version: 66.04
glider: 139
mission: 6
dive: 65
start: 4 2 109 19 1 27
data:
$ID,139
$MISSION,6
$DIVE,65
$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,-1352343.8
$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,42
$R_STBD_OVSHOOT,46
$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
$GPS1,184627,2143.996,-15827.667,234,5.4,253,9.9
$_CALLS,3
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-65.6
$GPS2,190036,2143.993,-15827.687,10,1.3,26,9.9
$SPEED_LIMITS,0.137,0.233
$TGT_NAME,MIDN1
$TGT_LATLONG,2157.225,-15822.997
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.219,0.078
$KALMAN_X,-61430.8,640.3,587.2,106640.1,-4938.4
$KALMAN_Y,-2895.1,-304.9,-331.2,39828.4,-908.6
$MHEAD_RNG_PITCHd_Wd,60.5,25796,-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,-131.4,0.0,0.0,0,69,0.00,0.00,-52.17,0.000,2,0.000,0.000,426,1863,2435
$GC,72,-1.14,-131.4,3.0,-5.0,9,98,12.00,2.42,-5.20,0.000,4,0.146,0.042,2600,3281,2740
$GC,121,-1.14,-131.4,19.1,-27.1,17,128,0.00,2.30,0.00,0.000,6,0.000,0.027,2599,1902,2742
$GC,329,-1.14,-131.4,50.1,-14.2,42,333,0.00,2.45,0.00,0.000,4,0.000,0.045,2599,483,2742
$GC,350,-1.14,-131.4,53.8,-16.0,43,357,0.00,2.28,0.00,0.000,6,0.000,0.020,2600,1902,2742
$GC,611,-1.14,-131.4,91.0,-14.2,68,615,0.00,2.28,0.00,0.000,4,0.000,0.036,2599,3278,2743
$GC,645,-1.14,-131.4,95.6,-13.6,71,649,0.00,2.33,0.00,0.000,6,0.000,0.027,2599,1879,2742
$GC,911,-1.14,-131.4,129.6,-11.3,96,914,0.00,2.40,0.00,0.000,4,0.000,0.071,2598,479,2743
$GC,938,-1.14,-131.4,132.8,-12.0,98,944,0.00,2.30,0.00,0.000,6,0.000,0.020,2599,1888,2744
$GC,1199,-1.14,-131.4,162.0,-11.6,123,1203,0.00,2.30,0.00,0.000,4,0.000,0.028,2599,3279,2744
$GC,1228,-1.14,-131.4,165.3,-11.8,125,1232,0.00,2.33,0.00,0.000,6,0.000,0.027,2599,1884,2744
$GC,1489,-1.14,-131.4,195.1,-12.7,149,1493,0.00,2.40,0.00,0.000,4,0.000,0.044,2599,484,2745
$GC,1555,-1.14,-131.4,204.0,-13.1,153,1559,0.00,2.28,0.00,0.000,6,0.000,0.021,2599,1897,2745
$GC,1882,-1.14,-131.4,238.1,-9.6,169,1886,0.00,2.30,0.00,0.000,4,0.000,0.031,2599,3282,2745
$GC,1915,-1.14,-131.4,241.5,-10.3,170,1921,0.00,2.33,0.00,0.000,6,0.000,0.028,2599,1882,2744
$GC,2230,-1.14,-131.4,271.8,-8.6,186,2231,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1882,2745
$GC,2540,-1.14,-131.4,296.7,-7.9,201,2544,0.00,2.42,0.00,0.000,4,0.000,0.048,2599,479,2744
$GC,2567,-1.14,-131.4,299.1,-8.7,202,2571,0.00,2.30,0.00,0.000,6,0.000,0.025,2599,1884,2744
$GC,2884,-1.14,-131.4,325.2,-8.4,211,2885,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1888,2743
$GC,3208,-1.14,-131.4,353.5,-8.6,219,3212,0.00,2.38,0.00,0.000,4,0.000,0.036,2599,3294,2741
$GC,3235,-1.14,-131.4,355.8,-8.8,219,3239,0.00,2.38,0.00,0.000,6,0.000,0.032,2599,1889,2740
$GC,3572,-1.14,-131.4,383.7,-8.4,228,3573,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1889,2738
$GC,3897,-1.14,-131.4,411.9,-8.7,236,3901,0.00,2.47,0.00,0.000,4,0.000,0.054,2599,474,2736
$GC,3918,-1.14,-131.4,414.0,-9.3,236,3923,0.00,2.38,0.00,0.000,6,0.000,0.030,2599,1881,2737
$GC,4260,-1.14,-131.4,443.0,-8.5,245,4264,0.00,2.40,0.00,0.000,4,0.000,0.040,2599,3297,2735
$GC,4327,-1.14,-131.4,448.7,-8.6,246,4331,0.00,2.40,0.00,0.000,6,0.000,0.035,2599,1887,2734
$GC,4675,-1.14,-131.4,477.9,-8.3,255,4679,0.00,2.47,0.00,0.000,4,0.000,0.057,2599,483,2732
$GC,4707,-1.14,-131.4,480.8,-8.9,255,4713,0.00,2.38,0.00,0.000,6,0.000,0.031,2599,1897,2732
$GC,5038,-1.14,-131.4,505.5,-7.3,264,5042,0.00,2.50,0.00,0.000,4,0.000,0.057,2599,484,2730
$GC,5060,-1.14,-131.4,507.3,-7.8,264,5065,0.00,2.38,0.00,0.000,6,0.000,0.031,2598,1899,2729
$GC,5402,-1.14,-131.4,533.1,-7.5,273,5404,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1905,2727
$GC,5727,-1.14,-131.4,557.4,-7.4,281,5729,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1905,2726
$GC,6053,-1.14,-131.4,579.5,-6.7,289,6057,0.00,2.42,0.00,0.000,4,0.000,0.051,2599,3292,2724
$GC,6080,-1.14,-131.4,581.5,-7.2,289,6084,0.00,2.42,0.00,0.000,6,0.000,0.041,2599,1890,2724
$GC,6416,-1.14,-131.4,606.4,-7.7,298,6420,0.00,2.53,0.00,0.000,4,0.000,0.065,2599,482,2722
$GC,6443,-1.14,-131.4,608.8,-8.4,298,6448,0.00,2.40,0.00,0.000,6,0.000,0.035,2599,1895,2722
$GC,6786,-1.14,-131.4,635.7,-7.8,307,6788,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1895,2720
$GC,7111,-1.14,-131.4,658.9,-7.1,315,7112,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1895,2719
$GC,7436,-1.14,-131.4,680.7,-6.5,323,7440,0.00,2.60,0.00,0.000,4,0.000,0.077,2599,481,2717
$GC,7480,-1.14,-131.4,683.8,-7.1,324,7484,0.00,2.42,0.00,0.000,6,0.000,0.039,2599,1895,2716
$GC,7798,-1.14,-131.4,705.4,-7.1,332,7802,0.00,2.53,0.00,0.000,4,0.000,0.067,2599,3296,2715
$GC,7825,-1.14,-131.4,707.5,-7.6,332,7829,0.00,2.50,0.00,0.000,6,0.000,0.087,2599,1893,2715
$GC,8161,-1.14,-131.4,732.2,-7.4,341,8165,0.00,2.62,0.00,0.000,4,0.000,0.102,2599,481,2714
$GC,8187,-1.14,-131.4,734.3,-8.1,341,8192,0.00,2.45,0.00,0.000,6,0.000,0.046,2599,1886,2714
$STATE,8445,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8445,begin apogee
$GC,8451,-0.31,0.0,752.0,6.9,348,8570,0.88,0.00,115.35,1.153,6,0.078,0.000,2782,1999,2200
$STATE,8571,end apogee,CONTROL_FINISHED_OK
$STATE,8571,begin climb
$GC,8573,1.14,131.4,755.8,0.0,351,8704,1.42,2.65,120.55,1.125,4,0.048,0.075,3097,3395,1663
$GC,8742,1.14,131.4,753.2,8.2,355,8747,0.00,2.60,0.00,0.000,6,0.000,0.082,3097,1982,1659
$GC,9067,1.15,141.0,727.5,7.5,363,9077,0.00,0.00,8.05,0.924,6,0.000,0.000,3097,1981,1625
$GC,9392,1.16,148.7,702.3,7.6,371,9406,0.00,2.62,8.43,0.940,4,0.000,0.058,3097,3388,1593
$GC,9451,1.16,148.7,697.6,8.0,372,9455,0.00,2.53,0.00,0.000,6,0.000,0.054,3097,1984,1593
$GC,9764,1.18,165.8,674.9,7.2,380,9783,0.00,0.00,16.85,1.039,6,0.000,0.000,3097,1984,1523
$GC,10089,1.18,165.8,649.6,7.9,388,10093,0.00,2.58,0.00,0.000,4,0.000,0.071,3096,573,1519
$GC,10121,1.18,165.8,646.7,8.7,388,10127,0.00,2.47,0.00,0.000,6,0.000,0.038,3097,1996,1517
$GC,10452,1.18,165.8,620.5,8.0,397,10456,0.00,2.60,0.00,0.000,4,0.000,0.094,3096,574,1517
$GC,10484,1.18,165.8,617.6,8.7,397,10490,0.00,2.47,0.00,0.000,6,0.000,0.071,3096,2000,1515
$GC,10815,1.18,165.8,591.1,8.0,406,10820,0.00,2.50,0.00,0.000,4,0.000,0.054,3097,3405,1515
$GC,10859,1.18,165.8,587.2,8.1,407,10864,0.00,2.50,0.00,0.000,6,0.000,0.059,3097,1976,1515
$GC,11183,1.18,165.8,561.0,8.4,415,11188,0.00,2.53,0.00,0.000,4,0.000,0.048,3097,3403,1515
$GC,11295,1.18,165.8,550.9,9.2,417,11299,0.00,2.47,0.00,0.000,6,0.000,0.044,3097,1982,1514
$GC,11632,1.18,165.8,521.9,8.4,426,11636,0.00,2.50,0.00,0.000,4,0.000,0.047,3097,3399,1513
$GC,11653,1.18,168.9,520.1,7.8,426,11657,0.00,2.45,0.00,0.000,6,0.000,0.044,3097,1988,1513
$GC,11990,1.20,183.8,495.1,7.3,435,12013,0.00,2.60,16.45,0.953,4,0.000,0.046,3097,3403,1450
$GC,12079,1.20,185.8,488.3,7.8,437,12083,0.00,2.47,0.00,0.000,6,0.000,0.058,3097,1986,1448
$GC,12402,1.21,192.5,463.2,7.6,445,12416,0.00,2.55,9.07,0.861,4,0.000,0.058,3097,583,1415
$GC,12446,1.21,192.5,459.3,9.1,446,12451,0.00,2.45,0.00,0.000,6,0.000,0.035,3097,2005,1413
$GC,12769,1.21,192.5,431.4,8.6,454,12773,0.00,2.42,0.00,0.000,4,0.000,0.048,3097,3393,1412
$GC,12858,1.21,192.5,423.2,8.9,456,12862,0.00,2.45,0.00,0.000,6,0.000,0.041,3097,1981,1412
$GC,13183,1.21,192.5,395.1,8.3,464,13184,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,1981,1411
$GC,13508,1.26,228.2,372.6,6.5,472,13548,0.12,0.00,33.58,0.893,6,0.060,0.000,3130,1981,1269
$GC,13872,1.26,228.2,338.1,9.6,481,13876,0.00,2.47,0.00,0.000,4,0.000,0.041,3131,3403,1264
$GC,13889,1.26,228.2,336.6,9.6,481,13893,0.00,2.45,0.00,0.000,6,0.000,0.068,3130,1985,1264
$GC,14230,1.26,228.2,303.4,9.7,490,14234,0.00,2.50,0.00,0.000,4,0.000,0.054,3130,572,1262
$GC,14245,1.26,228.2,301.5,9.9,490,14249,0.00,2.42,0.00,0.000,6,0.000,0.031,3130,2003,1262
$GC,14578,1.26,228.2,269.5,9.2,506,14582,0.00,2.53,0.00,0.000,4,0.000,0.051,3130,578,1261
$GC,14668,1.26,228.2,259.7,10.5,510,14672,0.00,2.38,0.00,0.000,6,0.000,0.030,3131,1990,1260
$GC,14994,1.26,228.2,225.1,11.4,526,14995,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1995,1260
$GC,15306,1.26,228.2,192.6,10.0,544,15310,0.00,2.50,0.00,0.000,4,0.000,0.050,3130,570,1260
$GC,15334,1.26,228.2,189.6,10.5,546,15338,0.00,2.38,0.00,0.000,6,0.000,0.028,3130,1992,1259
$GC,15594,1.26,228.2,165.1,8.8,570,15598,0.00,2.47,0.00,0.000,4,0.000,0.048,3130,580,1259
$GC,15694,1.26,228.2,155.2,10.5,578,15700,0.00,2.35,0.00,0.000,6,0.000,0.027,3131,2004,1258
$GC,15955,1.26,228.2,131.3,9.0,603,15960,0.00,2.50,0.00,0.000,4,0.000,0.045,3130,570,1259
$GC,15984,1.26,228.2,128.8,9.5,605,15988,0.00,2.35,0.00,0.000,6,0.000,0.025,3130,1993,1259
$GC,16245,1.26,228.2,105.4,8.5,629,16246,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1998,1259
$GC,16500,1.27,242.7,84.6,7.3,653,16522,0.00,2.55,12.40,0.591,4,0.000,0.044,3131,569,1209
$GC,16534,1.27,242.7,81.9,9.2,656,16538,0.00,2.35,0.00,0.000,6,0.000,0.023,3130,1993,1208
$GC,16795,1.27,242.7,60.5,8.1,680,16799,0.00,2.47,0.00,0.000,4,0.000,0.044,3130,567,1208
$GC,16816,1.27,242.7,58.5,8.5,681,16822,0.00,2.33,0.00,0.000,6,0.000,0.022,3131,2000,1208
$GC,17078,1.28,251.0,39.1,7.6,706,17091,0.00,2.53,8.95,0.519,4,0.000,0.073,3130,570,1175
$GC,17141,1.28,251.0,33.3,9.2,711,17148,0.00,2.35,0.00,0.000,6,0.000,0.021,3130,1988,1173
$GC,17414,1.28,251.0,7.8,11.0,756,17421,0.00,2.33,0.00,0.000,4,0.000,0.031,3130,3390,1173
$STATE,17431,end climb,SURFACE_DEPTH_REACHED
$STATE,17431,begin surface coast
$FINISH,5.3,1.023849
$STATE,17437,end surface coast,CONTROL_FINISHED_OK
$STATE,17438,begin surface
$SM_CCo,17461,82.12,0.559,0,0,772,350.04
$SM_GC,1.07,0.00,0.00,82.12,0.000,0.000,0.559,428,1869,772,-11.14,-0.59,350.04
$IRIDIUM_FIX,2138.81,-15829.59,270698,191916
$TT8_MAMPS,0.029146
$HUMID,1738
$INTERNAL_PRESSURE,7.99489
$TCM_TEMP,22.00
$XPDR_PINGS,24
$ALTIM_BOTTOM_PING,752.0,20.3
$24V_AH,23.2,24.507
$10V_AH,10.2,13.878
$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,26.350,185.825,349.675,82.125,0.000,84.208,84.589,407.640,8.250,0.000,0.000,28.250,1442.551,13777.922,578.368,1742.946,833.909,33.360,1503.797,0.000,1698.265,0.000,21.242,0.000
$DEVICE_MAMPS,145.730,102.011,1152.801,559.143,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,515.531,398.433,531.998,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37973,760
$CAP_FILE_SIZE,135978,7
$CFSIZE,260165632,254320640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020409,235527,2144.093,-15826.516,36,3.3,56,9.9