version: 66.04
glider: 139
mission: 3
dive: 68
start: 2 12 109 16 9 23
data:
$ID,139
$MISSION,3
$DIVE,68
$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,-1307946.9
$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,44
$R_STBD_OVSHOOT,46
$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
$GPS1,041401,2108.288,-15839.251,12,1.4,12,9.8
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-71.8
$GPS2,160910,2110.437,-15832.837,15,1.9,15,9.8
$SPEED_LIMITS,0.157,0.255
$TGT_NAME,HEADING
$TGT_LATLONG,2114.130,-15821.950
$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,17,-1.22,-146.0,0.0,0.0,0,77,0.00,0.00,-58.00,0.000,2,0.000,0.000,427,1854,2261
$GC,80,-1.22,-146.0,3.3,-6.8,10,107,11.82,2.40,-9.20,0.000,4,0.143,0.054,2592,494,2798
$GC,135,-1.22,-146.0,22.4,-25.7,19,142,0.00,2.25,0.00,0.000,6,0.000,0.020,2592,1906,2799
$GC,336,-1.22,-146.0,62.1,-19.6,41,337,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,1911,2799
$GC,592,-1.22,-146.0,110.3,-19.3,65,596,0.00,2.42,0.00,0.000,4,0.000,0.057,2592,501,2799
$GC,665,-1.22,-146.0,125.5,-19.9,71,669,0.00,2.22,0.00,0.000,6,0.000,0.019,2592,1898,2799
$GC,926,-1.22,-146.0,171.6,-16.8,95,930,0.00,2.25,0.00,0.000,4,0.000,0.027,2592,3275,2799
$GC,987,-1.22,-146.0,180.1,-12.6,100,991,0.00,2.28,0.00,0.000,6,0.000,0.027,2592,1901,2799
$GC,1255,-1.22,-146.0,215.7,-13.9,120,1259,0.00,2.42,0.00,0.000,4,0.000,0.076,2592,484,2799
$GC,1317,-1.22,-146.0,224.9,-15.1,123,1321,0.00,2.25,0.00,0.000,6,0.000,0.021,2592,1891,2800
$GC,1643,-1.22,-146.0,265.8,-11.9,139,1647,0.00,2.42,0.00,0.000,4,0.000,0.046,2592,481,2799
$GC,1665,-1.22,-146.0,268.6,-12.5,140,1669,0.00,2.28,0.00,0.000,6,0.000,0.022,2592,1895,2799
$GC,1991,-1.22,-146.0,301.8,-9.6,156,1995,0.00,2.33,0.00,0.000,4,0.000,0.035,2592,3286,2798
$GC,2018,-1.22,-146.0,304.5,-9.5,156,2022,0.00,2.35,0.00,0.000,6,0.000,0.065,2592,1885,2798
$GC,2355,-1.22,-146.0,340.8,-11.4,165,2359,0.00,2.42,0.00,0.000,4,0.000,0.051,2592,487,2797
$GC,2421,-1.22,-146.0,349.1,-11.7,166,2425,0.00,2.30,0.00,0.000,6,0.000,0.026,2592,1889,2797
$GC,2763,-1.22,-146.0,386.4,-10.7,175,2768,0.00,2.45,0.00,0.000,4,0.000,0.065,2592,480,2793
$GC,2785,-1.22,-146.0,388.9,-10.8,175,2789,0.00,2.33,0.00,0.000,6,0.000,0.028,2592,1890,2793
$GC,3127,-1.22,-146.0,424.8,-10.3,184,3132,0.00,2.47,0.00,0.000,4,0.000,0.054,2592,483,2790
$GC,3149,-1.22,-146.0,427.3,-10.9,184,3153,0.00,2.33,0.00,0.000,6,0.000,0.029,2592,1897,2790
$GC,3491,-1.22,-146.0,460.9,-9.2,193,3495,0.00,2.35,0.00,0.000,4,0.000,0.044,2592,3286,2787
$GC,3512,-1.22,-146.0,463.0,-9.4,193,3516,0.00,2.38,0.00,0.000,6,0.000,0.036,2592,1893,2787
$GC,3860,-1.22,-146.0,494.2,-8.9,202,3865,0.00,2.50,0.00,0.000,4,0.000,0.059,2592,478,2785
$GC,3921,-1.22,-146.0,500.1,-9.4,203,3926,0.00,2.38,0.00,0.000,6,0.000,0.032,2592,1876,2784
$GC,4271,-1.22,-146.0,531.6,-9.1,212,4272,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,1881,2782
$GC,4594,-1.22,-146.0,560.8,-9.0,220,4596,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,1882,2780
$GC,4919,-1.22,-146.0,591.9,-9.9,228,4920,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,1881,2778
$GC,5244,-1.22,-146.0,624.2,-9.9,236,5248,0.00,2.50,0.00,0.000,4,0.000,0.066,2591,481,2776
$GC,5276,-1.22,-146.0,627.8,-10.6,236,5280,0.00,2.40,0.00,0.000,6,0.000,0.037,2592,1893,2776
$GC,5613,-1.22,-146.0,659.0,-9.0,245,5617,0.00,2.58,0.00,0.000,4,0.000,0.071,2592,480,2774
$GC,5640,-1.22,-146.0,661.5,-9.3,245,5644,0.00,2.40,0.00,0.000,6,0.000,0.038,2592,1889,2774
$GC,5977,-1.22,-146.0,689.0,-7.9,254,5981,0.00,2.58,0.00,0.000,4,0.000,0.106,2591,487,2772
$GC,6016,-1.22,-146.0,692.4,-8.8,255,6020,0.00,2.40,0.00,0.000,6,0.000,0.040,2592,1888,2772
$GC,6339,-1.22,-146.0,722.7,-9.8,263,6343,0.00,2.58,0.00,0.000,4,0.000,0.077,2592,3296,2770
$GC,6366,-1.22,-146.0,725.4,-10.0,263,6370,0.00,2.53,0.00,0.000,6,0.000,0.059,2592,1889,2770
$GC,6703,-1.22,-146.0,755.3,-8.5,272,6708,0.00,2.62,0.00,0.000,4,0.000,0.118,2592,481,2768
$GC,6725,-1.22,-146.0,757.3,-8.6,272,6729,0.00,2.47,0.00,0.000,6,0.000,0.052,2592,1885,2768
$GC,7062,-1.22,-146.0,781.3,-6.7,281,7067,0.00,2.70,0.00,0.000,4,0.000,0.098,2592,483,2767
$GC,7083,-1.22,-146.0,783.0,-7.6,281,7087,0.00,2.50,0.00,0.000,6,0.000,0.061,2592,1890,2767
$GC,7426,-1.22,-146.0,805.5,-6.4,290,7427,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,1890,2766
$GC,7751,-1.22,-146.0,829.1,-7.5,298,7755,0.00,2.80,0.00,0.000,4,0.000,0.114,2592,481,2765
$GC,7772,-1.22,-146.0,830.9,-8.4,298,7776,0.00,2.62,0.00,0.000,6,0.000,0.084,2592,1887,2765
$GC,8108,-1.22,-146.0,856.3,-7.4,307,8109,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,1888,2764
$GC,8433,-1.22,-146.0,880.5,-7.5,315,8434,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,1888,2762
$GC,8758,-1.22,-146.0,905.3,-7.7,323,8759,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,1887,2762
$GC,9083,-1.22,-146.0,930.2,-7.7,331,9088,0.00,3.08,0.00,0.000,4,0.000,0.159,2592,485,2761
$GC,9110,-1.22,-146.0,932.5,-8.2,331,9115,0.00,2.85,0.00,0.000,6,0.000,0.121,2592,1890,2761
$STATE,9357,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9357,begin apogee
$GC,9363,-0.31,0.0,951.4,7.6,337,9495,0.95,0.00,128.12,1.282,6,0.080,0.000,2791,1974,2200
$STATE,9496,end apogee,CONTROL_FINISHED_OK
$STATE,9496,begin climb
$GC,9498,1.22,146.0,956.0,0.0,340,9645,1.50,3.33,135.12,1.256,4,0.047,0.166,3125,563,1602
$GC,9746,1.22,146.0,951.8,9.6,345,9753,0.00,2.97,0.00,0.000,6,0.000,0.129,3125,1975,1593
$GC,10077,1.23,156.4,923.6,8.6,354,10092,0.00,3.10,8.55,1.042,4,0.000,0.143,3124,3383,1562
$GC,10114,1.23,156.4,920.1,9.2,354,10121,0.00,2.97,0.00,0.000,6,0.000,0.129,3125,1978,1561
$GC,10446,1.27,184.1,892.6,7.9,363,10480,0.00,3.03,26.75,1.189,4,0.000,0.120,3125,3386,1448
$GC,10649,1.27,184.1,874.0,10.1,367,10653,0.00,2.88,0.00,0.000,6,0.000,0.137,3125,1967,1446
$GC,10985,1.27,187.5,843.3,8.9,376,10990,0.00,2.78,0.00,0.000,4,0.000,0.097,3125,3387,1443
$GC,11017,1.28,199.3,840.2,8.6,376,11038,0.00,2.78,15.00,1.124,6,0.000,0.103,3125,1969,1387
$GC,11351,1.28,199.3,809.3,9.3,385,11356,0.00,2.72,0.00,0.000,4,0.000,0.086,3125,3393,1382
$GC,11395,1.28,199.3,805.2,9.6,386,11400,0.00,2.72,0.00,0.000,6,0.000,0.081,3125,1958,1382
$GC,11713,1.28,199.3,774.4,9.8,394,11718,0.00,2.67,0.00,0.000,4,0.000,0.078,3125,3396,1381
$GC,11752,1.28,199.3,770.1,10.7,395,11757,0.00,2.65,0.00,0.000,6,0.000,0.072,3125,1961,1381
$GC,12075,1.28,199.3,733.5,11.3,403,12076,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,1961,1381
$GC,12400,1.28,199.3,699.9,9.8,411,12405,0.00,2.58,0.00,0.000,4,0.000,0.054,3125,3402,1380
$GC,12467,1.28,199.3,693.5,9.6,412,12471,0.00,2.55,0.00,0.000,6,0.000,0.047,3125,1957,1380
$GC,12809,1.31,218.3,664.6,8.3,421,12833,0.00,2.65,17.70,1.058,4,0.000,0.052,3125,3391,1309
$GC,12890,1.31,218.3,656.7,10.2,422,12897,0.00,2.53,0.00,0.000,6,0.000,0.048,3125,1969,1309
$GC,13221,1.31,218.3,624.4,10.0,431,13226,0.00,2.55,0.00,0.000,4,0.000,0.064,3125,549,1307
$GC,13243,1.31,218.3,621.9,11.0,431,13247,0.00,2.50,0.00,0.000,6,0.000,0.038,3125,1996,1306
$GC,13585,1.31,218.3,586.9,10.0,440,13586,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,1998,1306
$GC,13910,1.31,218.3,555.6,9.9,448,13914,0.00,2.45,0.00,0.000,4,0.000,0.056,3125,3382,1305
$GC,14000,1.31,218.3,545.8,10.7,450,14004,0.00,2.47,0.00,0.000,6,0.000,0.073,3125,1959,1305
$GC,14317,1.31,218.3,511.8,10.3,458,14322,0.00,2.50,0.00,0.000,4,0.000,0.061,3125,561,1305
$GC,14339,1.31,218.3,509.6,9.9,458,14343,0.00,2.42,0.00,0.000,6,0.000,0.036,3125,1975,1304
$GC,14681,1.34,241.8,480.1,8.1,467,14706,0.12,0.00,22.25,0.956,6,0.059,0.000,3158,1981,1214
$GC,15006,1.34,241.8,446.3,11.3,475,15010,0.00,2.55,0.00,0.000,4,0.000,0.088,3158,560,1211
$GC,15021,1.34,241.8,444.2,11.9,475,15025,0.00,2.42,0.00,0.000,6,0.000,0.035,3158,1974,1210
$GC,15369,1.34,241.8,401.3,12.7,484,15370,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,1979,1210
$GC,15694,1.34,241.8,358.8,13.3,492,15698,0.00,2.45,0.00,0.000,4,0.000,0.050,3158,3386,1210
$GC,15777,1.34,241.8,347.7,13.0,493,15784,0.00,2.45,0.00,0.000,6,0.000,0.037,3158,1966,1209
$GC,16108,1.34,241.8,311.6,10.0,502,16112,0.00,2.50,0.00,0.000,4,0.000,0.056,3158,553,1209
$GC,16140,1.34,241.8,307.8,11.8,502,16147,0.00,2.42,0.00,0.000,6,0.000,0.033,3158,1982,1208
$GC,16454,1.34,241.8,273.6,11.4,516,16456,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,1987,1208
$GC,16764,1.35,254.2,244.2,8.5,531,16785,0.00,2.50,11.75,0.749,4,0.000,0.044,3158,3379,1163
$GC,16796,1.38,279.5,241.4,8.0,532,16829,0.00,2.45,23.65,0.773,6,0.000,0.034,3158,1958,1060
$GC,17137,1.38,279.5,203.7,11.5,549,17142,0.00,2.47,0.00,0.000,4,0.000,0.053,3158,556,1056
$GC,17181,1.38,279.5,198.2,11.6,551,17188,0.00,2.40,0.00,0.000,6,0.000,0.030,3158,1979,1054
$GC,17442,1.38,279.5,169.1,10.8,576,17446,0.00,2.40,0.00,0.000,4,0.000,0.041,3158,3381,1054
$GC,17493,1.38,279.5,163.9,9.7,580,17497,0.00,2.40,0.00,0.000,6,0.000,0.032,3158,1970,1054
$GC,17760,1.40,290.3,138.6,8.6,605,17774,0.00,2.50,9.88,0.628,4,0.000,0.049,3158,555,1015
$GC,17820,1.40,290.3,132.5,9.6,610,17827,0.00,2.40,0.00,0.000,6,0.000,0.026,3158,1975,1013
$GC,18082,1.40,295.3,109.9,8.8,635,18093,0.00,2.38,5.78,0.524,4,0.000,0.035,3158,3370,995
$GC,18128,1.40,295.3,105.3,10.3,639,18132,0.00,2.38,0.00,0.000,6,0.000,0.028,3158,1964,995
$GC,18394,1.44,330.2,81.0,7.6,664,18431,0.00,2.50,30.95,0.614,4,0.000,0.045,3158,570,852
$GC,18566,1.45,333.4,64.7,8.9,679,18576,0.00,2.30,4.03,0.400,6,0.000,0.022,3158,1979,839
$GC,18840,1.45,333.4,39.3,10.0,705,18844,0.00,2.45,0.00,0.000,4,0.000,0.043,3158,564,839
$GC,18872,1.45,333.4,35.4,12.0,707,18879,0.00,2.33,0.00,0.000,6,0.000,0.021,3158,1972,838
$GC,19145,1.45,333.4,7.3,10.6,751,19151,0.00,2.35,0.00,0.000,4,0.000,0.074,3158,588,839
$STATE,19156,end climb,SURFACE_DEPTH_REACHED
$STATE,19156,begin surface coast
$FINISH,5.2,1.023419
$STATE,19164,end surface coast,CONTROL_FINISHED_OK
$STATE,19164,begin surface
$SM_CCo,19188,55.42,0.542,0,0,568,400.08
$SM_GC,0.89,0.00,0.00,55.42,0.000,0.000,0.542,430,1912,568,-11.18,0.62,400.08
$IRIDIUM_FIX,2059.45,-15835.52,090598,090921
$TT8_MAMPS,0.029146
$HUMID,1604
$INTERNAL_PRESSURE,9.46956
$TCM_TEMP,22.40
$XPDR_PINGS,23
$24V_AH,23.1,11.650
$10V_AH,10.1,6.116
$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,26.500,206.550,439.525,55.425,0.000,88.687,209.151,190.674,5.750,0.000,0.000,17.069,1457.579,15320.738,625.759,1813.336,744.586,0.000,1632.204,0.000,1781.899,0.000,0.540,0.000
$DEVICE_MAMPS,142.662,166.439,1281.657,541.502,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,511.560,288.590,454.945,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38009,754
$CAP_FILE_SIZE,138627,6
$CFSIZE,260165632,255172608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,120209,214706,2111.562,-15830.145,979,1.6,979,9.8