version: 66.04
glider: 139
mission: 6
dive: 166
start: 4 28 109 7 34 55
data:
$ID,139
$MISSION,6
$DIVE,166
$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,-1355396
$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
$GPS1,072415,2157.265,-15821.386,108,2.3,127,9.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-70.3
$GPS2,073405,2157.340,-15821.478,11,3.3,30,9.9
$SPEED_LIMITS,0.137,0.221
$TGT_NAME,MIDN2
$TGT_LATLONG,2157.225,-15822.997
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.089,-0.104
$KALMAN_X,-29718.8,458.4,212.5,42181.3,-1133.3
$KALMAN_Y,51241.1,206.1,-179.4,-24732.8,1497.7
$MHEAD_RNG_PITCHd_Wd,210.7,2619,-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,-43.6,0.0,0.0,0,68,0.00,0.00,-47.17,0.000,6,0.000,0.000,426,1863,2379
$GC,71,-1.79,-48.4,4.0,-7.3,9,91,11.23,2.45,-0.38,0.000,4,0.146,0.039,2457,3331,2402
$GC,344,-1.79,-48.4,64.7,-21.2,42,349,0.00,2.45,0.00,0.000,6,0.000,0.030,2457,1881,2404
$GC,605,-1.79,-48.4,117.9,-19.9,66,609,0.00,2.38,0.00,0.000,4,0.000,0.025,2457,3313,2404
$GC,667,-1.79,-48.4,130.0,-18.6,71,671,0.00,2.40,0.00,0.000,6,0.000,0.028,2457,1882,2404
$GC,930,-1.79,-48.4,179.8,-17.9,95,934,0.00,2.38,0.00,0.000,4,0.000,0.059,2457,3312,2405
$GC,1052,-1.79,-48.4,199.3,-14.6,105,1058,0.00,2.38,0.00,0.000,6,0.000,0.028,2457,1891,2405
$GC,1317,-1.79,-48.4,237.5,-15.6,119,1321,0.00,2.38,0.00,0.000,4,0.000,0.028,2457,3318,2407
$GC,1473,-1.79,-48.4,262.9,-14.7,126,1477,0.00,2.40,0.00,0.000,6,0.000,0.027,2458,1881,2407
$GC,1799,-1.79,-48.4,308.1,-13.5,141,1803,0.00,2.40,0.00,0.000,4,0.000,0.029,2457,3317,2408
$GC,1955,-1.79,-48.4,330.3,-14.1,144,1959,0.00,2.40,0.00,0.000,6,0.000,0.028,2457,1886,2408
$GC,2298,-1.79,-48.4,373.5,-12.1,153,2302,0.00,2.40,0.00,0.000,4,0.000,0.031,2457,3310,2408
$GC,2555,-1.79,-48.4,402.8,-11.5,158,2561,0.00,2.40,0.00,0.000,6,0.000,0.031,2457,1889,2407
$GC,2886,-1.79,-48.4,442.6,-12.7,167,2890,0.00,2.40,0.00,0.000,4,0.000,0.035,2457,3304,2406
$GC,3143,-1.79,-48.4,471.3,-12.3,172,3149,0.00,2.42,0.00,0.000,6,0.000,0.034,2457,1879,2404
$GC,3475,-1.79,-48.4,512.7,-12.7,181,3479,0.00,2.42,0.00,0.000,4,0.000,0.036,2457,3302,2401
$GC,3694,-1.79,-48.4,540.0,-12.2,186,3699,0.00,2.40,0.00,0.000,6,0.000,0.036,2457,1893,2400
$GC,4024,-1.79,-48.4,580.5,-12.2,194,4028,0.00,2.42,0.00,0.000,4,0.000,0.040,2457,3301,2397
$GC,4051,-1.79,-48.4,583.8,-12.6,194,4055,0.00,2.42,0.00,0.000,6,0.000,0.038,2457,1891,2397
$GC,4381,-1.79,-48.4,623.0,-11.5,202,4386,0.00,2.45,0.00,0.000,4,0.000,0.044,2457,3298,2394
$GC,4437,-1.79,-48.4,629.5,-11.9,203,4441,0.00,2.45,0.00,0.000,6,0.000,0.041,2457,1883,2394
$GC,4750,-1.79,-48.4,665.6,-11.6,211,4754,0.00,2.50,0.00,0.000,4,0.000,0.050,2457,3303,2392
$GC,5007,-1.79,-48.4,694.2,-11.4,216,5013,0.00,2.50,0.00,0.000,6,0.000,0.050,2457,1889,2390
$GC,5338,-1.79,-48.4,729.5,-10.5,225,5342,0.00,2.53,0.00,0.000,4,0.000,0.058,2457,3299,2389
$GC,5422,-1.79,-48.4,739.2,-11.5,227,5426,0.00,2.55,0.00,0.000,6,0.000,0.061,2457,1885,2388
$GC,5745,-1.79,-48.4,775.5,-11.0,235,5749,0.00,2.58,0.00,0.000,4,0.000,0.070,2457,3290,2386
$GC,5962,-1.79,-48.4,796.2,-9.0,239,5970,0.03,2.62,0.00,0.000,6,0.150,0.079,2444,1887,2385
$GC,6294,-1.79,-48.4,825.7,-9.0,248,6298,0.00,2.65,0.00,0.000,4,0.000,0.086,2444,3287,2384
$GC,6359,-1.79,-48.4,832.0,-9.8,249,6364,0.00,2.67,0.00,0.000,6,0.000,0.091,2444,1890,2384
$GC,6702,-1.79,-48.4,863.9,-10.0,258,6706,0.00,2.88,0.00,0.000,4,0.000,0.153,2444,478,2382
$GC,6717,-1.79,-48.4,865.7,-10.3,258,6721,0.00,2.65,0.00,0.000,6,0.000,0.083,2444,1884,2381
$GC,7065,-1.79,-48.4,902.4,-10.5,267,7069,0.00,2.85,0.00,0.000,4,0.000,0.117,2444,3309,2381
$GC,7164,-1.79,-48.4,913.1,-10.0,269,7169,0.00,2.92,0.00,0.000,6,0.000,0.146,2444,1892,2381
$GC,7512,-1.79,-48.4,944.1,-8.7,278,7517,0.00,2.92,0.00,0.000,4,0.000,0.133,2444,3301,2379
$STATE,7576,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7576,begin apogee
$GC,7584,-0.31,0.0,950.4,9.8,279,7631,1.65,0.00,43.35,1.287,6,0.100,0.000,2778,1987,2200
$STATE,7632,end apogee,CONTROL_FINISHED_OK
$STATE,7632,begin climb
$GC,7635,1.79,48.4,951.5,0.0,280,7690,2.05,0.00,50.58,1.266,6,0.044,0.000,3245,1987,2002
$GC,8006,1.87,117.9,953.2,-0.5,290,8081,0.00,3.25,68.28,1.280,4,0.000,0.181,3245,573,1718
$GC,8120,1.87,117.9,946.9,11.0,292,8125,0.00,2.92,0.00,0.000,6,0.000,0.112,3245,1996,1714
$GC,8452,1.87,117.9,907.0,12.1,300,8456,0.00,2.85,0.00,0.000,4,0.000,0.115,3245,3403,1708
$GC,8709,1.87,117.9,871.9,14.7,305,8715,0.00,2.85,0.00,0.000,6,0.000,0.133,3244,1980,1707
$GC,9040,1.87,117.9,830.7,12.2,314,9044,0.00,2.75,0.00,0.000,4,0.000,0.086,3245,3411,1705
$GC,9297,1.87,117.9,797.8,12.9,319,9303,0.00,2.65,0.00,0.000,6,0.000,0.102,3245,1986,1705
$GC,9630,1.87,117.9,759.9,11.3,328,9634,0.00,2.67,0.00,0.000,4,0.000,0.112,3245,571,1703
$GC,9887,1.87,117.9,729.4,12.5,333,9893,0.00,2.53,0.00,0.000,6,0.000,0.043,3245,2013,1700
$GC,10218,1.87,117.9,698.3,8.9,342,10223,0.00,2.65,0.00,0.000,4,0.000,0.065,3245,564,1700
$GC,10234,1.87,117.9,696.7,8.8,342,10239,0.00,2.47,0.00,0.000,6,0.000,0.039,3245,1995,1699
$GC,10576,1.87,117.9,667.0,8.9,351,10581,0.00,2.47,0.00,0.000,4,0.000,0.051,3245,3398,1699
$GC,10592,1.87,117.9,665.4,9.1,351,10596,0.00,2.47,0.00,0.000,6,0.000,0.042,3245,1983,1699
$GC,10941,1.87,117.9,631.5,10.0,360,10945,0.00,2.50,0.00,0.000,4,0.000,0.047,3245,3399,1698
$GC,11198,1.87,117.9,607.3,9.5,365,11204,0.00,2.45,0.00,0.000,6,0.000,0.039,3245,1985,1698
$GC,11529,1.87,118.5,580.0,7.8,374,11533,0.00,2.50,0.00,0.000,4,0.000,0.044,3245,3410,1698
$GC,11787,1.87,118.5,558.7,9.0,379,11793,0.00,2.45,0.00,0.000,6,0.000,0.037,3245,1991,1698
$GC,12118,1.88,120.5,532.8,7.7,388,12123,0.00,2.47,0.00,0.000,4,0.000,0.044,3245,3405,1697
$GC,12376,1.89,128.9,513.5,6.9,393,12390,0.00,2.45,7.38,0.871,6,0.000,0.035,3245,1978,1674
$GC,12710,1.89,134.8,490.2,7.2,402,12724,0.00,2.58,7.22,0.851,4,0.000,0.042,3245,3404,1650
$GC,12753,1.90,138.3,486.6,7.5,403,12763,0.00,2.47,5.10,0.739,6,0.000,0.070,3244,1979,1636
$GC,13077,1.90,138.3,457.5,9.2,411,13078,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1980,1634
$GC,13401,1.90,138.3,428.1,8.8,419,13402,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,1979,1634
$GC,13726,1.90,138.3,398.3,9.2,427,13730,0.00,2.47,0.00,0.000,4,0.000,0.041,3245,3409,1633
$GC,13983,1.90,138.3,373.2,9.5,432,13987,0.00,2.45,0.00,0.000,6,0.000,0.067,3245,1986,1633
$GC,14320,1.90,141.9,346.5,7.5,441,14329,0.00,2.47,4.68,0.651,4,0.000,0.039,3245,3403,1621
$GC,14583,1.91,149.2,327.7,7.0,447,14597,0.00,2.42,8.88,0.788,6,0.000,0.032,3245,1985,1591
$GC,14911,1.91,149.2,301.5,8.6,455,14915,0.00,2.45,0.00,0.000,4,0.000,0.044,3245,3404,1589
$GC,15050,1.91,149.2,287.0,10.3,460,15054,0.00,2.42,0.00,0.000,6,0.000,0.066,3245,1988,1589
$GC,15366,1.94,168.2,265.1,5.6,475,15391,0.12,2.53,18.33,0.802,4,0.059,0.070,3277,3402,1513
$GC,15495,1.94,168.2,254.1,10.9,480,15501,0.00,2.42,0.00,0.000,6,0.000,0.066,3277,1985,1513
$GC,15810,1.94,168.2,224.7,9.6,496,15814,0.00,2.45,0.00,0.000,4,0.000,0.035,3277,3412,1510
$GC,16069,1.94,168.2,202.1,8.5,507,16075,0.00,2.42,0.00,0.000,6,0.000,0.034,3277,1984,1510
$GC,16396,1.94,170.4,175.3,7.6,537,16400,0.00,2.42,0.00,0.000,4,0.000,0.033,3277,3415,1509
$GC,16561,1.94,173.1,162.9,7.6,551,16573,0.00,2.40,5.22,0.549,6,0.000,0.028,3277,1986,1494
$GC,16828,1.94,173.1,141.7,8.4,576,16832,0.00,2.40,0.00,0.000,4,0.000,0.031,3277,3409,1493
$GC,17086,1.94,173.1,119.5,8.0,598,17092,0.00,2.40,0.00,0.000,6,0.000,0.026,3277,1989,1493
$GC,17348,1.94,173.1,99.3,8.0,623,17352,0.00,2.38,0.00,0.000,4,0.000,0.029,3277,3410,1493
$GC,17517,1.94,173.1,85.9,9.1,637,17523,0.00,2.38,0.00,0.000,6,0.000,0.026,3277,1982,1493
$GC,17778,1.94,174.6,64.0,7.7,662,17782,0.00,2.22,0.00,0.000,4,0.000,0.063,3278,3339,1493
$GC,17802,1.95,177.4,62.5,7.6,664,17814,0.00,2.25,6.03,0.496,6,0.000,0.025,3277,1977,1476
$GC,18071,1.95,177.4,41.1,8.2,689,18075,0.00,2.40,0.00,0.000,4,0.000,0.034,3277,3412,1475
$GC,18252,1.95,177.4,25.4,8.3,709,18259,0.00,2.35,0.00,0.000,6,0.000,0.025,3277,1983,1475
$GC,18461,1.95,177.4,7.1,8.7,746,18468,0.00,2.38,0.00,0.000,4,0.000,0.028,3277,3417,1476
$STATE,18472,end climb,SURFACE_DEPTH_REACHED
$STATE,18472,begin surface coast
$FINISH,1.3,1.024019
$STATE,18529,end surface coast,CONTROL_FINISHED_OK
$STATE,18529,begin surface
$SM_CCo,18554,118.90,0.562,0,0,895,320.12
$SM_GC,1.06,0.00,0.00,118.90,0.000,0.000,0.562,425,1883,895,-11.16,-0.20,320.12
$IRIDIUM_FIX,2148.09,-15820.54,230798,070702
$TT8_MAMPS,0.029146
$HUMID,1733
$INTERNAL_PRESSURE,8.01442
$TCM_TEMP,22.00
$XPDR_PINGS,25
$24V_AH,23.1,39.252
$10V_AH,10.2,22.982
$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,27.400,191.400,225.025,118.900,0.000,58.842,58.080,259.032,6.250,0.000,0.000,32.974,1620.683,13843.428,505.719,2601.186,673.589,33.366,1762.935,0.000,2539.755,0.000,0.539,0.000
$DEVICE_MAMPS,150.332,181.012,1287.026,562.211,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,514.298,381.442,506.916,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37967,758
$CAP_FILE_SIZE,150769,7
$CFSIZE,260165632,247300096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280409,124725,2156.888,-15822.139,37,1.5,38,9.9