version: 66.04
glider: 139
mission: 3
dive: 69
start: 2 12 109 21 53 57
data:
$ID,139
$MISSION,3
$DIVE,69
$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,-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,20
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1307983
$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,27
$R_STBD_OVSHOOT,57
$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
$GPS1,214706,2111.562,-15830.145,979,1.6,979,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-69.8
$GPS2,215343,2111.573,-15830.105,22,1.4,34,9.8
$SPEED_LIMITS,0.157,0.255
$TGT_NAME,TRANSIT
$TGT_LATLONG,2109.000,-15810.000
$TGT_RADIUS,2000.000
$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,88.0,35052,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-1.22,-146.0,0.0,0.0,0,74,0.00,0.00,-57.58,0.000,2,0.000,0.000,430,1912,2239
$GC,77,-1.22,-146.0,3.2,-6.5,10,109,11.95,2.35,-9.80,0.000,4,0.146,0.041,2591,3288,2799
$GC,150,-1.22,-146.0,23.9,-18.5,22,157,0.00,2.35,0.00,0.000,6,0.000,0.067,2591,1889,2800
$GC,355,-1.22,-146.0,64.4,-20.3,44,359,0.00,2.42,0.00,0.000,4,0.000,0.047,2591,483,2800
$GC,410,-1.22,-146.0,75.6,-19.3,48,417,0.00,2.30,0.00,0.000,6,0.000,0.019,2591,1898,2800
$GC,673,-1.22,-146.0,124.3,-18.4,73,674,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,1902,2800
$GC,927,-1.22,-146.0,158.6,-13.3,97,931,0.00,2.45,0.00,0.000,4,0.000,0.044,2591,475,2800
$GC,981,-1.22,-146.0,166.8,-14.9,101,988,0.00,2.28,0.00,0.000,6,0.000,0.020,2591,1896,2801
$GC,1252,-1.22,-146.0,202.8,-11.7,126,1256,0.00,2.30,0.00,0.000,4,0.000,0.031,2591,3287,2801
$GC,1292,-1.22,-146.0,207.0,-10.3,128,1296,0.00,2.33,0.00,0.000,6,0.000,0.027,2591,1884,2801
$GC,1617,-1.22,-146.0,246.6,-13.7,144,1619,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,1884,2801
$GC,1927,-1.22,-146.0,277.2,-9.9,159,1931,0.00,2.42,0.00,0.000,4,0.000,0.049,2591,480,2800
$GC,1948,-1.22,-146.0,279.9,-11.7,160,1952,0.00,2.30,0.00,0.000,6,0.000,0.025,2591,1894,2799
$GC,2293,-1.22,-146.0,320.4,-11.2,173,2297,0.00,2.33,0.00,0.000,4,0.000,0.037,2591,3279,2798
$GC,2320,-1.22,-146.0,323.3,-10.3,173,2324,0.00,2.35,0.00,0.000,6,0.000,0.032,2591,1886,2797
$GC,2657,-1.22,-146.0,356.6,-10.1,182,2661,0.00,2.45,0.00,0.000,4,0.000,0.053,2591,483,2795
$GC,2689,-1.22,-146.0,359.9,-10.2,182,2696,0.00,2.33,0.00,0.000,6,0.000,0.028,2591,1888,2795
$GC,3020,-1.22,-146.0,391.1,-9.4,191,3024,0.00,2.38,0.00,0.000,4,0.000,0.041,2591,3288,2792
$GC,3048,-1.22,-146.0,393.5,-8.7,191,3052,0.00,2.38,0.00,0.000,6,0.000,0.035,2591,1890,2792
$GC,3379,-1.22,-146.0,420.6,-8.3,199,3383,0.00,2.47,0.00,0.000,4,0.000,0.057,2591,483,2789
$GC,3434,-1.22,-146.0,425.9,-9.6,200,3438,0.00,2.35,0.00,0.000,6,0.000,0.031,2591,1892,2789
$GC,3781,-1.22,-146.0,459.0,-9.3,209,3785,0.00,2.50,0.00,0.000,4,0.000,0.056,2591,479,2787
$GC,3802,-1.22,-146.0,461.0,-9.3,209,3806,0.00,2.38,0.00,0.000,6,0.000,0.032,2591,1897,2786
$GC,4144,-1.22,-146.0,493.9,-9.9,218,4149,0.00,2.50,0.00,0.000,4,0.000,0.057,2591,484,2783
$GC,4172,-1.22,-146.0,496.9,-10.9,218,4176,0.00,2.38,0.00,0.000,6,0.000,0.033,2591,1901,2783
$GC,4503,-1.22,-146.0,531.6,-10.1,226,4507,0.00,2.53,0.00,0.000,4,0.000,0.059,2591,476,2781
$GC,4535,-1.22,-146.0,534.7,-10.0,226,4539,0.00,2.40,0.00,0.000,6,0.000,0.034,2591,1898,2781
$GC,4873,-1.22,-146.0,560.9,-8.2,235,4877,0.00,2.42,0.00,0.000,4,0.000,0.052,2591,3291,2779
$GC,4917,-1.22,-146.0,564.4,-7.3,236,4921,0.00,2.42,0.00,0.000,6,0.000,0.075,2591,1890,2779
$GC,5235,-1.22,-146.0,588.7,-7.8,244,5236,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,1890,2778
$GC,5560,-1.22,-146.0,616.5,-8.8,252,5564,0.00,2.53,0.00,0.000,4,0.000,0.067,2592,483,2777
$GC,5587,-1.22,-146.0,619.0,-9.6,252,5591,0.00,2.40,0.00,0.000,6,0.000,0.036,2591,1895,2776
$GC,5918,-1.22,-146.0,647.5,-8.8,260,5922,0.00,2.58,0.00,0.000,4,0.000,0.072,2590,480,2774
$GC,5950,-1.22,-146.0,650.7,-9.2,260,5954,0.00,2.40,0.00,0.000,6,0.000,0.037,2591,1890,2774
$GC,6287,-1.22,-146.0,682.5,-9.9,269,6288,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,1890,2772
$GC,6612,-1.22,-146.0,714.9,-9.8,277,6616,0.00,2.58,0.00,0.000,4,0.000,0.107,2591,3291,2771
$GC,6633,-1.22,-146.0,716.9,-9.1,277,6637,0.00,2.50,0.00,0.000,6,0.000,0.086,2591,1889,2771
$GC,6969,-1.22,-146.0,742.9,-7.4,286,6973,0.00,2.55,0.00,0.000,4,0.000,0.067,2591,3293,2770
$GC,6996,-1.22,-146.0,745.0,-7.8,286,7000,0.00,2.55,0.00,0.000,6,0.000,0.071,2591,1888,2769
$GC,7332,-1.22,-146.0,773.4,-8.9,295,7336,0.00,2.62,0.00,0.000,4,0.000,0.077,2591,3299,2768
$GC,7353,-1.22,-146.0,775.5,-9.3,295,7357,0.00,2.62,0.00,0.000,6,0.000,0.103,2590,1882,2768
$GC,7701,-1.22,-146.0,811.3,-10.4,304,7702,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,1882,2767
$GC,8026,-1.22,-146.0,842.4,-9.1,312,8030,0.00,2.75,0.00,0.000,4,0.000,0.103,2591,3290,2767
$GC,8065,-1.22,-146.0,845.6,-8.4,313,8070,0.00,2.75,0.00,0.000,6,0.000,0.128,2590,1887,2766
$GC,8388,-1.22,-146.0,870.3,-7.5,321,8390,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,1887,2765
$GC,8714,-1.22,-146.0,895.9,-7.9,329,8715,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,1888,2765
$GC,9038,-1.22,-146.0,922.0,-8.1,337,9040,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,1887,2764
$STATE,9361,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9361,begin apogee
$GC,9367,-0.31,0.0,950.7,9.0,345,9499,0.95,0.00,128.38,1.279,6,0.079,0.000,2790,1953,2200
$STATE,9499,end apogee,CONTROL_FINISHED_OK
$STATE,9499,begin climb
$GC,9502,1.22,146.0,955.6,0.0,348,9648,1.50,3.25,135.15,1.253,4,0.048,0.153,3124,3386,1602
$GC,9687,1.28,195.7,957.2,7.0,352,9738,0.00,3.15,45.55,1.216,6,0.000,0.147,3124,1970,1401
$GC,10069,1.28,195.7,912.3,12.3,362,10074,0.00,3.00,0.00,0.000,4,0.000,0.130,3124,3387,1391
$GC,10163,1.28,195.7,900.9,12.1,364,10168,0.00,2.95,0.00,0.000,6,0.000,0.120,3124,1966,1391
$GC,10476,1.28,195.7,866.0,11.1,372,10480,0.00,2.85,0.00,0.000,4,0.000,0.107,3124,3385,1389
$GC,10497,1.28,195.7,863.6,11.1,372,10501,0.00,2.83,0.00,0.000,6,0.000,0.132,3124,1966,1389
$GC,10833,1.28,195.7,829.1,10.2,381,10834,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,1966,1389
$GC,11158,1.28,195.7,796.7,10.1,389,11162,0.00,2.70,0.00,0.000,4,0.000,0.080,3124,3392,1387
$GC,11173,1.28,195.7,795.1,10.0,389,11177,0.00,2.70,0.00,0.000,6,0.000,0.096,3124,1962,1388
$GC,11521,1.28,195.7,759.2,10.4,398,11525,0.00,2.62,0.00,0.000,4,0.000,0.066,3124,3391,1387
$GC,11553,1.28,195.7,755.6,10.4,398,11560,0.00,2.60,0.00,0.000,6,0.000,0.091,3124,1968,1387
$GC,11884,1.28,195.7,723.0,10.1,407,11889,0.00,2.58,0.00,0.000,4,0.000,0.061,3124,3390,1387
$GC,11951,1.28,195.7,716.0,10.3,408,11955,0.00,2.53,0.00,0.000,6,0.000,0.085,3124,1966,1386
$GC,12292,1.28,195.7,680.5,10.2,417,12297,0.00,2.55,0.00,0.000,4,0.000,0.054,3124,3392,1385
$GC,12359,1.28,195.7,674.0,9.8,418,12363,0.00,2.53,0.00,0.000,6,0.000,0.070,3124,1964,1385
$GC,12701,1.30,213.4,644.9,8.3,427,12720,0.00,2.60,14.48,1.022,4,0.000,0.051,3124,3393,1329
$GC,12748,1.32,229.0,640.9,8.4,428,12770,0.10,2.53,16.20,1.017,6,0.067,0.075,3149,1970,1266
$GC,13101,1.32,229.0,602.3,11.0,437,13102,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,1970,1262
$GC,13426,1.32,229.0,565.0,11.6,445,13430,0.00,2.53,0.00,0.000,4,0.000,0.048,3150,3399,1262
$GC,13510,1.32,229.0,555.2,11.8,447,13515,0.00,2.50,0.00,0.000,6,0.000,0.075,3150,1962,1261
$GC,13834,1.32,229.0,518.4,11.4,455,13838,0.00,2.53,0.00,0.000,4,0.000,0.046,3150,3399,1261
$GC,13888,1.32,229.0,512.1,11.2,456,13893,0.00,2.50,0.00,0.000,6,0.000,0.059,3150,1966,1260
$GC,14236,1.32,229.0,478.4,9.1,465,14240,0.00,2.53,0.00,0.000,4,0.000,0.074,3150,554,1260
$GC,14262,1.32,229.0,475.8,10.0,465,14267,0.00,2.47,0.00,0.000,6,0.000,0.036,3150,1999,1259
$GC,14600,1.37,266.4,449.8,7.5,474,14640,0.00,0.00,34.15,0.945,6,0.000,0.000,3150,2003,1113
$GC,14965,1.37,266.4,413.4,10.6,483,14969,0.00,2.58,0.00,0.000,4,0.000,0.075,3150,557,1108
$GC,15025,1.37,266.4,405.8,12.1,484,15029,0.00,2.42,0.00,0.000,6,0.000,0.035,3150,1971,1107
$GC,15373,1.37,266.4,365.7,11.8,493,15377,0.00,2.45,0.00,0.000,4,0.000,0.048,3150,3373,1107
$GC,15395,1.37,266.4,362.6,14.5,493,15399,0.00,2.45,0.00,0.000,6,0.000,0.037,3149,1958,1106
$GC,15737,1.37,266.4,323.0,10.5,502,15738,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,1958,1106
$GC,16043,1.37,266.4,293.1,9.9,511,16047,0.00,2.47,0.00,0.000,4,0.000,0.041,3150,3384,1106
$GC,16075,1.37,266.4,289.7,10.1,512,16082,0.00,2.42,0.00,0.000,6,0.000,0.035,3150,1963,1106
$GC,16390,1.37,266.4,256.5,10.6,528,16395,0.00,2.45,0.00,0.000,4,0.000,0.039,3150,3385,1106
$GC,16417,1.37,266.4,253.4,11.8,529,16422,0.00,2.42,0.00,0.000,6,0.000,0.035,3150,1968,1106
$GC,16739,1.37,272.2,223.6,8.8,545,16750,0.00,2.45,5.35,0.597,4,0.000,0.037,3150,3386,1089
$GC,16783,1.37,272.2,219.1,9.9,547,16787,0.00,2.42,0.00,0.000,6,0.000,0.032,3150,1968,1089
$GC,17105,1.37,272.2,185.4,9.7,569,17109,0.00,2.42,0.00,0.000,4,0.000,0.036,3150,3387,1089
$GC,17134,1.37,272.2,182.5,10.0,571,17139,0.00,2.40,0.00,0.000,6,0.000,0.031,3150,1968,1089
$GC,17395,1.37,272.2,156.6,9.5,595,17400,0.00,2.45,0.00,0.000,4,0.000,0.049,3149,557,1089
$GC,17417,1.37,272.2,154.5,9.5,596,17424,0.00,2.40,0.00,0.000,6,0.000,0.027,3150,1984,1088
$GC,17679,1.42,310.8,133.6,7.5,621,17722,0.00,2.58,33.88,0.669,4,0.000,0.047,3150,567,932
$GC,17760,1.42,310.8,125.5,10.1,628,17767,0.00,2.38,0.00,0.000,6,0.000,0.025,3150,1971,930
$GC,18022,1.42,310.8,100.9,9.5,653,18026,0.00,2.45,0.00,0.000,4,0.000,0.045,3150,564,929
$GC,18043,1.43,315.2,98.6,8.9,654,18053,0.00,2.33,4.90,0.470,6,0.000,0.024,3150,1984,914
$GC,18319,1.43,318.7,75.3,8.9,680,18331,0.00,2.33,4.95,0.451,4,0.000,0.031,3150,3372,899
$GC,18381,1.43,318.7,68.9,9.9,685,18388,0.00,2.35,0.00,0.000,6,0.000,0.028,3150,1966,899
$GC,18642,1.43,318.7,43.6,10.3,710,18646,0.00,2.40,0.00,0.000,4,0.000,0.062,3150,562,899
$GC,18715,1.44,327.8,36.9,8.7,716,18733,0.10,2.30,9.38,0.511,6,0.054,0.021,3186,1988,861
$GC,18997,1.44,327.8,8.5,10.5,760,19003,0.00,2.45,0.00,0.000,4,0.000,0.042,3186,555,861
$GC,19016,1.44,327.8,6.4,10.6,763,19022,0.00,2.28,0.00,0.000,6,0.000,0.021,3186,1971,860
$STATE,19026,end climb,SURFACE_DEPTH_REACHED
$STATE,19026,begin surface coast
$FINISH,0.3,1.003530
$STATE,19089,end surface coast,CONTROL_FINISHED_OK
$STATE,19089,begin surface
$SM_CCo,19111,59.75,0.536,0,0,569,400.08
$SM_GC,1.00,0.00,0.00,59.75,0.000,0.000,0.536,429,1854,569,-11.18,-0.99,400.08
$IRIDIUM_FIX,2104.07,-15835.52,090598,161643
$TT8_MAMPS,0.029146
$HUMID,1603
$INTERNAL_PRESSURE,9.46956
$TCM_TEMP,22.40
$XPDR_PINGS,28
$24V_AH,23.1,11.813
$10V_AH,10.1,6.218
$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,26.425,210.250,432.350,59.750,0.000,27.441,26.426,197.983,7.000,0.000,0.000,35.550,1477.612,15116.371,636.369,1806.023,513.252,0.000,1633.154,0.000,1763.347,0.000,0.540,0.000
$DEVICE_MAMPS,145.730,153.400,1279.356,536.133,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,526.458,313.433,495.226,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37974,776
$CAP_FILE_SIZE,138830,11
$CFSIZE,260165632,255111168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120209,215343,2111.573,-15830.105,22,1.4,34,9.8