version: 66.04
glider: 139
mission: 3
dive: 47
start: 2 10 109 4 10 57
data:
$ID,139
$MISSION,3
$DIVE,47
$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,395
$T_MISSION,400
$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,360
$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,-1285674.4
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,435
$PITCH_MAX,3724
$C_PITCH,2860
$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,1970
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,64
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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,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
$GPS1,144714,2102.360,-15847.614,12,1.5,12,9.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-70.5
$GPS2,144714,2102.360,-15847.614,12,1.5,12,9.7
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,SOUTH
$TGT_LATLONG,2105.463,-15858.408
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.242,0.040
$KALMAN_X,1401.7,-424.9,1559.2,-16046.5,-2432.6
$KALMAN_Y,-893.6,270.8,-994.0,4942.0,1550.8
$MHEAD_RNG_PITCHd_Wd,269.8,19516,-14.9,-8.017
$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,-1.11,-146.0,0.0,0.0,0,69,0.00,0.00,-52.40,0.000,2,0.000,0.000,430,1913,2285
$GC,72,-1.11,-146.0,4.0,-7.7,9,99,11.98,2.33,-8.65,0.000,4,0.146,0.079,2613,3273,2799
$GC,250,-1.11,-146.0,40.7,-13.6,33,256,0.00,2.35,0.00,0.000,6,0.000,0.035,2613,1888,2800
$GC,511,-1.11,-146.0,84.5,-15.9,58,512,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,1887,2799
$GC,767,-1.11,-146.0,124.5,-13.9,82,771,0.00,2.40,0.00,0.000,4,0.000,0.044,2612,481,2799
$GC,810,-1.11,-146.0,131.0,-13.3,85,817,0.00,2.25,0.00,0.000,6,0.000,0.019,2613,1884,2799
$GC,1073,-1.11,-146.0,165.6,-13.9,110,1077,0.00,2.30,0.00,0.000,4,0.000,0.030,2612,3280,2800
$GC,1123,-1.11,-146.0,171.8,-10.8,114,1127,0.00,2.30,0.00,0.000,6,0.000,0.026,2612,1889,2800
$GC,1385,-1.11,-146.0,199.6,-11.1,138,1389,0.00,2.40,0.00,0.000,4,0.000,0.078,2612,486,2800
$GC,1417,-1.11,-146.0,203.5,-11.6,139,1424,0.00,2.28,0.00,0.000,6,0.000,0.021,2613,1894,2800
$GC,1733,-1.11,-146.0,238.5,-11.0,155,1737,0.00,2.42,0.00,0.000,4,0.000,0.045,2612,487,2799
$GC,1760,-1.11,-146.0,241.6,-11.3,156,1764,0.00,2.28,0.00,0.000,6,0.000,0.022,2612,1892,2799
$GC,2081,-1.11,-146.0,272.1,-9.3,172,2082,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,1897,2799
$GC,2410,-1.11,-146.0,305.5,-10.2,187,2414,0.00,2.45,0.00,0.000,4,0.000,0.048,2612,484,2797
$GC,2442,-1.11,-146.0,309.1,-10.7,187,2448,0.00,2.30,0.00,0.000,6,0.000,0.025,2612,1891,2797
$GC,2773,-1.11,-146.0,341.9,-9.9,196,2777,0.00,2.45,0.00,0.000,4,0.000,0.058,2612,487,2795
$GC,2800,-1.11,-146.0,345.0,-11.5,196,2804,0.00,2.33,0.00,0.000,6,0.000,0.027,2612,1900,2794
$GC,3137,-1.11,-146.0,379.1,-10.0,205,3141,0.00,2.47,0.00,0.000,4,0.000,0.085,2612,490,2792
$GC,3169,-1.11,-146.0,382.6,-10.6,205,3176,0.00,2.33,0.00,0.000,6,0.000,0.028,2612,1896,2792
$GC,3500,-1.11,-146.0,414.1,-9.4,214,3502,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,1899,2789
$GC,3825,-1.11,-146.0,443.4,-9.1,222,3829,0.00,2.40,0.00,0.000,4,0.000,0.046,2612,3295,2787
$GC,3851,-1.11,-146.0,446.0,-9.2,222,3856,0.00,2.40,0.00,0.000,6,0.000,0.036,2612,1887,2787
$GC,4188,-1.11,-146.0,477.3,-9.3,231,4190,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,1887,2785
$GC,4513,-1.11,-146.0,506.2,-8.6,239,4517,0.00,2.47,0.00,0.000,4,0.000,0.058,2612,480,2782
$GC,4546,-1.11,-146.0,509.1,-9.1,239,4550,0.00,2.38,0.00,0.000,6,0.000,0.033,2612,1887,2781
$GC,4883,-1.11,-146.0,537.6,-8.4,248,4884,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,1892,2780
$GC,5208,-1.11,-146.0,563.7,-7.7,256,5209,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,1893,2778
$GC,5533,-1.11,-146.0,588.3,-7.6,264,5537,0.00,2.50,0.00,0.000,4,0.000,0.063,2612,481,2776
$GC,5554,-1.11,-146.0,590.2,-8.4,264,5558,0.00,2.40,0.00,0.000,6,0.000,0.036,2612,1896,2777
$GC,5902,-1.11,-146.0,618.2,-8.2,273,5906,0.00,2.55,0.00,0.000,4,0.000,0.065,2612,483,2774
$GC,5928,-1.11,-146.0,620.6,-9.4,273,5932,0.00,2.40,0.00,0.000,6,0.000,0.038,2612,1888,2774
$GC,6265,-1.11,-146.0,651.7,-9.5,282,6266,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,1889,2772
$GC,6590,-1.11,-146.0,682.1,-9.2,290,6591,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,1889,2771
$GC,6915,-1.11,-146.0,711.2,-8.9,298,6919,0.00,2.60,0.00,0.000,4,0.000,0.080,2612,488,2769
$GC,6936,-1.11,-146.0,713.2,-9.2,298,6940,0.00,2.42,0.00,0.000,6,0.000,0.044,2612,1888,2769
$GC,7278,-1.11,-146.0,740.8,-7.8,307,7283,0.00,2.65,0.00,0.000,4,0.000,0.086,2612,3306,2768
$GC,7305,-1.11,-146.0,743.1,-8.4,307,7310,0.00,2.55,0.00,0.000,6,0.000,0.064,2612,1899,2768
$GC,7642,-1.11,-146.0,766.4,-6.6,316,7647,0.00,2.70,0.00,0.000,4,0.000,0.094,2612,480,2767
$GC,7669,-1.11,-146.0,768.3,-7.3,316,7674,0.00,2.50,0.00,0.000,6,0.000,0.059,2612,1885,2766
$GC,8006,-1.11,-146.0,790.1,-6.4,325,8010,0.00,2.70,0.00,0.000,4,0.000,0.096,2612,3304,2765
$GC,8027,-1.11,-146.0,791.6,-6.7,325,8032,0.00,2.65,0.00,0.000,6,0.000,0.079,2612,1890,2765
$GC,8364,-1.11,-146.0,812.7,-6.3,334,8365,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,1890,2764
$GC,8689,-1.11,-146.0,833.2,-6.5,342,8693,0.00,2.83,0.00,0.000,4,0.000,0.119,2612,477,2763
$GC,8705,-1.11,-146.0,834.5,-7.0,342,8709,0.00,2.67,0.00,0.000,6,0.000,0.084,2612,1897,2763
$GC,9046,-1.11,-146.0,859.1,-7.3,351,9051,0.00,2.90,0.00,0.000,4,0.000,0.126,2612,480,2762
$GC,9073,-1.11,-146.0,861.2,-8.5,351,9077,0.00,2.72,0.00,0.000,6,0.000,0.095,2612,1892,2762
$GC,9404,-1.11,-146.0,887.2,-8.0,359,9405,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,1893,2761
$GC,9729,-1.11,-146.0,913.3,-8.0,367,9734,0.00,3.05,0.00,0.000,4,0.000,0.150,2612,474,2761
$GC,9755,-1.11,-146.0,915.5,-8.5,367,9760,0.00,2.85,0.00,0.000,6,0.000,0.117,2612,1889,2760
$GC,10093,-1.11,-146.0,941.8,-7.7,376,10094,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,1889,2760
$STATE,10212,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10212,begin apogee
$GC,10217,-0.31,0.0,951.0,7.6,379,10348,0.85,0.00,127.10,1.285,6,0.080,0.000,2790,1971,2200
$STATE,10349,end apogee,CONTROL_FINISHED_OK
$STATE,10349,begin climb
$GC,10351,1.11,146.0,956.1,0.0,382,10497,1.42,3.28,134.50,1.261,4,0.046,0.164,3103,3382,1603
$GC,10515,1.24,250.2,959.9,4.2,386,10616,0.12,3.12,93.35,1.245,6,0.064,0.146,3133,1974,1179
$GC,10947,1.24,250.2,900.1,15.2,397,10948,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,1974,1170
$GC,11272,1.24,250.2,852.8,14.1,405,11273,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,1973,1168
$GC,11597,1.24,250.2,809.5,12.9,413,11598,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,1973,1168
$GC,11922,1.24,250.2,770.4,11.8,421,11926,0.00,2.65,0.00,0.000,4,0.000,0.074,3133,3389,1167
$GC,11943,1.24,250.2,767.7,12.4,421,11947,0.00,2.65,0.00,0.000,6,0.000,0.067,3133,1957,1167
$GC,12279,1.24,250.2,727.4,12.2,430,12281,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,1957,1166
$GC,12604,1.24,250.2,686.4,12.7,438,12609,0.00,2.58,0.00,0.000,4,0.000,0.056,3133,3389,1166
$GC,12637,1.24,250.2,682.1,12.5,438,12644,0.00,2.53,0.00,0.000,6,0.000,0.049,3133,1965,1166
$GC,12968,1.24,250.2,638.1,13.3,447,12969,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,1965,1166
$GC,13293,1.24,250.2,596.3,12.8,455,13297,0.00,2.55,0.00,0.000,4,0.000,0.049,3133,3402,1165
$GC,13314,1.24,250.2,593.3,14.0,455,13318,0.00,2.53,0.00,0.000,6,0.000,0.044,3133,1964,1165
$GC,13656,1.24,250.2,549.6,12.6,464,13657,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,1964,1165
$GC,13981,1.24,250.2,509.6,12.0,472,13982,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,1964,1165
$GC,14306,1.24,250.2,472.4,11.3,480,14310,0.00,2.50,0.00,0.000,4,0.000,0.059,3133,559,1165
$GC,14327,1.24,250.2,469.7,11.7,480,14331,0.00,2.47,0.00,0.000,6,0.000,0.036,3133,2000,1164
$GC,14675,1.24,250.2,432.0,10.6,489,14679,0.00,2.45,0.00,0.000,4,0.000,0.054,3133,3385,1163
$GC,14707,1.24,250.2,428.4,10.8,489,14713,0.00,2.47,0.00,0.000,6,0.000,0.039,3133,1959,1164
$GC,15038,1.24,250.2,392.4,11.5,498,15042,0.00,2.50,0.00,0.000,4,0.000,0.046,3133,3382,1164
$GC,15132,1.24,250.2,380.9,12.0,500,15136,0.00,2.45,0.00,0.000,6,0.000,0.038,3133,1966,1164
$GC,15445,1.24,250.2,348.0,10.3,508,15449,0.00,2.47,0.00,0.000,4,0.000,0.044,3133,3382,1164
$GC,15477,1.24,250.2,344.4,10.5,508,15484,0.00,2.45,0.00,0.000,6,0.000,0.037,3133,1959,1164
$GC,15808,1.24,250.2,311.3,10.3,517,15812,0.00,2.47,0.00,0.000,4,0.000,0.058,3133,564,1164
$GC,15846,1.24,250.2,306.7,11.6,517,15853,0.00,2.40,0.00,0.000,6,0.000,0.033,3133,1977,1163
$GC,16162,1.25,261.3,279.0,7.6,531,16172,0.00,0.00,8.25,0.726,6,0.000,0.000,3133,1982,1134
$GC,16470,1.25,261.3,255.1,8.4,546,16474,0.00,2.42,0.00,0.000,4,0.000,0.046,3133,3374,1134
$GC,16532,1.25,261.3,249.4,9.1,549,16536,0.00,2.40,0.00,0.000,6,0.000,0.035,3133,1970,1134
$GC,16858,1.25,261.3,219.6,8.7,565,16862,0.00,2.47,0.00,0.000,4,0.000,0.051,3133,560,1133
$GC,16930,1.25,261.3,212.8,10.5,568,16934,0.00,2.38,0.00,0.000,6,0.000,0.029,3133,1973,1132
$GC,17258,1.25,261.3,186.4,8.5,591,17262,0.00,2.40,0.00,0.000,4,0.000,0.041,3133,3374,1132
$GC,17287,1.25,261.3,184.0,8.1,593,17292,0.00,2.40,0.00,0.000,6,0.000,0.031,3133,1958,1132
$GC,17550,1.30,304.3,166.5,6.4,617,17594,0.00,2.55,38.17,0.696,4,0.000,0.048,3133,561,958
$GC,17633,1.30,304.3,159.4,9.0,624,17640,0.00,2.38,0.00,0.000,6,0.000,0.027,3133,1979,955
$GC,17894,1.30,304.3,137.3,8.9,649,17898,0.00,2.38,0.00,0.000,4,0.000,0.038,3133,3372,955
$GC,17960,1.30,304.3,130.7,9.8,654,17967,0.00,2.40,0.00,0.000,6,0.000,0.030,3133,1951,954
$GC,18222,1.31,306.5,108.0,7.9,679,18226,0.00,2.40,0.00,0.000,4,0.000,0.046,3133,564,954
$GC,18317,1.31,306.5,100.0,9.1,687,18322,0.00,2.33,0.00,0.000,6,0.000,0.023,3133,1978,954
$GC,18578,1.31,306.5,77.1,9.7,711,18582,0.00,2.45,0.00,0.000,4,0.000,0.044,3133,563,954
$GC,18611,1.31,306.5,73.9,8.8,713,18618,0.00,2.33,0.00,0.000,6,0.000,0.022,3134,1967,954
$GC,18872,1.31,306.5,52.3,8.6,738,18876,0.00,2.42,0.00,0.000,4,0.000,0.044,3133,556,954
$GC,18901,1.31,306.5,49.6,8.7,740,18907,0.00,2.30,0.00,0.000,6,0.000,0.021,3133,1980,955
$GC,19163,1.31,306.5,27.9,8.1,767,19169,0.00,2.42,0.00,0.000,4,0.000,0.043,3133,563,956
$GC,19255,1.31,306.5,19.8,8.8,783,19261,0.00,2.28,0.00,0.000,6,0.000,0.021,3133,1978,956
$STATE,19424,end climb,SURFACE_DEPTH_REACHED
$STATE,19426,begin surface coast
$FINISH,0.3,1.009609
$STATE,19515,end surface coast,CONTROL_FINISHED_OK
$STATE,19515,begin surface
$SM_CCo,19537,46.10,0.528,0,0,732,360.10
$SM_GC,0.89,0.00,0.00,46.10,0.000,0.000,0.528,428,1849,732,-11.19,-1.16,360.10
$IRIDIUM_FIX,2054.83,-15904.21,060598,212103
$TT8_MAMPS,0.029146
$HUMID,1589
$INTERNAL_PRESSURE,9.50862
$TCM_TEMP,22.80
$XPDR_PINGS,15
$24V_AH,22.5,9.497
$10V_AH,10.1,4.496
$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,26.050,184.925,401.375,46.100,0.000,30.228,29.373,212.389,3.750,0.000,0.000,903.233,1522.726,15569.966,582.227,2657.272,518.556,32.345,1538.529,0.000,1745.059,0.000,0.540,0.000
$DEVICE_MAMPS,145.730,164.138,1284.725,527.696,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,561.967,340.203,564.073,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41135,829
$CAP_FILE_SIZE,133323,0
$CFSIZE,260165632,255971328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090209,144714,2102.360,-15847.614,12,1.5,12,9.7