version: 66.04
glider: 139
mission: 3
dive: 66
start: 2 12 109 4 14 15
data:
$ID,139
$MISSION,3
$DIVE,66
$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,350
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51904
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,70
$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,20
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1304313.1
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,435
$PITCH_MAX,3724
$C_PITCH,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,37
$R_STBD_OVSHOOT,43
$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
$GPS1,222642,2108.528,-15842.820,282,1.1,282,9.8
$_CALLS,5
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-70.1
$GPS2,041401,2108.288,-15839.251,12,1.4,12,9.8
$SPEED_LIMITS,0.157,0.255
$TGT_NAME,HEADING
$TGT_LATLONG,2111.982,-15828.367
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,60.2,20000,-16.6,-9.048
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.22,-146.0,0.0,0.0,0,77,0.00,0.00,-58.38,0.000,2,0.000,0.000,431,1868,2267
$GC,80,-1.22,-146.0,3.2,-6.4,10,107,11.93,2.45,-9.18,0.000,4,0.146,0.055,2589,485,2798
$GC,158,-1.22,-146.0,27.0,-22.3,23,164,0.00,2.28,0.00,0.000,6,0.000,0.019,2589,1909,2798
$GC,357,-1.22,-146.0,66.4,-19.2,43,358,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1913,2798
$GC,612,-1.22,-146.0,114.4,-19.6,67,616,0.00,2.45,0.00,0.000,4,0.000,0.044,2589,488,2798
$GC,655,-1.22,-146.0,123.8,-20.6,70,662,0.00,2.28,0.00,0.000,6,0.000,0.019,2589,1896,2798
$GC,917,-1.22,-146.0,168.0,-17.2,95,921,0.00,2.42,0.00,0.000,4,0.000,0.046,2589,491,2798
$GC,978,-1.22,-146.0,178.9,-16.6,100,982,0.00,2.22,0.00,0.000,6,0.000,0.020,2589,1885,2798
$GC,1236,-1.22,-146.0,215.8,-14.0,119,1240,0.00,2.40,0.00,0.000,4,0.000,0.077,2589,494,2798
$GC,1263,-1.22,-146.0,219.7,-14.4,120,1267,0.00,2.25,0.00,0.000,6,0.000,0.021,2589,1903,2798
$GC,1583,-1.22,-146.0,260.5,-12.0,136,1587,0.00,2.28,0.00,0.000,4,0.000,0.031,2590,3279,2797
$GC,1605,-1.22,-146.0,262.9,-10.8,137,1609,0.00,2.30,0.00,0.000,6,0.000,0.027,2589,1892,2797
$GC,1932,-1.22,-146.0,300.2,-11.6,153,1936,0.00,2.42,0.00,0.000,4,0.000,0.048,2589,483,2797
$GC,1987,-1.22,-146.0,307.0,-11.4,154,1992,0.00,2.28,0.00,0.000,6,0.000,0.023,2589,1887,2797
$GC,2300,-1.22,-146.0,340.6,-11.2,162,2305,0.00,2.45,0.00,0.000,4,0.000,0.049,2589,480,2795
$GC,2350,-1.22,-146.0,346.4,-11.2,163,2354,0.00,2.30,0.00,0.000,6,0.000,0.025,2589,1888,2795
$GC,2668,-1.22,-146.0,378.0,-9.6,171,2673,0.00,2.38,0.00,0.000,4,0.000,0.038,2589,3294,2793
$GC,2695,-1.22,-146.0,380.7,-9.2,171,2700,0.00,2.38,0.00,0.000,6,0.000,0.033,2589,1888,2793
$GC,3032,-1.22,-146.0,414.8,-10.5,180,3033,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1887,2790
$GC,3357,-1.22,-146.0,450.4,-10.7,188,3361,0.00,2.45,0.00,0.000,4,0.000,0.056,2589,483,2787
$GC,3390,-1.22,-146.0,454.1,-11.2,188,3394,0.00,2.33,0.00,0.000,6,0.000,0.031,2588,1882,2787
$GC,3727,-1.22,-146.0,487.4,-9.4,197,3731,0.00,2.47,0.00,0.000,4,0.000,0.057,2589,483,2784
$GC,3799,-1.22,-146.0,494.5,-9.4,198,3803,0.00,2.35,0.00,0.000,6,0.000,0.032,2588,1887,2784
$GC,4135,-1.22,-146.0,527.0,-10.0,207,4140,0.00,2.50,0.00,0.000,4,0.000,0.058,2589,480,2781
$GC,4157,-1.22,-146.0,529.2,-10.3,207,4161,0.00,2.38,0.00,0.000,6,0.000,0.034,2589,1895,2780
$GC,4499,-1.22,-146.0,562.4,-9.3,216,4500,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1899,2778
$GC,4824,-1.22,-146.0,592.7,-9.4,224,4828,0.00,2.53,0.00,0.000,4,0.000,0.063,2589,486,2776
$GC,4863,-1.22,-146.0,596.6,-10.0,225,4867,0.00,2.38,0.00,0.000,6,0.000,0.035,2589,1891,2776
$GC,5186,-1.22,-146.0,627.6,-9.4,233,5190,0.00,2.53,0.00,0.000,4,0.000,0.064,2589,487,2774
$GC,5212,-1.22,-146.0,630.3,-10.0,233,5216,0.00,2.38,0.00,0.000,6,0.000,0.035,2589,1889,2774
$GC,5550,-1.22,-146.0,659.8,-8.4,242,5551,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1889,2771
$GC,5875,-1.22,-146.0,685.6,-8.0,250,5878,0.00,2.58,0.00,0.000,4,0.000,0.075,2588,488,2769
$GC,5907,-1.22,-146.0,688.5,-8.7,250,5912,0.00,2.40,0.00,0.000,6,0.000,0.038,2589,1891,2770
$GC,6239,-1.22,-146.0,716.3,-8.6,258,6243,0.00,2.60,0.00,0.000,4,0.000,0.078,2589,485,2768
$GC,6265,-1.22,-146.0,719.0,-10.0,258,6269,0.00,2.42,0.00,0.000,6,0.000,0.044,2589,1887,2768
$GC,6602,-1.22,-146.0,748.9,-8.7,267,6603,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1888,2766
$GC,6927,-1.22,-146.0,776.4,-8.5,275,6932,0.00,2.67,0.00,0.000,4,0.000,0.096,2589,488,2765
$GC,6954,-1.22,-146.0,778.8,-9.5,275,6958,0.00,2.50,0.00,0.000,6,0.000,0.061,2589,1886,2765
$GC,7291,-1.22,-146.0,808.2,-8.9,284,7296,0.00,2.75,0.00,0.000,4,0.000,0.109,2589,491,2763
$GC,7318,-1.22,-146.0,810.8,-9.9,284,7322,0.00,2.58,0.00,0.000,6,0.000,0.074,2589,1888,2763
$GC,7655,-1.22,-146.0,840.0,-8.5,293,7659,0.00,2.80,0.00,0.000,4,0.000,0.115,2589,3302,2762
$GC,7687,-1.22,-146.0,842.9,-8.4,293,7694,0.00,2.72,0.00,0.000,6,0.000,0.129,2589,1906,2762
$GC,8019,-1.22,-146.0,871.2,-8.6,302,8023,0.00,2.95,0.00,0.000,4,0.000,0.161,2589,468,2762
$GC,8058,-1.22,-146.0,874.6,-8.7,303,8062,0.00,2.75,0.00,0.000,6,0.000,0.098,2589,1888,2760
$GC,8381,-1.22,-146.0,901.3,-8.2,311,8386,0.00,2.95,0.00,0.000,4,0.000,0.137,2589,3307,2760
$GC,8408,-1.22,-146.0,903.5,-7.8,311,8413,0.00,2.92,0.00,0.000,6,0.000,0.153,2588,1890,2760
$GC,8739,-1.22,-146.0,930.6,-8.6,319,8744,0.00,3.12,0.00,0.000,4,0.000,0.187,2589,473,2759
$GC,8760,-1.22,-146.0,932.5,-8.3,319,8765,0.00,2.90,0.00,0.000,6,0.000,0.123,2589,1890,2759
$STATE,9013,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9013,begin apogee
$GC,9019,-0.31,0.0,952.7,7.9,326,9150,0.98,0.00,127.43,1.277,6,0.079,0.000,2793,1973,2200
$STATE,9150,end apogee,CONTROL_FINISHED_OK
$STATE,9151,begin climb
$GC,9153,1.22,146.0,957.2,0.0,329,9298,1.52,3.25,135.35,1.253,4,0.048,0.160,3128,3388,1603
$GC,9393,1.24,162.1,954.1,8.4,335,9414,0.00,3.12,14.88,1.133,6,0.000,0.146,3129,1972,1539
$GC,9750,1.24,162.1,920.9,9.5,344,9755,0.00,3.03,0.00,0.000,4,0.000,0.134,3128,3391,1531
$GC,9827,1.24,162.1,913.2,10.5,345,9834,0.00,3.00,0.00,0.000,6,0.000,0.128,3128,1965,1531
$GC,10159,1.24,162.1,880.2,10.1,354,10163,0.00,2.90,0.00,0.000,4,0.000,0.114,3129,3388,1528
$GC,10252,1.24,162.1,869.9,11.2,356,10257,0.00,2.88,0.00,0.000,6,0.000,0.112,3128,1965,1528
$GC,10565,1.24,162.1,836.7,10.3,364,10569,0.00,2.80,0.00,0.000,4,0.000,0.097,3128,3394,1526
$GC,10642,1.24,162.1,829.2,9.8,365,10649,0.00,2.78,0.00,0.000,6,0.000,0.092,3129,1964,1527
$GC,10973,1.28,199.4,802.1,7.5,374,11015,0.00,2.78,33.85,1.162,4,0.000,0.082,3129,3388,1387
$GC,11093,1.32,231.9,792.6,7.7,376,11130,0.00,2.70,31.35,1.140,6,0.000,0.078,3128,1963,1254
$GC,11467,1.32,231.9,754.7,10.5,386,11468,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1964,1247
$GC,11792,1.32,231.9,719.7,11.0,394,11796,0.00,2.62,0.00,0.000,4,0.000,0.076,3128,553,1246
$GC,11818,1.32,231.9,716.6,11.2,394,11823,0.00,2.50,0.00,0.000,6,0.000,0.041,3128,1985,1245
$GC,12149,1.32,231.9,681.5,10.8,402,12154,0.00,2.65,0.00,0.000,4,0.000,0.099,3128,547,1245
$GC,12171,1.32,231.9,678.8,12.1,402,12175,0.00,2.47,0.00,0.000,6,0.000,0.040,3128,1971,1244
$GC,12513,1.32,231.9,639.3,11.8,411,12514,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1972,1243
$GC,12838,1.32,231.9,600.1,12.0,419,12839,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,1972,1243
$GC,13163,1.32,231.9,560.8,12.0,427,13167,0.00,2.50,0.00,0.000,4,0.000,0.057,3128,3383,1243
$GC,13184,1.32,231.9,558.1,11.4,427,13189,0.00,2.50,0.00,0.000,6,0.000,0.067,3128,1949,1243
$GC,13532,1.32,231.9,520.0,10.8,436,13536,0.00,2.53,0.00,0.000,4,0.000,0.048,3128,3383,1243
$GC,13576,1.32,231.9,514.8,12.1,437,13580,0.00,2.47,0.00,0.000,6,0.000,0.074,3128,1962,1243
$GC,13893,1.32,231.9,476.4,12.1,445,13898,0.00,2.50,0.00,0.000,4,0.000,0.046,3129,3388,1243
$GC,13943,1.32,231.9,470.3,11.6,446,13947,0.00,2.47,0.00,0.000,6,0.000,0.073,3128,1966,1242
$GC,14262,1.32,231.9,437.0,9.9,454,14263,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1966,1242
$GC,14587,1.33,232.9,408.2,9.0,462,14591,0.00,2.47,0.00,0.000,4,0.000,0.045,3128,3382,1242
$GC,14608,1.34,245.8,406.2,8.5,462,14626,0.10,2.42,11.65,0.858,6,0.066,0.074,3155,1968,1198
$GC,14949,1.34,245.8,372.4,9.7,471,14953,0.00,2.47,0.00,0.000,4,0.000,0.044,3155,3384,1196
$GC,15033,1.34,245.8,364.3,10.0,473,15037,0.00,2.45,0.00,0.000,6,0.000,0.038,3155,1965,1196
$GC,15356,1.34,245.8,330.2,11.2,481,15360,0.00,2.47,0.00,0.000,4,0.000,0.044,3155,3385,1195
$GC,15400,1.34,245.8,324.8,12.0,482,15404,0.00,2.45,0.00,0.000,6,0.000,0.043,3155,1965,1195
$GC,15727,1.34,245.8,283.9,12.0,493,15728,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,1965,1195
$GC,16035,1.34,245.8,251.7,9.5,508,16037,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,1965,1195
$GC,16346,1.38,278.7,222.9,7.7,523,16380,0.00,2.55,29.75,0.770,4,0.000,0.055,3155,562,1063
$GC,16442,1.38,278.7,213.5,11.8,526,16449,0.00,2.45,0.00,0.000,6,0.000,0.031,3155,1984,1059
$GC,16764,1.39,281.7,181.9,8.9,551,16768,0.00,2.40,0.00,0.000,4,0.000,0.042,3155,3382,1058
$GC,16780,1.40,296.9,180.2,8.4,552,16803,0.00,2.42,16.20,0.700,6,0.000,0.034,3155,1961,989
$GC,17058,1.40,296.9,147.5,10.8,578,17062,0.00,2.45,0.00,0.000,4,0.000,0.050,3155,563,986
$GC,17108,1.40,296.9,142.3,9.6,582,17113,0.00,2.38,0.00,0.000,6,0.000,0.028,3155,1987,985
$GC,17369,1.40,296.9,117.3,9.9,606,17373,0.00,2.50,0.00,0.000,4,0.000,0.048,3155,559,985
$GC,17419,1.40,296.9,112.3,10.2,610,17423,0.00,2.35,0.00,0.000,6,0.000,0.025,3155,1983,984
$GC,17680,1.42,309.2,90.0,8.5,634,17693,0.00,0.00,11.40,0.583,6,0.000,0.000,3155,1988,939
$GC,17945,1.42,311.7,66.2,8.9,659,17949,0.00,2.47,0.00,0.000,4,0.000,0.044,3155,555,938
$GC,18067,1.42,311.7,53.8,9.8,669,18074,0.00,2.35,0.00,0.000,6,0.000,0.022,3155,1975,937
$GC,18328,1.42,311.7,30.4,9.5,694,18329,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,1980,937
$STATE,18589,end climb,SURFACE_DEPTH_REACHED
$STATE,18589,begin surface coast
$FINISH,0.2,1.001411
$STATE,18669,end surface coast,CONTROL_FINISHED_OK
$STATE,18669,begin surface
$SM_CCo,18690,74.82,0.534,0,0,569,400.08
$SM_GC,0.85,0.00,0.00,74.82,0.000,0.000,0.534,431,1858,569,-11.17,-0.90,400.08
$IRIDIUM_FIX,2059.45,-15838.51,090598,040423
$TT8_MAMPS,0.029146
$HUMID,1609
$INTERNAL_PRESSURE,9.47932
$TCM_TEMP,22.50
$XPDR_PINGS,17
$24V_AH,23.1,11.313
$10V_AH,10.1,5.871
$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,26.275,199.325,411.850,74.825,0.000,134.763,339.921,289.918,4.250,0.000,0.000,14.091,1449.997,14991.615,624.726,1805.924,1012.206,0.000,1599.269,0.000,1774.939,0.000,0.542,0.000
$DEVICE_MAMPS,146.497,187.148,1277.055,533.832,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,511.809,299.853,486.829,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37937,754
$CAP_FILE_SIZE,139401,5
$CFSIZE,260165632,255291392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120209,041401,2108.288,-15839.251,12,1.4,12,9.8