version: 66.04
glider: 139
mission: 3
dive: 71
start: 2 13 109 10 3 49
data:
$ID,139
$MISSION,3
$DIVE,71
$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,-1312799.5
$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,42
$R_STBD_OVSHOOT,53
$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,2
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-69.0
$GPS2,215343,2111.573,-15830.105,22,1.4,34,9.8
$SPEED_LIMITS,0.157,0.255
$TGT_NAME,HEADING
$TGT_LATLONG,2115.266,-15819.217
$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,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,-57.55,0.000,2,0.000,0.000,425,1861,2283
$GC,77,-1.22,-146.0,4.0,-8.4,10,97,11.70,2.33,-0.68,0.000,4,0.140,0.038,2591,3284,2322
$GC,232,-1.22,-146.0,35.7,-14.8,34,242,0.00,2.28,-5.00,0.000,6,0.000,0.027,2591,1903,2802
$GC,505,-1.22,-146.0,84.9,-18.8,60,509,0.00,2.42,0.00,0.000,4,0.000,0.044,2590,485,2803
$GC,548,-1.22,-146.0,94.0,-20.0,63,555,0.00,2.25,0.00,0.000,6,0.000,0.019,2591,1895,2803
$GC,809,-1.22,-146.0,140.1,-16.6,88,811,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1899,2803
$GC,1064,-1.22,-146.0,175.6,-13.2,112,1068,0.00,2.28,0.00,0.000,4,0.000,0.028,2590,3284,2803
$GC,1104,-1.22,-146.0,180.3,-11.1,115,1108,0.00,2.30,0.00,0.000,6,0.000,0.027,2590,1891,2803
$GC,1373,-1.22,-146.0,211.4,-13.2,136,1377,0.00,2.40,0.00,0.000,4,0.000,0.077,2590,483,2803
$GC,1422,-1.22,-146.0,218.9,-14.3,138,1426,0.00,2.28,0.00,0.000,6,0.000,0.021,2591,1900,2803
$GC,1743,-1.22,-146.0,254.2,-9.8,154,1747,0.00,2.42,0.00,0.000,4,0.000,0.058,2590,481,2802
$GC,1792,-1.22,-146.0,259.9,-11.7,156,1796,0.00,2.28,0.00,0.000,6,0.000,0.023,2590,1891,2802
$GC,2113,-1.22,-146.0,294.3,-11.4,172,2117,0.00,2.33,0.00,0.000,4,0.000,0.035,2591,3283,2800
$GC,2168,-1.22,-146.0,300.2,-10.8,174,2175,0.00,2.33,0.00,0.000,6,0.000,0.031,2591,1887,2800
$GC,2499,-1.22,-146.0,333.2,-9.7,183,2503,0.00,2.45,0.00,0.000,4,0.000,0.051,2590,477,2798
$GC,2525,-1.22,-146.0,336.0,-10.2,183,2529,0.00,2.33,0.00,0.000,6,0.000,0.028,2591,1888,2797
$GC,2862,-1.22,-146.0,368.9,-10.3,192,2866,0.00,2.38,0.00,0.000,4,0.000,0.040,2591,3293,2795
$GC,2888,-1.22,-146.0,371.7,-10.2,192,2893,0.00,2.38,0.00,0.000,6,0.000,0.033,2591,1889,2794
$GC,3226,-1.22,-146.0,401.1,-8.3,201,3227,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1889,2792
$GC,3550,-1.22,-146.0,431.1,-9.4,209,3554,0.00,2.25,0.00,0.000,4,0.000,0.088,2590,570,2788
$GC,3577,-1.22,-146.0,433.9,-10.6,209,3581,0.00,2.20,0.00,0.000,6,0.000,0.031,2590,1888,2788
$GC,3920,-1.22,-146.0,468.1,-10.2,218,3924,0.00,2.40,0.00,0.000,4,0.000,0.044,2591,3289,2786
$GC,3952,-1.22,-146.0,471.4,-9.8,218,3958,0.00,2.40,0.00,0.000,6,0.000,0.037,2591,1883,2786
$GC,4283,-1.22,-146.0,500.9,-8.4,227,4288,0.00,2.47,0.00,0.000,4,0.000,0.058,2590,481,2783
$GC,4327,-1.22,-146.0,505.0,-9.4,228,4332,0.00,2.38,0.00,0.000,6,0.000,0.033,2590,1894,2782
$GC,4652,-1.22,-146.0,535.8,-10.0,236,4656,0.00,2.42,0.00,0.000,4,0.000,0.050,2591,3293,2780
$GC,4684,-1.22,-146.0,539.1,-10.1,236,4691,0.00,2.42,0.00,0.000,6,0.000,0.040,2590,1881,2780
$GC,5015,-1.22,-146.0,571.3,-9.4,245,5020,0.00,2.50,0.00,0.000,4,0.000,0.062,2590,476,2778
$GC,5048,-1.22,-146.0,574.5,-9.6,245,5054,0.00,2.40,0.00,0.000,6,0.000,0.035,2590,1895,2778
$GC,5379,-1.22,-146.0,603.6,-9.1,254,5383,0.00,2.55,0.00,0.000,4,0.000,0.064,2590,477,2777
$GC,5400,-1.22,-146.0,605.8,-10.5,254,5405,0.00,2.40,0.00,0.000,6,0.000,0.036,2590,1888,2777
$GC,5737,-1.22,-146.0,640.5,-10.5,263,5741,0.00,2.50,0.00,0.000,4,0.000,0.062,2590,3293,2775
$GC,5775,-1.22,-146.0,644.4,-9.6,264,5780,0.00,2.45,0.00,0.000,6,0.000,0.051,2590,1888,2774
$GC,6100,-1.22,-146.0,673.6,-8.6,272,6104,0.00,2.55,0.00,0.000,4,0.000,0.073,2590,483,2773
$GC,6127,-1.22,-146.0,675.9,-8.5,272,6131,0.00,2.40,0.00,0.000,6,0.000,0.038,2590,1891,2773
$GC,6458,-1.22,-146.0,701.3,-7.7,280,6462,0.00,2.60,0.00,0.000,4,0.000,0.075,2590,480,2771
$GC,6501,-1.22,-146.0,705.0,-8.4,281,6506,0.00,2.42,0.00,0.000,6,0.000,0.041,2590,1885,2771
$GC,6820,-1.22,-146.0,732.4,-8.9,289,6825,0.00,2.60,0.00,0.000,4,0.000,0.076,2590,3306,2769
$GC,6848,-1.22,-146.0,735.1,-9.4,289,6852,0.00,2.55,0.00,0.000,6,0.000,0.061,2591,1888,2769
$GC,7180,-1.22,-146.0,764.4,-8.7,297,7185,0.00,2.67,0.00,0.000,4,0.000,0.092,2590,472,2768
$GC,7207,-1.22,-146.0,767.1,-9.0,297,7212,0.00,2.50,0.00,0.000,6,0.000,0.056,2590,1885,2768
$GC,7544,-1.22,-146.0,792.5,-7.3,306,7549,0.00,2.65,0.00,0.000,4,0.000,0.090,2590,3300,2767
$GC,7583,-1.22,-146.0,795.2,-6.6,307,7588,0.00,2.62,0.00,0.000,6,0.000,0.081,2590,1890,2767
$GC,7907,-1.22,-146.0,819.8,-7.8,315,7912,0.00,2.78,0.00,0.000,4,0.000,0.113,2590,481,2765
$GC,7940,-1.22,-146.0,822.7,-8.8,315,7946,0.00,2.60,0.00,0.000,6,0.000,0.075,2590,1886,2765
$GC,8271,-1.22,-146.0,851.6,-9.0,324,8275,0.00,2.80,0.00,0.000,4,0.000,0.113,2590,3302,2764
$GC,8303,-1.22,-146.0,854.7,-9.3,324,8309,0.00,2.78,0.00,0.000,6,0.000,0.102,2591,1889,2764
$GC,8635,-1.22,-146.0,883.6,-8.6,333,8639,0.00,2.92,0.00,0.000,4,0.000,0.165,2590,477,2763
$GC,8667,-1.22,-146.0,886.5,-8.8,333,8673,0.00,2.75,0.00,0.000,6,0.000,0.100,2590,1888,2764
$GC,8998,-1.22,-146.0,911.9,-7.5,342,8999,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1888,2763
$GC,9323,-1.22,-146.0,936.9,-7.8,350,9325,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,1888,2762
$STATE,9524,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9524,begin apogee
$GC,9530,-0.31,0.0,952.9,7.9,355,9662,0.95,0.00,128.65,1.283,6,0.081,0.000,2789,1971,2199
$STATE,9663,end apogee,CONTROL_FINISHED_OK
$STATE,9663,begin climb
$GC,9665,1.22,146.0,957.3,0.0,358,9810,1.55,3.22,135.57,1.260,4,0.046,0.159,3131,3382,1603
$GC,10006,1.25,167.8,946.4,8.1,366,10033,0.00,3.08,19.90,1.172,6,0.000,0.140,3131,1968,1515
$GC,10357,1.25,167.8,913.3,9.6,375,10362,0.00,2.97,0.00,0.000,4,0.000,0.127,3131,3386,1508
$GC,10378,1.25,167.8,911.1,9.7,375,10383,0.00,2.97,0.00,0.000,6,0.000,0.125,3130,1967,1508
$GC,10714,1.25,167.8,877.9,9.8,384,10719,0.00,2.88,0.00,0.000,4,0.000,0.110,3131,3388,1506
$GC,10757,1.25,167.8,873.5,10.2,385,10762,0.00,2.88,0.00,0.000,6,0.000,0.108,3131,1961,1505
$GC,11076,1.26,177.8,845.5,8.6,393,11090,0.00,2.85,8.62,1.041,4,0.000,0.098,3131,3385,1475
$GC,11141,1.26,181.6,839.9,8.9,394,11152,0.00,2.80,5.53,0.895,6,0.000,0.094,3131,1959,1459
$GC,11483,1.26,181.6,809.5,9.2,403,11484,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1959,1457
$GC,11808,1.26,181.6,777.3,10.2,411,11812,0.00,2.67,0.00,0.000,4,0.000,0.074,3131,3395,1455
$GC,11983,1.26,181.6,757.8,10.8,415,11987,0.00,2.60,0.00,0.000,6,0.000,0.077,3131,1966,1455
$GC,12306,1.26,181.6,719.8,11.7,423,12310,0.00,2.55,0.00,0.000,4,0.000,0.057,3131,3390,1455
$GC,12327,1.26,181.6,717.2,11.0,423,12332,0.00,2.55,0.00,0.000,6,0.000,0.084,3130,1963,1455
$GC,12669,1.26,181.6,682.3,9.4,432,12674,0.00,2.58,0.00,0.000,4,0.000,0.069,3131,551,1454
$GC,12691,1.26,184.0,680.2,8.9,432,12695,0.00,2.50,0.00,0.000,6,0.000,0.038,3130,1996,1452
$GC,13027,1.33,239.0,656.1,6.8,441,13083,0.00,0.00,53.67,1.098,6,0.000,0.000,3131,1997,1225
$GC,13392,1.33,239.0,620.9,10.5,450,13396,0.00,2.47,0.00,0.000,4,0.000,0.056,3131,3383,1219
$GC,13424,1.33,239.0,617.0,10.9,450,13430,0.00,2.50,0.00,0.000,6,0.000,0.044,3131,1965,1218
$GC,13755,1.33,239.0,579.7,11.0,459,13756,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1964,1217
$GC,14080,1.33,239.0,543.6,11.0,467,14081,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1964,1217
$GC,14405,1.33,239.0,507.5,11.2,475,14409,0.00,2.50,0.00,0.000,4,0.000,0.045,3130,3385,1216
$GC,14493,1.33,239.0,497.1,12.1,477,14497,0.00,2.47,0.00,0.000,6,0.000,0.057,3131,1962,1216
$GC,14818,1.33,239.0,460.1,10.9,485,14822,0.00,2.53,0.00,0.000,4,0.000,0.091,3130,558,1215
$GC,14901,1.33,239.0,449.6,12.8,487,14906,0.03,2.42,0.00,0.000,6,0.183,0.036,3125,1977,1214
$GC,15225,1.33,239.0,412.4,11.4,495,15230,0.12,2.45,0.00,0.000,4,0.058,0.049,3158,3376,1214
$GC,15257,1.33,239.0,408.3,12.3,495,15264,0.00,2.45,0.00,0.000,6,0.000,0.073,3158,1964,1214
$GC,15588,1.33,239.0,371.6,10.3,504,15592,0.00,2.47,0.00,0.000,4,0.000,0.043,3157,3381,1214
$GC,15700,1.33,239.0,360.3,10.1,506,15704,0.00,2.45,0.00,0.000,6,0.000,0.038,3157,1959,1213
$GC,16042,1.35,250.4,330.7,8.6,515,16057,0.00,2.53,9.65,0.795,4,0.000,0.044,3158,3385,1179
$GC,16118,1.35,250.4,322.3,11.8,516,16125,0.00,2.45,0.00,0.000,6,0.000,0.037,3158,1971,1179
$GC,16431,1.35,253.2,289.6,8.9,527,16440,0.00,2.45,4.28,0.584,4,0.000,0.041,3158,3375,1166
$GC,16514,1.35,253.2,281.6,9.7,530,16521,0.00,2.42,0.00,0.000,6,0.000,0.037,3158,1961,1166
$GC,16829,1.35,253.2,249.6,10.3,546,16831,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,1961,1165
$GC,17139,1.38,279.5,220.0,8.0,561,17169,0.00,2.55,24.02,0.765,4,0.000,0.053,3157,566,1059
$GC,17231,1.38,279.5,211.2,12.6,565,17235,0.00,2.40,0.00,0.000,6,0.000,0.030,3157,1979,1056
$GC,17560,1.41,302.0,177.5,8.1,591,17585,0.00,2.58,20.23,0.710,4,0.000,0.050,3158,556,967
$GC,17619,1.41,302.0,171.7,10.3,596,17626,0.00,2.42,0.00,0.000,6,0.000,0.028,3158,1973,965
$GC,17880,1.41,302.0,139.7,12.0,621,17884,0.00,2.38,0.00,0.000,4,0.000,0.038,3158,3369,964
$GC,17953,1.41,302.0,131.8,9.8,627,17957,0.00,2.38,0.00,0.000,6,0.000,0.031,3158,1966,964
$GC,18215,1.41,302.0,105.9,10.1,651,18220,0.00,2.42,0.00,0.000,4,0.000,0.047,3157,563,964
$GC,18345,1.41,302.0,91.6,12.4,662,18349,0.00,2.33,0.00,0.000,6,0.000,0.024,3158,1981,963
$GC,18606,1.41,302.0,66.3,9.2,686,18610,0.00,2.33,0.00,0.000,4,0.000,0.033,3158,3371,963
$GC,18634,1.43,315.9,63.8,8.5,688,18656,0.00,2.33,12.55,0.571,6,0.000,0.055,3158,1967,912
$GC,18914,1.43,318.4,40.0,8.9,714,18918,0.00,2.42,0.00,0.000,4,0.000,0.045,3157,560,910
$GC,19044,1.43,318.4,26.2,10.6,728,19050,0.00,2.30,0.00,0.000,6,0.000,0.021,3158,1984,909
$STATE,19234,end climb,SURFACE_DEPTH_REACHED
$STATE,19234,begin surface coast
$FINISH,0.5,1.005505
$STATE,19287,end surface coast,CONTROL_FINISHED_OK
$STATE,19287,begin surface
$SM_CCo,19309,69.55,0.542,0,0,568,400.08
$SM_GC,0.97,0.00,0.00,69.55,0.000,0.000,0.542,428,1857,568,-11.19,-0.93,400.08
$IRIDIUM_FIX,2101.76,-15823.07,100598,090909
$TT8_MAMPS,0.029146
$HUMID,1623
$INTERNAL_PRESSURE,9.46956
$TCM_TEMP,22.30
$XPDR_PINGS,20
$24V_AH,23.1,12.149
$10V_AH,10.1,6.495
$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,26.175,216.225,422.675,69.550,0.000,53.495,56.652,319.283,5.000,0.000,0.000,1203.683,1503.949,15203.974,647.900,3104.798,710.722,0.000,1686.886,0.000,1893.015,0.000,0.540,0.000
$DEVICE_MAMPS,182.546,164.905,1283.191,542.269,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,523.159,305.264,488.498,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38036,771
$CAP_FILE_SIZE,147168,8
$CFSIZE,260165632,254984192
$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