version: 66.04
glider: 139
mission: 6
dive: 183
start: 5 2 109 16 25 42
data:
$ID,139
$MISSION,6
$DIVE,183
$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,-1355876
$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
$GPS1,161757,2124.362,-15846.123,131,3.8,150,9.8
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-68.6
$GPS2,162452,2124.376,-15846.104,9,4.4,28,9.8
$SPEED_LIMITS,0.137,0.221
$TGT_NAME,MIDS2
$TGT_LATLONG,2122.832,-15846.604
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.022,-0.220
$KALMAN_X,-25511.5,198.9,-55.1,-3860.3,-296.1
$KALMAN_Y,60240.2,-71.6,-491.1,-94201.2,2569.0
$MHEAD_RNG_PITCHd_Wd,175.8,2987,-16.6,-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,-1.18,-116.8,0.0,0.0,0,69,0.00,0.00,-52.35,0.000,2,0.000,0.000,424,1880,2599
$GC,72,-1.18,-116.8,4.2,-7.1,9,92,12.00,2.40,-1.25,0.000,4,0.147,0.051,2584,474,2680
$GC,193,-1.18,-116.8,36.9,-16.9,26,200,0.00,2.38,0.00,0.000,6,0.000,0.021,2584,1919,2683
$GC,454,-1.18,-116.8,78.9,-16.5,51,458,0.00,2.25,0.00,0.000,4,0.000,0.025,2584,3293,2683
$GC,481,-1.18,-116.8,83.6,-16.8,53,488,0.00,2.35,0.00,0.000,6,0.000,0.025,2584,1886,2684
$GC,742,-1.18,-116.8,120.1,-13.5,78,746,0.00,2.33,0.00,0.000,4,0.000,0.030,2584,3286,2685
$GC,760,-1.18,-116.8,122.3,-12.7,79,764,0.00,2.35,0.00,0.000,6,0.000,0.026,2584,1879,2685
$GC,1021,-1.18,-116.8,156.2,-13.5,103,1022,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,1879,2686
$GC,1276,-1.18,-116.8,190.4,-12.6,127,1277,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,1879,2687
$GC,1526,-1.18,-116.8,220.1,-11.1,143,1530,0.00,2.35,0.00,0.000,4,0.000,0.027,2584,3293,2687
$GC,1548,-1.18,-116.8,222.8,-11.9,144,1552,0.00,2.35,0.00,0.000,6,0.000,0.028,2584,1888,2687
$GC,1874,-1.18,-116.8,258.8,-10.4,160,1878,0.00,2.42,0.00,0.000,4,0.000,0.046,2584,481,2688
$GC,1936,-1.18,-116.8,265.4,-10.7,163,1940,0.00,2.30,0.00,0.000,6,0.000,0.023,2584,1897,2688
$GC,2263,-1.18,-116.8,298.8,-10.6,179,2267,0.00,2.47,0.00,0.000,4,0.000,0.056,2584,477,2687
$GC,2279,-1.18,-116.8,300.6,-10.7,180,2283,0.00,2.30,0.00,0.000,6,0.000,0.025,2584,1892,2687
$GC,2621,-1.18,-116.8,335.0,-9.9,189,2625,0.00,2.33,0.00,0.000,4,0.000,0.031,2584,3285,2686
$GC,2688,-1.18,-116.8,341.6,-9.9,190,2692,0.00,2.35,0.00,0.000,6,0.000,0.030,2584,1892,2686
$GC,3024,-1.18,-116.8,371.5,-8.8,199,3028,0.00,2.47,0.00,0.000,4,0.000,0.084,2584,474,2684
$GC,3045,-1.18,-116.8,373.6,-9.9,199,3049,0.00,2.33,0.00,0.000,6,0.000,0.027,2584,1885,2684
$GC,3387,-1.18,-116.8,406.1,-9.4,208,3389,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,1890,2682
$GC,3712,-1.18,-116.8,435.3,-8.9,216,3716,0.00,2.47,0.00,0.000,4,0.000,0.084,2584,480,2680
$GC,3738,-1.18,-116.8,437.7,-9.0,216,3743,0.00,2.35,0.00,0.000,6,0.000,0.029,2584,1888,2680
$GC,4081,-1.18,-116.8,466.2,-7.8,225,4086,0.00,2.50,0.00,0.000,4,0.000,0.086,2584,478,2678
$GC,4103,-1.18,-116.8,467.9,-7.4,225,4108,0.00,2.38,0.00,0.000,6,0.000,0.030,2584,1899,2677
$GC,4440,-1.18,-116.8,493.5,-7.8,234,4444,0.00,2.38,0.00,0.000,4,0.000,0.038,2584,3295,2676
$GC,4479,-1.18,-116.8,496.8,-8.4,235,4484,0.00,2.40,0.00,0.000,6,0.000,0.035,2584,1893,2675
$GC,4804,-1.18,-116.8,526.1,-9.2,243,4808,0.00,2.40,0.00,0.000,4,0.000,0.039,2584,3288,2673
$GC,4843,-1.18,-116.8,529.7,-9.6,244,4847,0.00,2.42,0.00,0.000,6,0.000,0.071,2584,1880,2673
$GC,5166,-1.18,-116.8,559.3,-9.0,252,5168,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,1879,2671
$GC,5491,-1.18,-116.8,588.1,-8.7,260,5496,0.00,2.50,0.00,0.000,4,0.000,0.061,2584,476,2669
$GC,5513,-1.18,-116.8,590.1,-9.4,260,5517,0.00,2.38,0.00,0.000,6,0.000,0.033,2584,1889,2669
$GC,5855,-1.18,-116.8,619.8,-8.4,269,5859,0.00,2.42,0.00,0.000,4,0.000,0.046,2584,3289,2667
$GC,5887,-1.18,-116.8,622.6,-8.3,269,5891,0.00,2.42,0.00,0.000,6,0.000,0.041,2584,1891,2667
$GC,6224,-1.18,-116.8,651.9,-8.9,278,6228,0.00,2.55,0.00,0.000,4,0.000,0.068,2584,483,2665
$GC,6251,-1.18,-116.8,654.5,-9.9,278,6255,0.00,2.40,0.00,0.000,6,0.000,0.035,2584,1893,2665
$GC,6582,-1.18,-116.8,683.8,-8.7,286,6586,0.00,2.58,0.00,0.000,4,0.000,0.100,2584,486,2663
$GC,6602,-1.18,-116.8,685.7,-8.9,286,6607,0.00,2.42,0.00,0.000,6,0.000,0.036,2584,1890,2663
$GC,6945,-1.18,-116.8,713.3,-7.8,295,6949,0.00,2.50,0.00,0.000,4,0.000,0.058,2584,3299,2662
$GC,6961,-1.18,-116.8,714.6,-7.3,295,6966,0.00,2.50,0.00,0.000,6,0.000,0.051,2584,1891,2662
$GC,7309,-1.18,-116.8,740.4,-7.5,304,7313,0.00,2.62,0.00,0.000,4,0.000,0.112,2584,482,2660
$GC,7325,-1.18,-116.8,741.7,-7.6,304,7329,0.00,2.45,0.00,0.000,6,0.000,0.043,2584,1885,2660
$GC,7667,-1.18,-116.8,767.8,-7.8,313,7671,0.00,2.58,0.00,0.000,4,0.000,0.068,2584,3304,2659
$GC,7699,-1.18,-116.8,770.6,-8.4,313,7706,0.00,2.60,0.00,0.000,6,0.000,0.097,2584,1889,2659
$GC,8030,-1.18,-116.8,797.0,-8.1,322,8032,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,1889,2658
$GC,8356,-1.18,-116.8,823.0,-7.8,330,8360,0.00,2.78,0.00,0.000,4,0.000,0.114,2584,478,2656
$GC,8377,-1.18,-116.8,824.8,-8.5,330,8381,0.00,2.58,0.00,0.000,6,0.000,0.067,2584,1884,2657
$GC,8713,-1.18,-116.8,850.7,-7.6,339,8718,0.00,2.85,0.00,0.000,4,0.000,0.117,2584,473,2655
$GC,8729,-1.18,-116.8,852.0,-7.6,339,8733,0.00,2.62,0.00,0.000,6,0.000,0.074,2584,1888,2655
$GC,9071,-1.18,-116.8,876.6,-7.0,348,9072,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,1888,2654
$GC,9395,-1.18,-116.8,896.7,-5.9,356,9400,0.00,2.78,0.00,0.000,4,0.000,0.109,2584,3301,2654
$GC,9422,-1.18,-116.8,898.5,-6.4,356,9427,0.00,2.85,0.00,0.000,6,0.000,0.115,2584,1890,2653
$GC,9754,-1.18,-116.8,917.1,-5.5,364,9755,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,1891,2654
$GC,10079,-1.18,-116.8,936.4,-6.1,372,10080,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,1891,2653
$STATE,10279,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10279,begin apogee
$GC,10285,-0.31,0.0,950.2,6.8,377,10396,0.95,0.00,108.07,1.302,6,0.076,0.000,2783,1994,2200
$STATE,10397,end apogee,CONTROL_FINISHED_OK
$STATE,10397,begin climb
$GC,10400,1.18,116.8,952.6,0.0,379,10524,1.45,3.03,115.43,1.280,4,0.043,0.130,3109,3401,1722
$GC,10531,1.30,215.1,954.6,3.5,382,10633,0.12,3.08,94.22,1.264,6,0.060,0.161,3140,1988,1321
$GC,10970,1.30,215.1,898.2,14.0,393,10971,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1988,1311
$GC,11294,1.30,215.1,853.5,13.7,401,11299,0.00,2.75,0.00,0.000,4,0.000,0.088,3139,3405,1310
$GC,11321,1.30,215.1,849.6,14.0,401,11326,0.00,2.80,0.00,0.000,6,0.000,0.121,3140,1982,1309
$GC,11652,1.30,215.1,804.1,13.8,409,11653,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1982,1308
$GC,11977,1.30,215.1,760.5,13.4,417,11978,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1982,1307
$GC,12302,1.30,215.1,716.6,13.2,425,12306,0.00,2.58,0.00,0.000,4,0.000,0.051,3140,3420,1306
$GC,12328,1.30,215.1,712.9,13.0,425,12333,0.00,2.58,0.00,0.000,6,0.000,0.049,3140,1980,1306
$GC,12665,1.30,215.1,669.3,12.9,434,12669,0.00,2.55,0.00,0.000,4,0.000,0.065,3139,579,1306
$GC,12681,1.30,215.1,667.0,13.0,434,12686,0.00,2.47,0.00,0.000,6,0.000,0.036,3140,2019,1305
$GC,13029,1.30,215.1,623.2,12.7,443,13033,0.00,2.62,0.00,0.000,4,0.000,0.059,3140,571,1304
$GC,13084,1.30,215.1,615.2,14.7,444,13088,0.00,2.45,0.00,0.000,6,0.000,0.036,3140,1991,1304
$GC,13397,1.30,215.1,573.7,13.5,452,13398,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1996,1304
$GC,13721,1.30,215.1,531.7,12.9,460,13725,0.00,2.55,0.00,0.000,4,0.000,0.057,3140,569,1303
$GC,13737,1.30,215.1,529.5,12.9,460,13742,0.00,2.47,0.00,0.000,6,0.000,0.035,3140,2006,1303
$GC,14050,1.30,215.1,490.4,12.5,468,14054,0.00,2.42,0.00,0.000,4,0.000,0.043,3140,3398,1303
$GC,14111,1.30,215.1,482.7,12.0,469,14116,0.00,2.45,0.00,0.000,6,0.000,0.052,3140,1984,1302
$GC,14453,1.30,215.1,443.3,11.1,478,14458,0.00,2.53,0.00,0.000,4,0.000,0.062,3140,573,1302
$GC,14486,1.30,215.1,439.5,11.3,478,14493,0.00,2.42,0.00,0.000,6,0.000,0.034,3140,1995,1302
$GC,14817,1.30,215.1,405.1,10.3,487,14822,0.00,2.55,0.00,0.000,4,0.000,0.056,3140,574,1301
$GC,14878,1.30,215.1,397.9,11.4,488,14883,0.00,2.42,0.00,0.000,6,0.000,0.032,3140,2002,1301
$GC,15220,1.30,215.1,360.2,11.1,497,15222,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2006,1301
$GC,15545,1.30,215.1,321.9,11.9,505,15546,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2006,1301
$GC,15852,1.30,215.1,285.6,11.3,515,15856,0.00,2.38,0.00,0.000,4,0.000,0.037,3140,3391,1301
$GC,15937,1.30,215.1,276.6,9.9,519,15941,0.00,2.40,0.00,0.000,6,0.000,0.063,3140,1988,1301
$GC,16264,1.31,222.1,248.0,7.6,535,16268,0.00,2.45,0.00,0.000,4,0.000,0.050,3140,583,1301
$GC,16280,1.32,230.8,246.7,7.5,535,16296,0.00,2.12,11.52,0.740,6,0.000,0.053,3140,1886,1259
$GC,16611,1.32,230.8,215.2,10.2,552,16613,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1887,1257
$GC,16926,1.32,230.8,184.6,9.4,574,16931,0.00,2.55,0.00,0.000,4,0.000,0.032,3140,3395,1257
$GC,16960,1.32,230.8,181.3,8.8,576,16966,0.00,2.38,0.00,0.000,6,0.000,0.029,3140,1982,1257
$GC,17221,1.34,246.9,159.5,7.2,601,17244,0.00,2.47,16.15,0.678,4,0.000,0.047,3140,576,1192
$GC,17330,1.34,246.9,149.2,10.4,610,17336,0.00,2.38,0.00,0.000,6,0.000,0.025,3140,2013,1190
$GC,17591,1.35,256.4,128.4,7.5,635,17602,0.00,0.00,9.43,0.607,6,0.000,0.000,3140,2017,1154
$GC,17857,1.37,265.8,106.9,7.5,660,17869,0.00,0.00,9.77,0.585,6,0.000,0.000,3140,2017,1116
$GC,18122,1.37,265.8,83.6,8.3,685,18126,0.00,2.47,0.00,0.000,4,0.000,0.043,3140,584,1114
$GC,18177,1.37,265.8,78.3,9.8,689,18184,0.00,2.33,0.00,0.000,6,0.000,0.022,3140,1994,1113
$GC,18439,1.37,265.8,53.8,8.9,714,18440,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1999,1113
$GC,18693,1.37,266.7,31.6,7.9,738,18697,0.00,2.17,0.00,0.000,4,0.000,0.047,3140,3342,1113
$GC,18779,1.37,266.7,24.6,8.3,751,18786,0.00,2.25,0.00,0.000,6,0.000,0.026,3140,1980,1113
$GC,18988,1.37,266.7,7.4,8.4,788,18994,0.00,2.38,0.00,0.000,4,0.000,0.042,3140,584,1115
$STATE,19005,end climb,SURFACE_DEPTH_REACHED
$STATE,19005,begin surface coast
$FINISH,4.6,1.023580
$STATE,19018,end surface coast,CONTROL_FINISHED_OK
$STATE,19019,begin surface
$SM_CCo,19042,46.33,0.551,0,0,895,320.12
$SM_GC,1.83,0.00,0.00,46.33,0.000,0.000,0.551,425,1912,895,-11.16,0.62,320.12
$IRIDIUM_FIX,2117.95,-15843.29,270798,101048
$TT8_MAMPS,0.029146
$HUMID,1786
$INTERNAL_PRESSURE,8.04372
$TCM_TEMP,22.30
$XPDR_PINGS,45
$24V_AH,23.1,41.708
$10V_AH,10.1,24.511
$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,26.475,188.275,364.600,46.325,0.000,25.748,29.902,214.058,11.250,0.000,0.000,30.879,1490.730,15185.421,526.890,1748.362,533.987,33.366,1474.074,0.000,1709.729,0.000,0.539,0.000
$DEVICE_MAMPS,147.264,161.070,1302.366,550.706,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,538.466,396.842,520.383,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41172,793
$CAP_FILE_SIZE,133423,8
$CFSIZE,260165632,246104064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020509,214506,2122.234,-15846.450,35,1.0,36,9.8