version: 66.04
glider: 139
mission: 3
dive: 31
start: 2 6 109 2 32 53
data:
$ID,139
$MISSION,3
$DIVE,31
$D_SURF,6
$D_FLARE,3
$D_TGT,700
$D_ABORT,800
$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,291
$T_MISSION,300
$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,150
$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,400
$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,1
$CAPMAXSIZE,50000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1281844.1
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,435
$PITCH_MAX,3724
$C_PITCH,2865
$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,1925
$C_ROLL_CLIMB,1975
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,64
$R_STBD_OVSHOOT,47
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,450
$VBD_MAX,3860
$C_VBD,2220
$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,4
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$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
$GPS1,022509,2108.300,-15811.478,8,2.3,27,9.8
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-70.8
$GPS2,023202,2108.293,-15811.446,14,1.8,14,9.8
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,SOUTH
$TGT_LATLONG,2105.463,-15858.408
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.240,-0.050
$KALMAN_X,19188.4,-1164.5,-240.9,-40620.8,2833.8
$KALMAN_Y,7292.0,-138.7,-9.8,-22006.8,780.0
$MHEAD_RNG_PITCHd_Wd,248.5,81316,-14.9,-8.018
$D_GRID,700
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.11,-146.0,0.0,0.0,0,76,0.00,0.00,-57.75,0.000,2,0.000,0.000,425,1883,2236
$GC,79,-1.11,-146.0,3.3,-5.7,10,111,12.07,2.33,-10.23,0.000,4,0.145,0.061,2616,560,2819
$GC,251,-1.11,-146.0,39.8,-16.4,35,255,0.00,2.22,0.00,0.000,6,0.000,0.020,2616,1939,2820
$GC,512,-1.11,-146.0,80.8,-15.4,59,516,0.00,2.40,0.00,0.000,4,0.000,0.044,2615,549,2819
$GC,564,-1.11,-146.0,88.4,-15.1,63,568,0.00,2.22,0.00,0.000,6,0.000,0.020,2615,1933,2821
$GC,825,-1.11,-146.0,123.9,-12.8,87,829,0.00,2.28,0.00,0.000,4,0.000,0.028,2616,3316,2821
$GC,846,-1.11,-146.0,126.5,-11.4,88,853,0.00,2.28,0.00,0.000,6,0.000,0.064,2616,1965,2821
$GC,1109,-1.11,-146.0,156.8,-11.9,113,1113,0.00,2.47,0.00,0.000,4,0.000,0.044,2615,518,2821
$GC,1163,-1.11,-146.0,164.0,-12.3,117,1170,0.00,2.28,0.00,0.000,6,0.000,0.021,2616,1929,2821
$GC,1424,-1.11,-146.0,198.2,-13.7,142,1429,0.00,2.42,0.00,0.000,4,0.000,0.045,2615,521,2821
$GC,1474,-1.11,-146.0,205.0,-12.5,144,1478,0.00,2.28,0.00,0.000,6,0.000,0.021,2615,1933,2822
$GC,1795,-1.11,-146.0,240.1,-10.7,160,1799,0.00,2.08,0.00,0.000,4,0.000,0.081,2616,703,2821
$GC,1852,-1.11,-146.0,246.5,-11.0,162,1855,0.00,1.98,0.00,0.000,6,0.000,0.022,2616,1931,2821
$GC,2172,-1.11,-146.0,282.9,-11.7,178,2173,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,1935,2821
$GC,2501,-1.11,-146.0,316.5,-9.3,190,2505,0.00,2.45,0.00,0.000,4,0.000,0.049,2615,522,2820
$GC,2556,-1.11,-146.0,321.6,-8.7,191,2560,0.00,2.28,0.00,0.000,6,0.000,0.025,2616,1916,2820
$GC,2869,-1.11,-146.0,345.1,-7.3,199,2873,0.00,2.42,0.00,0.000,4,0.000,0.050,2615,524,2819
$GC,2890,-1.11,-146.0,346.8,-7.5,199,2894,0.00,2.30,0.00,0.000,6,0.000,0.027,2616,1932,2818
$GC,3232,-1.11,-146.0,374.3,-8.2,208,3236,0.00,2.45,0.00,0.000,4,0.000,0.052,2615,523,2817
$GC,3270,-1.11,-146.0,377.5,-8.2,208,3277,0.00,2.33,0.00,0.000,6,0.000,0.028,2616,1931,2817
$GC,3602,-1.11,-146.0,400.0,-6.9,217,3606,0.00,2.47,0.00,0.000,4,0.000,0.085,2616,523,2814
$GC,3674,-1.11,-146.0,406.2,-8.5,218,3678,0.00,2.33,0.00,0.000,6,0.000,0.030,2616,1921,2815
$GC,4010,-1.11,-146.0,438.0,-9.7,227,4014,0.00,2.47,0.00,0.000,4,0.000,0.055,2615,519,2812
$GC,4036,-1.11,-146.0,440.8,-10.7,227,4041,0.00,2.35,0.00,0.000,6,0.000,0.031,2615,1929,2812
$GC,4373,-1.11,-146.0,473.5,-9.4,236,4378,0.00,2.50,0.00,0.000,4,0.000,0.058,2615,518,2810
$GC,4417,-1.11,-146.0,477.4,-9.1,237,4421,0.00,2.35,0.00,0.000,6,0.000,0.033,2616,1923,2809
$GC,4742,-1.11,-146.0,501.7,-7.0,245,4746,0.00,2.47,0.00,0.000,4,0.000,0.058,2615,528,2807
$GC,4791,-1.11,-146.0,505.3,-6.9,246,4795,0.00,2.35,0.00,0.000,6,0.000,0.034,2615,1925,2807
$GC,5104,-1.11,-146.0,526.5,-7.0,254,5109,0.00,2.50,0.00,0.000,4,0.000,0.060,2616,523,2805
$GC,5148,-1.11,-146.0,530.2,-8.2,255,5152,0.00,2.38,0.00,0.000,6,0.000,0.035,2615,1929,2805
$GC,5472,-1.11,-146.0,556.5,-8.2,263,5477,0.00,2.50,0.00,0.000,4,0.000,0.061,2615,528,2803
$GC,5528,-1.11,-146.0,561.2,-8.4,264,5532,0.00,2.38,0.00,0.000,6,0.000,0.035,2615,1928,2803
$GC,5840,-1.11,-146.0,586.2,-8.0,272,5845,0.00,2.53,0.00,0.000,4,0.000,0.065,2614,528,2801
$GC,5862,-1.11,-146.0,588.3,-9.3,272,5866,0.00,2.38,0.00,0.000,6,0.000,0.036,2616,1926,2801
$GC,6205,-1.11,-146.0,615.1,-7.8,281,6209,0.00,2.53,0.00,0.000,4,0.000,0.067,2615,529,2799
$GC,6259,-1.11,-146.0,619.8,-8.6,282,6263,0.00,2.38,0.00,0.000,6,0.000,0.038,2615,1923,2799
$GC,6573,-1.11,-146.0,644.5,-8.0,290,6577,0.00,2.55,0.00,0.000,4,0.000,0.070,2615,520,2797
$GC,6616,-1.11,-146.0,648.6,-9.0,291,6621,0.00,2.40,0.00,0.000,6,0.000,0.039,2616,1923,2797
$GC,6941,-1.11,-146.0,675.0,-7.9,299,6946,0.00,2.58,0.00,0.000,4,0.000,0.074,2615,522,2796
$GC,6963,-1.11,-146.0,676.9,-8.1,299,6967,0.00,2.42,0.00,0.000,6,0.000,0.041,2615,1931,2796
$STATE,7303,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7303,begin apogee
$GC,7309,-0.31,0.0,701.7,7.2,308,7437,0.85,0.00,124.62,1.098,6,0.075,0.000,2795,1982,2220
$STATE,7438,end apogee,CONTROL_FINISHED_OK
$STATE,7438,begin climb
$GC,7440,1.11,146.0,706.8,0.0,311,7578,1.40,2.72,129.52,1.073,4,0.046,0.080,3106,575,1623
$GC,7648,1.22,233.0,710.5,4.8,316,7738,0.10,2.47,77.85,1.035,6,0.070,0.047,3132,1973,1270
$GC,8057,1.22,233.0,667.1,11.6,326,8061,0.00,2.58,0.00,0.000,4,0.000,0.069,3132,3385,1261
$GC,8128,1.22,233.0,658.8,11.6,327,8132,0.00,2.53,0.00,0.000,6,0.000,0.053,3132,1981,1261
$GC,8465,1.22,233.0,621.2,11.2,336,8469,0.00,2.60,0.00,0.000,4,0.000,0.069,3131,565,1260
$GC,8497,1.22,233.0,617.2,11.7,336,8504,0.00,2.45,0.00,0.000,6,0.000,0.039,3132,1985,1258
$GC,8828,1.22,233.0,579.9,11.1,345,8829,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1986,1258
$GC,9153,1.22,233.0,544.6,10.6,353,9157,0.00,2.50,0.00,0.000,4,0.000,0.057,3131,3387,1257
$GC,9196,1.22,233.0,540.0,10.8,354,9201,0.00,2.47,0.00,0.000,6,0.000,0.044,3132,1972,1257
$GC,9521,1.22,233.0,510.0,9.2,362,9524,0.00,2.47,0.00,0.000,4,0.000,0.049,3132,3386,1256
$GC,9542,1.22,233.0,507.8,9.6,362,9546,0.00,2.47,0.00,0.000,6,0.000,0.041,3131,1966,1256
$GC,9890,1.22,233.0,470.4,11.3,371,9894,0.00,2.50,0.00,0.000,4,0.000,0.048,3132,3388,1256
$GC,9911,1.22,233.0,467.9,11.5,371,9915,0.00,2.45,0.00,0.000,6,0.000,0.074,3132,1974,1256
$GC,10253,1.22,233.0,431.1,10.5,380,10257,0.00,2.47,0.00,0.000,4,0.000,0.047,3132,3385,1255
$GC,10286,1.22,233.0,427.6,10.0,380,10292,0.00,2.45,0.00,0.000,6,0.000,0.040,3132,1967,1255
$GC,10619,1.22,233.0,396.1,9.6,389,10623,0.00,2.47,0.00,0.000,4,0.000,0.045,3132,3383,1255
$GC,10663,1.22,233.0,391.2,10.6,390,10667,0.00,2.42,0.00,0.000,6,0.000,0.040,3132,1975,1254
$GC,10981,1.22,233.0,360.5,9.6,398,10985,0.00,2.50,0.00,0.000,4,0.000,0.059,3132,567,1255
$GC,11041,1.22,233.0,354.4,10.4,399,11045,0.00,2.42,0.00,0.000,6,0.000,0.035,3132,1988,1253
$GC,11389,1.22,233.0,323.2,8.7,408,11393,0.00,2.55,0.00,0.000,4,0.000,0.057,3131,563,1253
$GC,11415,1.22,233.0,320.6,9.2,408,11420,0.00,2.40,0.00,0.000,6,0.000,0.034,3132,1978,1252
$GC,11733,1.22,233.3,295.4,8.0,417,11737,0.00,2.42,0.00,0.000,4,0.000,0.048,3132,3379,1253
$GC,11832,1.22,233.3,286.3,9.1,421,11839,0.00,2.40,0.00,0.000,6,0.000,0.036,3132,1973,1253
$GC,12148,1.22,233.3,257.2,9.0,437,12152,0.00,2.42,0.00,0.000,4,0.000,0.040,3132,3381,1253
$GC,12237,1.22,233.3,249.4,8.2,441,12241,0.00,2.40,0.00,0.000,6,0.000,0.035,3132,1971,1252
$GC,12564,1.28,288.1,227.6,6.0,457,12616,0.00,2.53,45.90,0.758,4,0.000,0.053,3131,568,1045
$GC,12632,1.28,288.1,222.7,8.9,460,12636,0.00,2.40,0.00,0.000,6,0.000,0.030,3132,1978,1042
$GC,12956,1.28,288.1,189.5,11.4,480,12960,0.00,2.50,0.00,0.000,4,0.000,0.051,3131,568,1040
$GC,13006,1.28,288.1,183.6,11.4,484,13010,0.00,2.35,0.00,0.000,6,0.000,0.028,3132,1980,1039
$GC,13272,1.28,288.1,158.4,8.4,509,13276,0.00,2.50,0.00,0.000,4,0.000,0.049,3132,560,1038
$GC,13300,1.28,288.1,155.8,9.4,511,13304,0.00,2.38,0.00,0.000,6,0.000,0.027,3132,1987,1037
$GC,13564,1.31,308.5,135.4,7.3,535,13587,0.00,2.60,17.52,0.636,4,0.000,0.048,3131,562,961
$GC,13656,1.31,308.5,127.6,8.6,543,13660,0.00,2.35,0.00,0.000,6,0.000,0.025,3132,1978,959
$GC,13917,1.31,308.5,109.9,8.4,567,13921,0.00,2.47,0.00,0.000,4,0.000,0.047,3132,566,959
$GC,13994,1.31,308.5,102.5,9.5,573,14000,0.00,2.33,0.00,0.000,6,0.000,0.023,3132,1977,958
$GC,14255,1.31,308.5,81.1,8.6,598,14256,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1983,958
$GC,14510,1.31,308.5,59.2,8.6,622,14514,0.00,2.42,0.00,0.000,4,0.000,0.044,3132,566,958
$GC,14544,1.31,308.5,56.1,9.6,625,14548,0.00,2.30,0.00,0.000,6,0.000,0.022,3132,1983,959
$GC,14805,1.31,308.5,34.4,8.4,649,14809,0.00,2.45,0.00,0.000,4,0.000,0.044,3132,566,960
$GC,14844,1.31,308.5,30.5,9.8,652,14849,0.00,2.28,0.00,0.000,6,0.000,0.021,3132,1985,960
$STATE,15118,end climb,SURFACE_DEPTH_REACHED
$STATE,15118,begin surface coast
$FINISH,0.1,1.014338
$STATE,15192,end surface coast,CONTROL_FINISHED_OK
$STATE,15192,begin surface
$SM_CCo,15213,75.40,0.525,0,0,589,400.08
$SM_GC,0.66,0.00,0.00,75.40,0.000,0.000,0.525,426,1891,589,-11.21,-0.96,400.08
$IRIDIUM_FIX,2059.45,-15808.48,030598,000041
$TT8_MAMPS,0.029146
$HUMID,1591
$INTERNAL_PRESSURE,9.48909
$TCM_TEMP,22.50
$XPDR_PINGS,16
$24V_AH,23.2,6.853
$10V_AH,10.1,2.975
$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,26.075,183.850,395.425,75.400,0.000,27.626,35.608,229.382,4.000,0.000,0.000,15.649,1372.814,11461.584,580.253,1766.368,514.007,33.342,1524.870,0.000,1735.414,0.000,0.541,0.000
$DEVICE_MAMPS,144.963,86.671,1098.344,524.628,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,482.411,387.691,548.966,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38024,713
$CAP_FILE_SIZE,124370,1
$CFSIZE,260165632,257105920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$GPS,060209,064906,2107.958,-15813.657,40,1.1,46,9.8