version: 66.04
glider: 139
mission: 6
dive: 135
start: 4 20 109 9 3 6
data:
$ID,139
$MISSION,6
$DIVE,135
$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,-1354454.5
$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,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,0
$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
$GPS1,085625,2122.070,-15845.059,37,1.4,38,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-71.0
$GPS2,090213,2122.030,-15845.038,10,1.4,15,9.8
$SPEED_LIMITS,0.137,0.221
$TGT_NAME,MIDS1
$TGT_LATLONG,2122.832,-15846.604
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.136,-0.015
$KALMAN_X,-14458.0,60.7,806.8,-13805.2,-2243.7
$KALMAN_Y,32606.9,52.6,-368.8,-71154.5,1535.4
$MHEAD_RNG_PITCHd_Wd,253.7,3080,-27.7,-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,-1.78,-43.6,0.0,0.0,0,63,0.00,0.00,-46.78,0.000,6,0.000,0.000,429,1866,2379
$GC,66,-1.80,-59.5,3.4,-6.0,8,86,11.12,2.40,-1.15,0.000,4,0.143,0.037,2456,3313,2445
$GC,217,-1.80,-59.5,40.3,-20.9,30,221,0.00,2.40,0.00,0.000,6,0.000,0.028,2455,1883,2447
$GC,484,-1.80,-59.5,98.8,-22.3,55,488,0.00,2.38,0.00,0.000,4,0.000,0.059,2456,3311,2448
$GC,675,-1.80,-59.5,138.9,-20.0,71,681,0.00,2.40,0.00,0.000,6,0.000,0.028,2456,1880,2448
$GC,936,-1.80,-59.5,187.9,-18.9,96,940,0.00,2.38,0.00,0.000,4,0.000,0.025,2455,3313,2450
$GC,1047,-1.80,-59.5,204.8,-14.3,104,1051,0.00,2.40,0.00,0.000,6,0.000,0.028,2456,1882,2450
$GC,1368,-1.80,-59.5,251.6,-14.6,120,1372,0.00,2.38,0.00,0.000,4,0.000,0.028,2456,3309,2452
$GC,1490,-1.80,-59.5,268.7,-14.6,125,1496,0.00,2.38,0.00,0.000,6,0.000,0.028,2456,1889,2453
$GC,1825,-1.80,-59.5,319.7,-15.3,139,1829,0.00,2.38,0.00,0.000,4,0.000,0.030,2456,3306,2454
$GC,1992,-1.80,-59.5,342.6,-13.1,142,1998,0.00,2.40,0.00,0.000,6,0.000,0.030,2456,1882,2453
$GC,2323,-1.80,-59.5,383.0,-12.1,151,2328,0.00,2.40,0.00,0.000,4,0.000,0.032,2456,3304,2452
$GC,2424,-1.80,-59.5,395.5,-11.6,153,2428,0.00,2.40,0.00,0.000,6,0.000,0.031,2456,1885,2452
$GC,2737,-1.80,-59.5,435.4,-13.3,161,2741,0.00,2.42,0.00,0.000,4,0.000,0.035,2456,3312,2450
$GC,2876,-1.80,-59.5,452.4,-11.3,164,2881,0.00,2.42,0.00,0.000,6,0.000,0.033,2455,1883,2449
$GC,3189,-1.80,-59.5,488.7,-11.7,172,3193,0.00,2.42,0.00,0.000,4,0.000,0.037,2456,3300,2447
$GC,3232,-1.80,-59.5,493.8,-11.8,173,3236,0.00,2.42,0.00,0.000,6,0.000,0.035,2455,1881,2446
$GC,3557,-1.80,-59.5,534.0,-12.6,181,3561,0.00,2.45,0.00,0.000,4,0.000,0.039,2456,3305,2444
$GC,3679,-1.80,-59.5,549.4,-12.4,183,3685,0.00,2.42,0.00,0.000,6,0.000,0.037,2455,1890,2443
$GC,4010,-1.80,-59.5,589.3,-11.9,192,4014,0.00,2.45,0.00,0.000,4,0.000,0.044,2455,3301,2441
$GC,4087,-1.80,-59.5,598.5,-11.2,193,4091,0.00,2.45,0.00,0.000,6,0.000,0.040,2455,1886,2441
$GC,4418,-1.80,-59.5,636.8,-11.8,201,4422,0.00,2.47,0.00,0.000,4,0.000,0.049,2456,3295,2438
$GC,4540,-1.80,-59.5,651.6,-12.2,203,4547,0.00,2.45,0.00,0.000,6,0.000,0.044,2455,1894,2437
$GC,4871,-1.80,-59.5,692.8,-12.5,212,4873,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,1893,2435
$GC,5196,-1.80,-59.5,730.4,-11.4,220,5200,0.00,2.50,0.00,0.000,4,0.000,0.061,2455,3293,2434
$GC,5387,-1.81,-64.8,748.0,-7.3,224,5392,0.00,2.55,0.00,0.000,6,0.000,0.093,2455,1885,2433
$GC,5700,-1.81,-64.8,775.2,-9.5,232,5704,0.00,2.58,0.00,0.000,4,0.000,0.071,2456,3289,2431
$GC,5946,-1.81,-64.8,799.8,-10.2,237,5950,0.00,2.65,0.00,0.000,6,0.000,0.084,2455,1883,2429
$GC,6283,-1.81,-64.8,834.6,-10.3,246,6287,0.00,2.67,0.00,0.000,4,0.000,0.089,2455,3287,2427
$GC,6382,-1.81,-64.8,845.4,-11.2,248,6387,0.00,2.72,0.00,0.000,6,0.000,0.105,2455,1888,2427
$GC,6730,-1.81,-64.8,883.3,-11.0,257,6734,0.00,2.78,0.00,0.000,4,0.000,0.108,2455,3286,2426
$GC,6897,-1.81,-64.8,901.6,-11.2,260,6903,0.00,2.85,0.00,0.000,6,0.000,0.123,2455,1892,2426
$GC,7228,-1.81,-64.8,937.8,-10.9,269,7233,0.00,2.90,0.00,0.000,4,0.000,0.129,2456,3288,2425
$GC,7283,-1.81,-64.8,943.9,-10.9,270,7288,0.00,2.97,0.00,0.000,6,0.000,0.141,2455,1889,2425
$STATE,7343,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7343,begin apogee
$GC,7349,-0.31,0.0,950.4,10.6,272,7407,1.60,0.00,53.70,1.285,6,0.097,0.000,2777,1973,2200
$STATE,7408,end apogee,CONTROL_FINISHED_OK
$STATE,7408,begin climb
$GC,7410,1.81,64.8,952.1,0.0,273,7481,2.12,0.00,66.05,1.262,6,0.044,0.000,3251,1973,1935
$GC,7791,1.83,84.1,938.9,5.6,283,7811,0.00,0.00,18.27,1.190,6,0.000,0.000,3251,1973,1857
$GC,8116,1.83,84.1,912.4,8.6,291,8117,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1973,1851
$GC,8440,1.83,84.1,885.7,8.0,299,8445,0.00,2.85,0.00,0.000,4,0.000,0.107,3251,3408,1849
$GC,8585,1.83,84.1,873.6,8.2,302,8589,0.00,2.83,0.00,0.000,6,0.000,0.131,3251,1987,1848
$GC,8898,1.83,86.4,849.5,7.6,310,8903,0.00,2.75,0.00,0.000,4,0.000,0.091,3251,3409,1846
$GC,9084,1.83,86.6,834.4,7.9,314,9088,0.00,2.75,0.00,0.000,6,0.000,0.115,3250,1979,1846
$GC,9396,1.83,86.6,808.6,8.3,322,9401,0.00,2.70,0.00,0.000,4,0.000,0.079,3250,3414,1845
$GC,9557,1.83,86.6,795.0,8.3,325,9562,0.00,2.65,0.00,0.000,6,0.000,0.085,3250,1981,1845
$GC,9895,1.84,87.9,768.1,7.8,334,9899,0.00,2.62,0.00,0.000,4,0.000,0.066,3251,3416,1844
$GC,9938,1.84,91.8,764.6,7.4,335,9952,0.00,2.60,6.57,0.949,6,0.000,0.091,3250,1984,1825
$GC,10260,1.85,99.7,741.6,7.0,343,10274,0.00,2.62,9.43,1.029,4,0.000,0.057,3251,3413,1793
$GC,10528,1.87,112.7,722.7,6.3,349,10547,0.00,2.55,14.18,1.076,6,0.000,0.070,3250,1979,1740
$GC,10855,1.87,115.9,697.8,7.5,357,10865,0.00,2.58,4.20,0.736,4,0.000,0.049,3251,3416,1727
$GC,11118,1.87,115.9,674.7,9.0,362,11124,0.00,2.53,0.00,0.000,6,0.000,0.042,3250,1977,1726
$GC,11449,1.87,115.9,642.0,10.3,371,11453,0.00,2.55,0.00,0.000,4,0.000,0.048,3250,3420,1725
$GC,11706,1.87,115.9,615.2,10.0,376,11712,0.00,2.50,0.00,0.000,6,0.000,0.040,3251,1984,1724
$GC,12037,1.87,115.9,585.0,8.8,385,12041,0.00,2.53,0.00,0.000,4,0.000,0.045,3251,3423,1724
$GC,12294,1.87,115.9,563.3,8.3,390,12300,0.00,2.50,0.00,0.000,6,0.000,0.038,3251,1982,1724
$GC,12625,1.87,115.9,536.3,8.4,399,12629,0.00,2.50,0.00,0.000,4,0.000,0.044,3251,3420,1723
$GC,12882,1.87,115.9,514.3,8.3,404,12886,0.00,2.47,0.00,0.000,6,0.000,0.037,3250,1986,1723
$GC,13219,1.87,115.9,485.4,8.3,413,13223,0.00,2.50,0.00,0.000,4,0.000,0.043,3250,3421,1723
$GC,13476,1.88,126.8,466.6,6.6,418,13492,0.00,2.47,11.35,0.913,6,0.000,0.067,3251,1988,1682
$GC,13806,1.90,140.2,444.4,6.3,427,13825,0.00,2.58,13.60,0.913,4,0.000,0.041,3251,3416,1628
$GC,14079,1.90,140.2,420.4,9.9,433,14083,0.00,2.47,0.00,0.000,6,0.000,0.035,3250,1983,1627
$GC,14403,1.90,140.2,391.8,8.8,441,14408,0.00,2.50,0.00,0.000,4,0.000,0.041,3250,3419,1625
$GC,14661,1.90,140.2,368.7,8.2,446,14667,0.00,2.45,0.00,0.000,6,0.000,0.035,3251,1988,1625
$GC,14992,1.91,145.7,343.4,7.3,455,15004,0.00,2.50,6.38,0.735,4,0.000,0.038,3251,3421,1605
$GC,15257,1.91,145.7,321.4,8.2,461,15261,0.00,2.45,0.00,0.000,6,0.000,0.033,3250,1989,1605
$GC,15581,1.91,145.7,295.3,8.1,470,15585,0.00,2.47,0.00,0.000,4,0.000,0.038,3250,3424,1604
$GC,15810,1.91,146.6,275.7,7.8,480,15814,0.00,2.45,0.00,0.000,6,0.000,0.031,3251,1980,1604
$GC,16131,1.92,156.4,252.6,6.7,496,16152,0.00,2.58,11.45,0.757,4,0.000,0.037,3251,3424,1560
$GC,16191,1.92,156.4,248.0,8.2,498,16197,0.00,2.45,0.00,0.000,6,0.000,0.031,3251,1986,1560
$GC,16507,1.93,160.7,222.7,7.4,514,16513,0.00,0.00,4.82,0.584,6,0.000,0.000,3251,1986,1545
$GC,16816,1.93,166.7,199.2,7.2,529,16828,0.00,2.55,7.15,0.652,4,0.000,0.035,3251,3428,1520
$GC,17081,1.94,169.0,177.6,7.6,552,17091,0.00,2.42,3.88,0.482,6,0.000,0.029,3251,1984,1510
$GC,17354,1.95,184.1,160.1,6.1,578,17377,0.10,2.50,14.98,0.689,4,0.060,0.034,3281,3423,1448
$GC,17383,1.97,193.9,158.0,6.7,580,17400,0.00,2.42,10.40,0.644,6,0.000,0.028,3281,1989,1409
$GC,17656,1.97,193.9,130.7,9.7,606,17660,0.00,2.45,0.00,0.000,4,0.000,0.045,3281,577,1406
$GC,17913,1.97,193.9,106.0,8.3,628,17919,0.00,2.42,0.00,0.000,6,0.000,0.024,3281,2032,1403
$GC,18174,1.97,193.9,81.9,9.0,653,18179,0.00,2.53,0.00,0.000,4,0.000,0.074,3281,573,1403
$GC,18191,1.97,193.9,80.3,9.2,654,18195,0.00,2.33,0.00,0.000,6,0.000,0.024,3281,1992,1403
$GC,18452,1.97,193.9,58.3,8.7,678,18456,0.00,2.33,0.00,0.000,4,0.000,0.030,3281,3395,1403
$GC,18588,1.97,193.9,46.2,8.0,690,18592,0.00,2.33,0.00,0.000,6,0.000,0.025,3281,1979,1403
$GC,18853,1.97,193.9,24.8,8.4,719,18860,0.00,2.35,0.00,0.000,4,0.000,0.028,3281,3396,1403
$GC,18894,1.97,193.9,21.1,9.4,726,18901,0.00,2.33,0.00,0.000,6,0.000,0.025,3281,1989,1403
$STATE,19081,end climb,SURFACE_DEPTH_REACHED
$STATE,19081,begin surface coast
$FINISH,0.3,1.003340
$STATE,19165,end surface coast,CONTROL_FINISHED_OK
$STATE,19165,begin surface
$SM_CCo,19187,104.95,0.557,0,0,894,320.12
$SM_GC,1.24,0.00,0.00,104.95,0.000,0.000,0.557,427,1876,894,-11.15,-0.40,320.12
$IRIDIUM_FIX,2111.01,-15844.13,150798,030313
$TT8_MAMPS,0.029146
$HUMID,1709
$INTERNAL_PRESSURE,8.02419
$TCM_TEMP,22.40
$XPDR_PINGS,16
$24V_AH,23.1,34.771
$10V_AH,10.2,20.207
$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,27.275,186.500,256.400,104.950,0.000,25.242,26.772,166.564,4.000,0.000,0.000,17.424,1655.551,14297.067,526.841,2655.251,491.335,33.384,1806.629,0.000,2604.080,0.000,0.538,0.000
$DEVICE_MAMPS,143.429,141.128,1284.725,556.842,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,525.514,382.719,510.273,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41198,774
$CAP_FILE_SIZE,151575,3
$CFSIZE,260165632,249458688
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,200409,142627,2122.193,-15846.286,49,2.9,69,9.8