2934,0.00,2.30,0.00,0.000,6,0.000,0.027,2595,1885,2741
$GC,3267,-1.14,-131.4,365.4,-7.4,215,3271,0.00,2.38,0.00,0.000,4,0.000,0.037,2595,3295,2739
$GC,3311,-1.14,-131.4,368.8,-7.5,216,3315,0.00,2.38,0.00,0.000,6,0.000,0.033,2595,1890,2739
$GC,3629,-1.14,-131.4,392.6,-7.6,224,3633,0.00,2.45,0.00,0.000,4,0.000,0.051,2595,481,2737
$GC,3661,-1.14,-131.4,395.4,-8.5,224,3668,0.00,2.33,0.00,0.000,6,0.000,0.029,2595,1884,2737
$GC,3992,-1.14,-131.4,421.3,-8.2,233,3994,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,1889,2735
$GC,4318,-1.14,-131.4,446.7,-7.6,241,4322,0.00,2.40,0.00,0.000,4,0.000,0.041,2595,3294,2733
$GC,4345,-1.14,-131.4,448.8,-7.6,241,4349,0.00,2.40,0.00,0.000,6,0.000,0.053,2595,1886,2733
$GC,4688,-1.14,-131.4,472.5,-6.5,250,4692,0.00,2.42,0.00,0.000,4,0.000,0.041,2595,3297,2730
$GC,4715,-1.14,-131.4,474.3,-6.7,250,4719,0.00,2.40,0.00,0.000,6,0.000,0.037,2595,1892,2730
$GC,5046,-1.14,-131.4,495.1,-6.6,258,5051,0.00,2.50,0.00,0.000,4,0.000,0.064,2595,480,2728
$GC,5086,-1.14,-131.4,498.3,-8.1,259,5090,0.00,2.38,0.00,0.000,6,0.000,0.032,2595,1888,2728
$GC,5409,-1.14,-131.4,522.6,-8.1,267,5413,0.00,2.42,0.00,0.000,4,0.000,0.046,2595,3293,2725
$GC,5430,-1.14,-131.4,524.5,-8.4,267,5434,0.00,2.42,0.00,0.000,6,0.000,0.038,2595,1879,2725
$GC,5775,-1.14,-131.4,553.0,-8.3,276,5779,0.00,2.45,0.00,0.000,4,0.000,0.045,2595,3292,2723
$GC,5795,-1.14,-131.4,555.1,-8.2,276,5800,0.00,2.42,0.00,0.000,6,0.000,0.041,2595,1885,2723
$GC,6138,-1.14,-131.4,582.2,-7.8,285,6143,0.00,2.50,0.00,0.000,4,0.000,0.074,2595,479,2722
$GC,6160,-1.14,-131.4,584.1,-8.4,285,6164,0.00,2.40,0.00,0.000,6,0.000,0.035,2595,1896,2721
$STATE,6382,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6383,begin apogee
$GC,6389,-0.31,0.0,600.9,7.6,291,6505,0.88,0.00,113.03,1.034,6,0.076,0.000,2778,2002,2200
$STATE,6506,end apogee,CONTROL_FINISHED_OK
$STATE,6506,begin climb
$GC,6508,1.14,131.4,604.9,0.0,294,6635,1.42,2.55,117.82,1.006,4,0.044,0.056,3098,3376,1663
$GC,6675,1.20,182.1,604.0,5.9,298,6726,0.00,2.45,45.15,0.978,6,0.000,0.074,3098,1992,1456
$GC,7039,1.20,182.1,572.6,8.5,307,7043,0.00,2.58,0.00,0.000,4,0.000,0.063,3098,576,1447
$GC,7071,1.20,182.1,569.6,9.4,307,7077,0.00,2.42,0.00,0.000,6,0.000,0.035,3098,1980,1445
$GC,7402,1.21,193.5,544.6,7.5,316,7413,0.00,0.00,9.50,0.864,6,0.000,0.000,3098,1980,1411
$GC,7727,1.21,193.5,515.5,9.2,324,7731,0.00,2.50,0.00,0.000,4,0.000,0.052,3098,3401,1407
$GC,7804,1.21,193.5,507.9,10.2,325,7810,0.00,2.47,0.00,0.000,6,0.000,0.045,3098,1981,1407
$GC,8135,1.21,193.5,473.9,10.1,334,8139,0.00,2.53,0.00,0.000,4,0.000,0.072,3098,570,1405
$GC,8184,1.21,193.5,468.9,9.8,335,8188,0.00,2.45,0.00,0.000,6,0.000,0.035,3098,2001,1404
$GC,8503,1.21,194.2,443.3,7.9,343,8504,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2005,1404
$GC,8827,1.21,194.2,414.1,9.2,351,8832,0.00,2.42,0.00,0.000,4,0.000,0.048,3098,3396,1403
$GC,8882,1.21,194.2,408.0,10.8,352,8887,0.00,2.45,0.00,0.000,6,0.000,0.043,3098,1977,1403
$GC,9196,1.21,194.2,378.4,8.8,360,9200,0.00,2.47,0.00,0.000,4,0.000,0.092,3098,583,1403
$GC,9256,1.21,194.2,373.4,8.3,361,9260,0.00,2.40,0.00,0.000,6,0.000,0.033,3098,1996,1401
$GC,9604,1.27,236.8,351.8,6.2,370,9646,0.12,0.00,38.65,0.877,6,0.058,0.000,3132,2001,1234
$GC,9970,1.27,236.8,316.1,10.3,379,9971,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,2001,1227
$GC,10277,1.27,236.8,281.5,11.4,390,10281,0.00,2.53,0.00,0.000,4,0.000,0.053,3132,577,1227
$GC,10299,1.27,236.8,278.9,11.6,391,10304,0.00,2.40,0.00,0.000,6,0.000,0.038,3132,1994,1225
$GC,10625,1.27,236.8,240.0,11.3,407,10629,0.00,2.50,0.00,0.000,4,0.000,0.052,3132,581,1225
$GC,10686,1.27,236.8,232.3,12.7,409,10692,0.00,2.40,0.00,0.000,6,0.000,0.064,3132,2001,1224
$GC,11002,1.27,236.8,198.9,10.3,425,11006,0.00,2.38,0.00,0.000,4,0.000,0.038,3132,3397,1223
$GC,11034,1.27,236.8,195.4,10.2,427,11041,0.00,2.40,0.00,0.000,6,0.000,0.032,3132,1986,1223
$GC,11295,1.27,236.8,172.3,8.2,452,11300,0.00,2.45,0.00,0.000,4,0.000,0.049,3132,578,1223
$GC,11335,1.27,236.8,168.9,9.2,455,11339,0.00,2.38,0.00,0.000,6,0.000,0.027,3132,2007,1222
$GC,11596,1.27,236.8,147.1,8.3,479,11601,0.00,2.50,0.00,0.000,4,0.000,0.047,3132,577,1222
$GC,11692,1.27,236.8,138.1,9.1,487,11697,0.00,2.35,0.00,0.000,6,0.000,0.025,3132,2000,1221
$GC,11959,1.27,236.8,115.5,8.7,512,11960,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,2005,1221
$GC,12214,1.27,236.8,93.2,8.8,536,12218,0.00,2.47,0.00,0.000,4,0.000,0.044,3132,571,1221
$GC,12348,1.27,236.8,80.1,9.6,548,12353,0.00,2.33,0.00,0.000,6,0.000,0.024,3132,1995,1222
$GC,12610,1.32,282.1,60.7,6.1,572,12654,0.00,2.08,37.88,0.593,4,0.000,0.050,3132,3258,1048
$GC,12667,1.35,303.7,57.0,7.0,577,12691,0.00,2.15,19.23,0.563,6,0.000,0.026,3132,1979,962
$GC,12947,1.35,303.7,29.0,10.4,603,12953,0.00,2.40,0.00,0.000,4,0.000,0.051,3132,580,958
$GC,12982,1.35,303.7,24.5,10.9,609,12989,0.00,2.30,0.00,0.000,6,0.000,0.021,3132,2000,957
$STATE,13157,end climb,SURFACE_DEPTH_REACHED
$STATE,13157,begin surface coast
$FINISH,0.7,1.023868
$STATE,13252,end surface coast,CONTROL_FINISHED_OK
$STATE,13252,begin surface
$SM_CCo,13274,38.53,0.539,0,0,772,350.04
$SM_GC,1.24,0.00,0.00,38.53,0.000,0.000,0.539,430,1846,772,-11.13,-1.24,350.04
$IRIDIUM_FIX,2131.85,-15830.44,270698,080835
$TT8_MAMPS,0.029146
$HUMID,1743
$INTERNAL_PRESSURE,8.00466
$TCM_TEMP,22.20
$XPDR_PINGS,23
$ALTIM_BOTTOM_PING,600.9,15.0
$24V_AH,23.4,24.202
$10V_AH,10.2,13.698
$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,26.025,142.850,381.250,38.525,0.000,148.401,167.078,772.098,6.500,0.000,0.000,115.594,1218.788,10245.119,505.257,1589.417,1312.373,33.351,1307.716,0.000,1468.364,0.000,7.287,0.000
$DEVICE_MAMPS,147.264,92.040,1033.916,539.201,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,443.752,375.534,533.817,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34806,657
$CAP_FILE_SIZE,121075,5
$CFSIZE,260165632,254480384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020409,120900,2143.213,-15828.649,35,1.2,40,9.9