version: 66.04
glider: 139
mission: 3
dive: 72
start: 2 13 109 16 28 33
data:
$ID,139
$MISSION,3
$DIVE,72
$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,-1315209.5
$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,49
$R_STBD_OVSHOOT,50
$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,5
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-67.7
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-1.22,-146.0,0.0,0.0,0,73,0.00,0.00,-52.10,0.000,6,0.000,0.000,425,1858,2040
$GC,76,-1.22,-146.0,3.2,-5.7,10,101,11.80,2.38,-6.10,0.000,4,0.143,0.039,2590,3292,2348
$GC,215,-1.22,-146.0,28.5,-15.1,34,228,0.00,2.33,-5.20,0.000,6,0.000,0.064,2590,1912,2798
$GC,418,-1.22,-146.0,65.3,-17.1,54,422,0.00,2.45,0.00,0.000,4,0.000,0.077,2590,481,2799
$GC,480,-1.22,-146.0,77.1,-18.6,59,484,0.00,2.25,0.00,0.000,6,0.000,0.020,2590,1898,2799
$GC,746,-1.22,-146.0,122.3,-15.7,84,750,0.00,2.42,0.00,0.000,4,0.000,0.077,2589,485,2799
$GC,801,-1.22,-146.0,131.8,-17.1,88,807,0.00,2.22,0.00,0.000,6,0.000,0.020,2590,1892,2798
$GC,1063,-1.22,-146.0,172.6,-14.8,113,1067,0.00,2.28,0.00,0.000,4,0.000,0.028,2590,3279,2799
$GC,1092,-1.22,-146.0,176.9,-14.2,115,1096,0.00,2.30,0.00,0.000,6,0.000,0.028,2589,1889,2799
$GC,1367,-1.22,-146.0,210.9,-11.7,137,1371,0.00,2.40,0.00,0.000,4,0.000,0.080,2589,484,2799
$GC,1401,-1.22,-146.0,215.4,-13.3,138,1407,0.00,2.25,0.00,0.000,6,0.000,0.021,2590,1901,2799
$GC,1715,-1.22,-146.0,250.7,-10.3,154,1720,0.00,2.28,0.00,0.000,4,0.000,0.067,2590,3276,2799
$GC,1748,-1.22,-146.0,254.0,-9.1,155,1755,0.00,2.33,0.00,0.000,6,0.000,0.028,2590,1880,2799
$GC,2064,-1.22,-146.0,291.5,-14.1,171,2068,0.00,2.40,0.00,0.000,4,0.000,0.081,2590,485,2797
$GC,2130,-1.22,-146.0,301.1,-13.6,174,2134,0.00,2.28,0.00,0.000,6,0.000,0.024,2589,1887,2797
$GC,2472,-1.22,-146.0,339.9,-11.1,183,2473,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1891,2795
$GC,2797,-1.22,-146.0,377.5,-11.1,191,2798,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1891,2792
$GC,3122,-1.22,-146.0,410.3,-10.2,199,3123,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1891,2790
$GC,3447,-1.22,-146.0,445.9,-10.9,207,3451,0.00,2.47,0.00,0.000,4,0.000,0.054,2589,483,2787
$GC,3479,-1.22,-146.0,449.4,-10.2,207,3485,0.00,2.33,0.00,0.000,6,0.000,0.030,2590,1883,2787
$GC,3811,-1.22,-146.0,478.9,-8.3,216,3815,0.00,2.47,0.00,0.000,4,0.000,0.056,2590,479,2784
$GC,3827,-1.22,-146.0,480.5,-8.7,216,3831,0.00,2.35,0.00,0.000,6,0.000,0.031,2589,1891,2784
$GC,4174,-1.22,-146.0,513.3,-9.9,225,4178,0.00,2.40,0.00,0.000,4,0.000,0.045,2589,3293,2782
$GC,4191,-1.22,-146.0,514.8,-10.1,225,4195,0.00,2.40,0.00,0.000,6,0.000,0.037,2590,1885,2782
$GC,4532,-1.22,-146.0,547.4,-9.2,234,4536,0.00,2.47,0.00,0.000,4,0.000,0.060,2589,484,2779
$GC,4553,-1.22,-146.0,549.5,-9.5,234,4557,0.00,2.38,0.00,0.000,6,0.000,0.033,2590,1899,2779
$GC,4895,-1.22,-146.0,580.3,-9.7,243,4896,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1903,2777
$GC,5220,-1.22,-146.0,614.7,-10.2,251,5225,0.00,2.55,0.00,0.000,4,0.000,0.064,2590,480,2775
$GC,5264,-1.22,-146.0,619.1,-9.2,252,5268,0.00,2.38,0.00,0.000,6,0.000,0.035,2590,1883,2775
$GC,5589,-1.22,-146.0,645.5,-7.7,260,5590,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1883,2773
$GC,5914,-1.22,-146.0,673.5,-8.9,268,5915,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1884,2771
$GC,6239,-1.22,-146.0,701.0,-8.3,276,6243,0.00,2.25,0.00,0.000,4,0.000,0.107,2589,624,2769
$GC,6278,-1.22,-146.0,704.4,-8.7,277,6282,0.00,2.17,0.00,0.000,6,0.000,0.041,2590,1893,2769
$GC,6602,-1.22,-146.0,733.2,-9.1,285,6606,0.00,2.62,0.00,0.000,4,0.000,0.084,2589,489,2768
$GC,6629,-1.22,-146.0,736.1,-10.8,285,6633,0.00,2.42,0.00,0.000,6,0.000,0.046,2590,1885,2767
$GC,6960,-1.22,-146.0,767.3,-9.2,293,6964,0.00,2.62,0.00,0.000,4,0.000,0.081,2589,3304,2766
$GC,7020,-1.22,-146.0,773.0,-9.4,294,7024,0.00,2.60,0.00,0.000,6,0.000,0.101,2590,1891,2766
$GC,7368,-1.22,-146.0,808.8,-10.7,303,7372,0.00,2.75,0.00,0.000,4,0.000,0.108,2589,480,2764
$GC,7407,-1.22,-146.0,813.0,-10.7,304,7411,0.00,2.58,0.00,0.000,6,0.000,0.071,2589,1885,2764
$GC,7730,-1.22,-146.0,847.0,-10.5,312,7731,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1886,2763
$GC,8055,-1.22,-146.0,878.8,-9.4,320,8060,0.00,2.92,0.00,0.000,4,0.000,0.136,2589,481,2762
$GC,8087,-1.22,-146.0,881.9,-9.4,320,8094,0.00,2.72,0.00,0.000,6,0.000,0.097,2589,1891,2761
$GC,8419,-1.22,-146.0,911.3,-8.7,329,8423,0.00,2.92,0.00,0.000,4,0.000,0.137,2590,3300,2761
$GC,8451,-1.22,-146.0,914.3,-8.9,329,8457,0.00,2.92,0.00,0.000,6,0.000,0.133,2590,1892,2761
$GC,8782,-1.22,-146.0,941.6,-8.2,338,8787,0.00,3.12,0.00,0.000,4,0.000,0.165,2589,475,2759
$GC,8822,-1.22,-146.0,945.0,-8.7,339,8826,0.00,2.90,0.00,0.000,6,0.000,0.123,2589,1893,2760
$STATE,8899,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8899,begin apogee
$GC,8905,-0.31,0.0,951.3,7.8,341,9036,0.98,0.00,127.90,1.282,6,0.081,0.000,2793,1977,2200
$STATE,9037,end apogee,CONTROL_FINISHED_OK
$STATE,9037,begin climb
$GC,9039,1.22,146.0,956.4,0.0,344,9184,1.52,3.17,136.10,1.257,4,0.045,0.154,3131,3382,1604
$GC,9263,1.24,167.3,956.7,8.2,349,9289,0.00,3.08,19.70,1.172,6,0.000,0.150,3131,1970,1517
$GC,9596,1.24,167.3,925.6,9.6,358,9597,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1970,1510
$GC,9921,1.26,181.3,897.5,8.5,366,9941,0.00,3.00,12.90,1.121,4,0.000,0.119,3131,3382,1460
$GC,9992,1.27,187.2,891.6,8.8,367,10009,0.00,2.90,7.30,0.994,6,0.000,0.114,3130,1969,1436
$GC,10333,1.27,187.2,858.4,10.0,376,10337,0.00,2.80,0.00,0.000,4,0.000,0.102,3131,3384,1432
$GC,10376,1.27,187.2,853.7,10.5,377,10381,0.00,2.78,0.00,0.000,6,0.000,0.126,3131,1967,1432
$GC,10694,1.27,187.2,821.6,10.0,385,10695,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,1967,1431
$GC,11019,1.27,187.3,791.1,9.0,393,11024,0.00,2.67,0.00,0.000,4,0.000,0.076,3131,3397,1430
$GC,11097,1.27,187.3,783.7,9.1,394,11104,0.00,2.67,0.00,0.000,6,0.000,0.100,3131,1958,1430
$GC,11430,1.27,187.8,754.2,9.0,403,11434,0.00,2.62,0.00,0.000,4,0.000,0.064,3131,3396,1429
$GC,11524,1.27,187.8,745.1,9.5,405,11528,0.00,2.58,0.00,0.000,6,0.000,0.056,3131,1968,1429
$GC,11843,1.27,187.8,716.0,9.3,413,11847,0.00,2.55,0.00,0.000,4,0.000,0.056,3131,3389,1428
$GC,11886,1.27,187.8,711.3,10.8,414,11891,0.00,2.53,0.00,0.000,6,0.000,0.049,3130,1967,1428
$GC,12211,1.27,187.8,676.4,10.7,422,12215,0.00,2.58,0.00,0.000,4,0.000,0.098,3130,552,1428
$GC,12232,1.27,187.8,674.0,9.9,422,12236,0.00,2.47,0.00,0.000,6,0.000,0.038,3130,1988,1427
$GC,12568,1.27,187.8,642.9,9.3,431,12572,0.00,2.47,0.00,0.000,4,0.000,0.059,3131,3376,1426
$GC,12600,1.27,187.8,639.5,10.5,431,12607,0.00,2.47,0.00,0.000,6,0.000,0.075,3131,1963,1427
$GC,12932,1.29,205.2,609.5,8.3,440,12955,0.00,2.60,16.50,1.020,4,0.000,0.048,3131,3377,1363
$GC,13006,1.29,205.2,603.0,9.4,441,13010,0.00,2.47,0.00,0.000,6,0.000,0.043,3130,1970,1362
$GC,13343,1.32,228.8,575.6,8.1,450,13372,0.00,2.65,22.88,1.018,4,0.000,0.092,3130,562,1267
$GC,13389,1.32,232.0,571.2,8.9,451,13398,0.00,2.03,4.32,0.682,6,0.000,0.074,3131,1746,1254
$GC,13713,1.32,232.0,534.9,11.6,459,13717,0.00,2.90,0.00,0.000,4,0.000,0.053,3131,3379,1251
$GC,13812,1.32,232.0,522.9,11.0,461,13816,0.00,2.47,0.00,0.000,6,0.000,0.067,3131,1963,1251
$GC,14125,1.32,232.0,486.9,11.3,469,14129,0.00,2.53,0.00,0.000,4,0.000,0.077,3131,557,1250
$GC,14175,1.32,232.0,480.7,11.7,470,14179,0.00,2.45,0.00,0.000,6,0.000,0.035,3131,1984,1248
$GC,14493,1.32,232.0,445.8,10.8,478,14498,0.00,2.45,0.00,0.000,4,0.000,0.050,3131,3383,1249
$GC,14554,1.32,232.0,439.0,9.9,479,14559,0.00,2.45,0.00,0.000,6,0.000,0.038,3131,1961,1248
$GC,14902,1.32,232.0,403.2,10.1,488,14903,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,1960,1248
$GC,15227,1.33,238.6,375.0,8.8,496,15241,0.00,2.55,6.88,0.759,4,0.000,0.074,3131,559,1226
$GC,15270,1.33,238.6,370.8,10.0,497,15274,0.00,2.42,0.00,0.000,6,0.000,0.035,3131,1975,1225
$GC,15593,1.33,238.6,339.2,10.1,505,15598,0.00,2.45,0.00,0.000,4,0.000,0.048,3131,3382,1224
$GC,15643,1.33,238.6,333.6,10.7,506,15647,0.00,2.45,0.00,0.000,6,0.000,0.036,3131,1959,1224
$GC,15961,1.33,238.6,300.6,9.9,514,15963,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1959,1224
$GC,16270,1.33,238.6,268.5,10.2,528,16275,0.00,2.47,0.00,0.000,4,0.000,0.054,3130,556,1224
$GC,16298,1.33,238.6,265.5,10.9,529,16302,0.00,2.40,0.00,0.000,6,0.000,0.031,3131,1979,1223
$GC,16613,1.38,278.5,239.0,7.4,544,16657,0.12,2.53,36.28,0.785,4,0.055,0.052,3166,559,1062
$GC,16792,1.38,278.5,218.1,12.8,552,16796,0.00,2.40,0.00,0.000,6,0.000,0.030,3166,1981,1058
$GC,17113,1.38,278.5,184.3,10.1,574,17114,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,1986,1058
$GC,17366,1.38,278.5,159.8,10.6,598,17368,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,1986,1057
$GC,17621,1.39,282.9,135.7,8.9,622,17633,0.00,2.40,4.22,0.469,4,0.000,0.037,3166,3371,1046
$GC,17724,1.39,282.9,126.6,9.6,631,17728,0.00,2.35,0.00,0.000,6,0.000,0.051,3166,1966,1046
$GC,17985,1.39,282.9,100.1,9.9,655,17989,0.00,2.42,0.00,0.000,4,0.000,0.046,3166,556,1045
$GC,18132,1.39,282.9,83.8,11.9,668,18136,0.00,2.33,0.00,0.000,6,0.000,0.023,3166,1990,1045
$GC,18398,1.46,339.7,61.4,6.7,693,18454,0.00,2.53,48.90,0.593,4,0.000,0.044,3165,563,814
$GC,18522,1.46,339.7,49.2,11.0,704,18526,0.00,2.33,0.00,0.000,6,0.000,0.058,3166,1982,810
$GC,18788,1.46,339.7,18.3,11.7,737,18794,0.00,2.30,0.00,0.000,4,0.000,0.029,3166,3373,810
$GC,18806,1.46,339.7,16.0,11.6,740,18813,0.00,2.35,0.00,0.000,6,0.000,0.063,3166,1959,810
$STATE,18884,end climb,SURFACE_DEPTH_REACHED
$STATE,18885,begin surface coast
$FINISH,0.4,1.023589
$STATE,18938,end surface coast,CONTROL_FINISHED_OK
$STATE,18938,begin surface
$SM_CCo,18960,49.50,0.537,0,0,568,400.08
$SM_GC,1.00,0.00,0.00,49.50,0.000,0.000,0.537,426,1863,568,-11.20,-0.76,400.08
$IRIDIUM_FIX,2104.07,-15817.92,100598,161601
$TT8_MAMPS,0.029146
$HUMID,1629
$INTERNAL_PRESSURE,9.46956
$TCM_TEMP,22.40
$XPDR_PINGS,33
$24V_AH,23.2,12.344
$10V_AH,10.1,6.640
$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,26.275,201.625,443.875,49.500,0.000,124.002,154.146,599.163,8.250,0.000,0.000,1204.702,1474.309,15110.175,642.059,3055.322,1161.779,0.000,1658.043,0.000,1839.536,0.000,0.541,0.000
$DEVICE_MAMPS,143.429,164.905,1282.424,536.900,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,516.957,297.453,480.116,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38019,763
$CAP_FILE_SIZE,150628,9
$CFSIZE,260165632,254910464
$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