version: 66.04
glider: 139
mission: 3
dive: 70
start: 2 13 109 4 0 39
data:
$ID,139
$MISSION,3
$DIVE,70
$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,-1310390.5
$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,53
$R_STBD_OVSHOOT,55
$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
$GPS1,215343,2111.573,-15830.105,22,1.4,34,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-71.7
$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,-146.0,0.0,0.0,0,75,0.00,0.00,-58.53,0.000,2,0.000,0.000,428,1855,2301
$GC,78,-1.22,-146.0,4.0,-8.6,10,105,11.73,2.30,-8.27,0.000,4,0.150,0.054,2589,512,2796
$GC,206,-1.22,-146.0,39.2,-18.5,28,211,0.00,2.20,0.00,0.000,6,0.000,0.019,2589,1888,2797
$GC,467,-1.22,-146.0,87.9,-17.7,52,471,0.00,2.38,0.00,0.000,4,0.000,0.076,2589,505,2797
$GC,488,-1.22,-146.0,92.0,-18.2,53,494,0.00,2.22,0.00,0.000,6,0.000,0.019,2589,1908,2797
$GC,749,-1.22,-146.0,138.1,-16.2,78,753,0.00,2.22,0.00,0.000,4,0.000,0.026,2589,3271,2797
$GC,765,-1.22,-146.0,140.8,-16.4,79,771,0.00,2.25,0.00,0.000,6,0.000,0.025,2589,1907,2796
$GC,1026,-1.22,-146.0,177.6,-15.0,104,1030,0.00,2.42,0.00,0.000,4,0.000,0.043,2589,483,2796
$GC,1047,-1.22,-146.0,181.0,-15.6,105,1053,0.00,2.25,0.00,0.000,6,0.000,0.020,2589,1900,2797
$GC,1304,-1.22,-146.0,216.4,-11.5,124,1308,0.00,2.25,0.00,0.000,4,0.000,0.028,2589,3279,2796
$GC,1331,-1.22,-146.0,219.7,-12.3,125,1335,0.00,2.30,0.00,0.000,6,0.000,0.028,2589,1894,2797
$GC,1658,-1.22,-146.0,263.7,-14.7,141,1662,0.00,2.40,0.00,0.000,4,0.000,0.046,2589,488,2796
$GC,1713,-1.22,-146.0,272.1,-14.4,143,1717,0.00,2.25,0.00,0.000,6,0.000,0.022,2589,1885,2796
$GC,2053,-1.22,-146.0,314.9,-11.2,157,2054,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1888,2794
$GC,2378,-1.22,-146.0,352.7,-11.4,165,2379,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1888,2792
$GC,2703,-1.22,-146.0,388.2,-10.8,173,2707,0.00,2.42,0.00,0.000,4,0.000,0.051,2589,488,2790
$GC,2730,-1.22,-146.0,391.6,-12.4,173,2734,0.00,2.30,0.00,0.000,6,0.000,0.027,2589,1892,2790
$GC,3072,-1.22,-146.0,424.4,-8.5,182,3074,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1895,2787
$GC,3397,-1.22,-146.0,450.6,-8.7,190,3399,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1895,2785
$GC,3722,-1.22,-146.0,482.2,-10.0,198,3726,0.00,2.47,0.00,0.000,4,0.000,0.056,2588,482,2782
$GC,3783,-1.22,-146.0,488.7,-10.4,199,3787,0.00,2.35,0.00,0.000,6,0.000,0.031,2589,1892,2782
$GC,4096,-1.22,-146.0,516.6,-8.5,207,4100,0.00,2.40,0.00,0.000,4,0.000,0.046,2589,3289,2780
$GC,4123,-1.22,-146.0,519.1,-8.8,207,4127,0.00,2.40,0.00,0.000,6,0.000,0.038,2589,1887,2780
$GC,4454,-1.22,-146.0,549.8,-9.5,215,4458,0.00,2.50,0.00,0.000,4,0.000,0.061,2589,476,2777
$GC,4492,-1.22,-146.0,553.8,-10.0,216,4497,0.00,2.38,0.00,0.000,6,0.000,0.034,2589,1890,2777
$GC,4816,-1.22,-146.0,584.7,-9.5,224,4820,0.00,2.45,0.00,0.000,4,0.000,0.054,2589,3290,2776
$GC,4860,-1.22,-146.0,589.0,-9.5,225,4864,0.00,2.42,0.00,0.000,6,0.000,0.043,2589,1890,2775
$GC,5184,-1.22,-146.0,620.0,-9.6,233,5185,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1889,2773
$GC,5508,-1.22,-146.0,651.8,-9.9,241,5510,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1889,2770
$GC,5833,-1.22,-146.0,682.5,-9.2,249,5838,0.00,2.60,0.00,0.000,4,0.000,0.107,2589,476,2769
$GC,5854,-1.22,-146.0,684.6,-9.7,249,5859,0.00,2.40,0.00,0.000,6,0.000,0.038,2589,1889,2768
$GC,6197,-1.22,-146.0,714.7,-8.7,258,6198,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1889,2767
$GC,6522,-1.22,-146.0,741.7,-8.3,266,6526,0.00,2.58,0.00,0.000,4,0.000,0.090,2589,3296,2765
$GC,6549,-1.22,-146.0,743.9,-8.2,266,6553,0.00,2.55,0.00,0.000,6,0.000,0.070,2589,1893,2765
$GC,6880,-1.22,-146.0,771.7,-8.7,274,6881,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1892,2763
$GC,7205,-1.22,-146.0,800.7,-8.9,282,7209,0.00,2.75,0.00,0.000,4,0.000,0.105,2589,476,2762
$GC,7231,-1.22,-146.0,803.3,-9.6,282,7236,0.00,2.58,0.00,0.000,6,0.000,0.068,2589,1884,2762
$GC,7569,-1.22,-146.0,833.0,-8.6,291,7570,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1884,2761
$GC,7893,-1.22,-146.0,860.3,-8.3,299,7898,0.00,2.90,0.00,0.000,4,0.000,0.155,2589,478,2760
$GC,7915,-1.22,-146.0,861.9,-7.5,299,7919,0.00,2.72,0.00,0.000,6,0.000,0.093,2589,1897,2760
$GC,8251,-1.22,-146.0,888.0,-8.2,308,8255,0.00,2.88,0.00,0.000,4,0.000,0.128,2589,3306,2759
$GC,8272,-1.22,-146.0,890.0,-9.1,308,8277,0.00,2.85,0.00,0.000,6,0.000,0.144,2589,1896,2759
$GC,8609,-1.22,-146.0,917.0,-8.0,317,8614,0.00,3.08,0.00,0.000,4,0.000,0.179,2588,473,2758
$GC,8630,-1.22,-146.0,919.0,-8.9,317,8635,0.00,2.83,0.00,0.000,6,0.000,0.112,2589,1886,2758
$GC,8966,-1.22,-146.0,943.9,-7.3,326,8971,0.00,3.05,0.00,0.000,4,0.000,0.152,2589,3304,2757
$GC,8988,-1.22,-146.0,945.6,-7.7,326,8993,0.00,3.03,0.00,0.000,6,0.000,0.153,2589,1892,2757
$STATE,9078,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9078,begin apogee
$GC,9084,-0.31,0.0,952.5,7.6,329,9214,0.98,0.00,127.22,1.279,6,0.080,0.000,2792,1972,2200
$STATE,9215,end apogee,CONTROL_FINISHED_OK
$STATE,9215,begin climb
$GC,9217,1.22,146.0,957.1,0.0,332,9363,1.52,3.17,135.52,1.252,4,0.046,0.150,3129,3383,1603
$GC,9458,1.27,190.3,955.7,7.2,338,9504,0.00,3.12,40.53,1.213,6,0.000,0.170,3129,1968,1424
$GC,9817,1.27,190.3,920.4,10.4,347,9822,0.00,3.00,0.00,0.000,4,0.000,0.130,3129,3385,1416
$GC,9946,1.27,190.3,905.9,11.4,350,9951,0.00,2.95,0.00,0.000,6,0.000,0.124,3129,1969,1414
$GC,10269,1.27,190.3,870.2,11.1,358,10273,0.00,1.80,0.00,0.000,4,0.000,0.135,3129,2895,1413
$GC,10341,1.27,190.3,861.8,11.4,359,10345,0.00,1.85,0.00,0.000,6,0.000,0.101,3129,1961,1413
$GC,10683,1.27,190.3,822.5,11.8,368,10688,0.00,2.75,0.00,0.000,4,0.000,0.089,3129,3386,1411
$GC,10710,1.27,190.3,819.0,12.8,368,10714,0.00,2.72,0.00,0.000,6,0.000,0.086,3129,1969,1411
$GC,11041,1.27,190.3,783.5,10.5,376,11046,0.00,2.65,0.00,0.000,4,0.000,0.074,3129,3388,1410
$GC,11069,1.27,190.3,780.5,11.0,376,11073,0.00,2.65,0.00,0.000,6,0.000,0.100,3129,1960,1411
$GC,11400,1.27,190.3,747.5,9.9,384,11404,0.00,2.62,0.00,0.000,4,0.000,0.062,3129,3399,1409
$GC,11465,1.27,190.3,741.0,9.8,385,11470,0.00,2.58,0.00,0.000,6,0.000,0.056,3129,1967,1410
$GC,11808,1.27,190.3,710.3,9.1,394,11812,0.00,2.55,0.00,0.000,4,0.000,0.054,3129,3392,1409
$GC,11851,1.27,190.3,706.2,9.6,395,11856,0.00,2.53,0.00,0.000,6,0.000,0.081,3129,1968,1409
$GC,12176,1.27,190.3,672.6,10.8,403,12177,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,1967,1409
$GC,12501,1.27,190.3,639.9,9.5,411,12505,0.00,2.53,0.00,0.000,4,0.000,0.049,3129,3396,1409
$GC,12600,1.28,193.8,630.6,8.9,413,12605,0.00,2.50,0.00,0.000,6,0.000,0.074,3129,1966,1408
$GC,12948,1.28,193.8,599.8,9.3,422,12952,0.00,2.53,0.00,0.000,4,0.000,0.048,3129,3402,1408
$GC,12981,1.28,193.8,596.5,9.4,422,12987,0.00,2.50,0.00,0.000,6,0.000,0.072,3129,1969,1408
$GC,13312,1.28,193.9,566.3,9.0,431,13317,0.00,2.53,0.00,0.000,4,0.000,0.048,3129,3403,1408
$GC,13407,1.28,193.9,557.7,9.5,433,13411,0.00,2.50,0.00,0.000,6,0.000,0.072,3129,1969,1408
$GC,13726,1.28,198.4,529.4,8.9,441,13737,0.00,2.55,5.90,0.799,4,0.000,0.091,3129,560,1390
$GC,13765,1.28,198.4,525.5,9.9,442,13769,0.00,2.47,0.00,0.000,6,0.000,0.037,3129,1997,1389
$GC,14089,1.36,262.2,501.6,6.4,450,14151,0.12,0.00,59.53,0.988,6,0.058,0.000,3162,2001,1130
$GC,14453,1.36,262.2,459.6,13.2,459,14455,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,2002,1125
$GC,14778,1.36,262.2,411.8,14.7,467,14782,0.00,2.58,0.00,0.000,4,0.000,0.073,3162,557,1124
$GC,14805,1.36,262.2,407.7,14.7,467,14809,0.00,2.45,0.00,0.000,6,0.000,0.035,3162,1973,1123
$GC,15141,1.36,262.2,363.7,13.4,476,15142,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,1979,1122
$GC,15466,1.36,262.2,316.3,14.1,484,15467,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,1979,1122
$GC,15773,1.36,262.2,283.0,9.9,495,15777,0.00,2.42,0.00,0.000,4,0.000,0.044,3163,3377,1122
$GC,15800,1.36,262.2,279.9,10.6,496,15804,0.00,2.42,0.00,0.000,6,0.000,0.035,3162,1962,1122
$GC,16122,1.36,262.2,240.0,12.2,512,16126,0.00,2.47,0.00,0.000,4,0.000,0.053,3163,559,1121
$GC,16211,1.36,262.2,228.4,12.3,516,16216,0.00,2.40,0.00,0.000,6,0.000,0.065,3163,1984,1119
$GC,16529,1.36,262.2,195.9,9.5,533,16533,0.00,2.50,0.00,0.000,4,0.000,0.050,3162,559,1119
$GC,16567,1.36,262.2,191.5,11.0,536,16574,0.00,2.35,0.00,0.000,6,0.000,0.029,3163,1976,1119
$GC,16829,1.39,287.8,168.6,8.0,561,16855,0.00,2.42,21.35,0.701,4,0.000,0.038,3162,3373,1025
$GC,17017,1.39,287.8,148.6,10.2,577,17024,0.00,2.40,0.00,0.000,6,0.000,0.031,3162,1959,1024
$GC,17278,1.39,287.8,121.9,9.1,602,17279,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,1959,1024
$GC,17535,1.42,307.8,102.9,8.2,626,17558,0.00,2.47,17.75,0.617,4,0.000,0.031,3162,3371,944
$GC,17593,1.42,307.8,98.1,9.9,631,17597,0.00,2.35,0.00,0.000,6,0.000,0.028,3163,1969,944
$GC,17860,1.42,307.8,73.2,10.1,656,17864,0.00,2.42,0.00,0.000,4,0.000,0.045,3162,563,943
$GC,17933,1.42,310.1,66.4,9.0,662,17938,0.00,2.30,0.00,0.000,6,0.000,0.022,3163,1987,942
$GC,18200,1.43,315.5,45.0,8.8,687,18213,0.00,2.53,8.07,0.502,4,0.000,0.073,3162,557,912
$GC,18263,1.43,315.5,38.3,11.0,692,18270,0.00,2.30,0.00,0.000,6,0.000,0.021,3163,1980,910
$GC,18536,1.43,315.5,11.2,11.5,733,18541,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,1985,911
$STATE,18574,end climb,SURFACE_DEPTH_REACHED
$STATE,18574,begin surface coast
$FINISH,0.4,1.000046
$STATE,18637,end surface coast,CONTROL_FINISHED_OK
$STATE,18637,begin surface
$SM_CCo,18659,69.50,0.536,0,0,569,400.08
$SM_GC,1.10,0.00,0.00,69.50,0.000,0.000,0.536,426,1860,569,-11.20,-0.85,400.08
$IRIDIUM_FIX,2104.07,-15828.22,090598,212150
$TT8_MAMPS,0.029146
$HUMID,1602
$INTERNAL_PRESSURE,9.48909
$TCM_TEMP,22.60
$XPDR_PINGS,25
$24V_AH,23.1,11.976
$10V_AH,10.1,6.353
$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,26.125,186.550,415.875,69.500,0.000,22.651,29.105,214.151,6.250,0.000,0.000,1202.237,1437.923,14753.557,628.929,2944.783,525.012,0.000,1577.412,0.000,1740.450,0.000,0.542,0.000
$DEVICE_MAMPS,149.565,178.711,1279.356,536.133,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,509.538,292.402,475.081,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37948,751
$CAP_FILE_SIZE,133473,12
$CFSIZE,260165632,255057920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,120209,215343,2111.573,-15830.105,22,1.4,34,9.8