version: 66.04
glider: 139
mission: 3
dive: 32
start: 2 6 109 6 56 34
data:
$ID,139
$MISSION,3
$DIVE,32
$D_SURF,6
$D_FLARE,3
$D_TGT,700
$D_ABORT,800
$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,291
$T_MISSION,300
$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,1
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1281858.8
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,435
$PITCH_MAX,3724
$C_PITCH,2865
$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,1925
$C_ROLL_CLIMB,1975
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,52
$R_STBD_OVSHOOT,59
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,450
$VBD_MAX,3860
$C_VBD,2220
$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,4
$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
$GPS1,064906,2107.958,-15813.657,40,1.1,46,9.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-69.1
$GPS2,065543,2108.004,-15813.658,12,1.1,12,9.8
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,SOUTH
$TGT_LATLONG,2105.463,-15858.408
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.230,-0.084
$KALMAN_X,18904.0,-744.7,-178.8,-44638.2,2118.2
$KALMAN_Y,7817.4,-155.0,-220.3,-22843.6,1344.4
$MHEAD_RNG_PITCHd_Wd,240.2,77468,-14.9,-8.018
$D_GRID,700
$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,15,-1.11,-146.0,0.0,0.0,0,74,0.00,0.00,-52.38,0.000,6,0.000,0.000,426,1891,2074
$GC,77,-1.11,-146.0,3.3,-6.8,10,109,12.23,2.35,-13.32,0.000,4,0.149,0.057,2616,542,2818
$GC,231,-1.11,-146.0,36.4,-17.9,34,238,0.00,2.25,0.00,0.000,6,0.000,0.020,2616,1916,2819
$GC,493,-1.11,-146.0,81.9,-16.9,59,497,0.00,2.38,0.00,0.000,4,0.000,0.044,2616,543,2819
$GC,536,-1.11,-146.0,90.3,-20.1,62,543,0.00,2.25,0.00,0.000,6,0.000,0.020,2616,1924,2819
$GC,798,-1.11,-146.0,129.8,-13.6,87,802,0.00,2.38,0.00,0.000,4,0.000,0.043,2616,543,2819
$GC,848,-1.11,-146.0,137.0,-13.8,91,853,0.00,2.22,0.00,0.000,6,0.000,0.020,2616,1929,2820
$GC,1110,-1.11,-146.0,171.3,-11.9,115,1114,0.00,2.40,0.00,0.000,4,0.000,0.044,2616,540,2820
$GC,1148,-1.11,-146.0,176.2,-12.9,118,1152,0.00,2.22,0.00,0.000,6,0.000,0.021,2616,1925,2820
$GC,1419,-1.11,-146.0,203.9,-9.6,141,1423,0.00,2.38,0.00,0.000,4,0.000,0.045,2616,546,2821
$GC,1458,-1.11,-146.0,207.9,-9.9,143,1462,0.00,2.22,0.00,0.000,6,0.000,0.021,2616,1923,2821
$GC,1784,-1.11,-146.0,240.9,-10.9,159,1788,0.00,2.40,0.00,0.000,4,0.000,0.047,2616,539,2820
$GC,1875,-1.11,-146.0,250.5,-10.2,163,1879,0.00,2.25,0.00,0.000,6,0.000,0.024,2616,1923,2821
$GC,2202,-1.11,-146.0,281.5,-9.9,179,2203,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,1926,2819
$GC,2509,-1.11,-146.0,312.2,-9.2,191,2513,0.00,2.40,0.00,0.000,4,0.000,0.050,2616,547,2818
$GC,2558,-1.11,-146.0,316.7,-8.9,192,2562,0.00,2.28,0.00,0.000,6,0.000,0.027,2616,1929,2818
$GC,2877,-1.11,-146.0,343.8,-8.8,200,2881,0.00,2.40,0.00,0.000,4,0.000,0.065,2616,546,2817
$GC,2937,-1.11,-146.0,349.5,-9.4,201,2941,0.00,2.28,0.00,0.000,6,0.000,0.028,2616,1924,2816
$GC,3285,-1.11,-146.0,381.0,-8.6,210,3289,0.00,2.42,0.00,0.000,4,0.000,0.053,2616,544,2815
$GC,3358,-1.11,-146.0,387.4,-8.8,211,3362,0.00,2.30,0.00,0.000,6,0.000,0.030,2616,1925,2814
$GC,3689,-1.11,-146.0,411.7,-7.1,219,3690,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,1929,2812
$GC,4014,-1.11,-146.0,435.3,-7.4,227,4018,0.00,2.45,0.00,0.000,4,0.000,0.056,2616,541,2809
$GC,4085,-1.11,-146.0,441.4,-8.5,228,4090,0.00,2.35,0.00,0.000,6,0.000,0.032,2616,1922,2809
$GC,4422,-1.11,-146.0,467.4,-7.7,237,4426,0.00,2.42,0.00,0.000,4,0.000,0.058,2616,549,2807
$GC,4461,-1.11,-146.0,470.8,-9.0,237,4467,0.00,2.33,0.00,0.000,6,0.000,0.033,2616,1930,2806
$GC,4792,-1.11,-146.0,498.7,-8.8,246,4796,0.00,2.47,0.00,0.000,4,0.000,0.059,2616,541,2805
$GC,4812,-1.11,-146.0,500.8,-9.2,246,4817,0.00,2.35,0.00,0.000,6,0.000,0.034,2616,1933,2804
$GC,5155,-1.11,-146.0,532.2,-8.9,255,5159,0.00,2.47,0.00,0.000,4,0.000,0.061,2616,547,2803
$GC,5210,-1.11,-146.0,537.2,-8.9,256,5214,0.00,2.35,0.00,0.000,6,0.000,0.035,2616,1930,2802
$GC,5523,-1.11,-146.0,563.4,-8.5,264,5527,0.00,2.47,0.00,0.000,4,0.000,0.063,2616,551,2800
$GC,5566,-1.11,-146.0,567.3,-8.6,265,5570,0.00,2.35,0.00,0.000,6,0.000,0.036,2616,1932,2801
$GC,5891,-1.11,-146.0,596.4,-9.2,273,5895,0.00,2.50,0.00,0.000,4,0.000,0.064,2616,547,2799
$GC,5930,-1.11,-146.0,600.1,-9.7,274,5934,0.00,2.35,0.00,0.000,6,0.000,0.037,2616,1928,2799
$GC,6253,-1.11,-146.0,630.4,-9.2,282,6257,0.00,2.50,0.00,0.000,4,0.000,0.067,2616,549,2798
$GC,6293,-1.11,-146.0,633.9,-9.0,283,6297,0.00,2.35,0.00,0.000,6,0.000,0.038,2616,1923,2797
$GC,6616,-1.11,-146.0,661.9,-8.9,291,6621,0.00,2.50,0.00,0.000,4,0.000,0.071,2616,552,2795
$GC,6649,-1.11,-146.0,665.1,-10.0,291,6655,0.00,2.38,0.00,0.000,6,0.000,0.040,2616,1934,2795
$GC,6980,-1.11,-146.0,694.8,-8.9,300,6985,0.00,2.58,0.00,0.000,4,0.000,0.077,2616,545,2794
$GC,7013,-1.11,-146.0,698.1,-9.5,300,7019,0.00,2.40,0.00,0.000,6,0.000,0.044,2616,1926,2794
$STATE,7057,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7058,begin apogee
$GC,7064,-0.31,0.0,702.3,9.4,302,7192,0.85,0.00,124.82,1.098,6,0.077,0.000,2795,1986,2219
$STATE,7192,end apogee,CONTROL_FINISHED_OK
$STATE,7192,begin climb
$GC,7195,1.11,146.0,709.8,0.0,305,7335,1.42,2.70,130.77,1.075,4,0.044,0.078,3110,3375,1623
$GC,7521,1.19,208.3,709.9,5.7,313,7581,0.00,2.47,54.80,1.058,6,0.000,0.057,3110,2013,1370
$GC,7924,1.19,208.3,670.4,10.8,323,7928,0.00,2.50,0.00,0.000,4,0.000,0.058,3110,3387,1362
$GC,7944,1.19,208.3,668.1,10.7,323,7949,0.00,2.53,0.00,0.000,6,0.000,0.051,3110,1974,1361
$GC,8287,1.19,208.3,632.0,10.5,332,8291,0.00,2.53,0.00,0.000,4,0.000,0.053,3110,3383,1359
$GC,8314,1.19,208.3,629.3,10.3,332,8318,0.00,2.50,0.00,0.000,6,0.000,0.048,3110,1973,1359
$GC,8645,1.19,208.3,600.7,8.2,340,8646,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,1973,1359
$GC,8970,1.20,222.9,576.0,7.5,348,8989,0.00,2.55,12.07,0.946,4,0.000,0.051,3110,3381,1311
$GC,9013,1.20,222.9,572.5,8.1,349,9017,0.00,2.50,0.00,0.000,6,0.000,0.052,3110,1970,1311
$GC,9336,1.20,222.9,543.6,9.5,357,9337,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,1970,1309
$GC,9661,1.20,222.9,511.8,9.6,365,9665,0.00,2.53,0.00,0.000,4,0.000,0.063,3110,566,1308
$GC,9676,1.20,222.9,510.0,9.7,365,9680,0.00,2.45,0.00,0.000,6,0.000,0.038,3110,1984,1306
$GC,10024,1.20,222.9,479.6,8.7,374,10028,0.00,2.47,0.00,0.000,4,0.000,0.053,3110,3389,1307
$GC,10063,1.20,222.9,476.1,9.5,375,10067,0.00,2.47,0.00,0.000,6,0.000,0.041,3110,1966,1306
$GC,10386,1.21,225.7,449.8,7.9,383,10390,0.00,2.47,0.00,0.000,4,0.000,0.046,3110,3381,1306
$GC,10459,1.21,225.7,442.8,10.0,384,10463,0.00,2.45,0.00,0.000,6,0.000,0.039,3110,1966,1306
$GC,10790,1.21,225.7,414.9,8.3,392,10791,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,1966,1306
$GC,11115,1.22,232.6,389.4,7.8,400,11129,0.00,2.50,9.57,0.821,4,0.000,0.044,3110,3388,1271
$GC,11162,1.22,232.6,385.3,8.4,401,11166,0.00,2.45,0.00,0.000,6,0.000,0.038,3111,1975,1271
$GC,11487,1.22,232.6,355.3,9.6,409,11491,0.00,2.45,0.00,0.000,4,0.000,0.044,3111,3384,1270
$GC,11542,1.22,232.6,350.4,8.9,410,11546,0.00,2.42,0.00,0.000,6,0.000,0.037,3110,1974,1269
$GC,11855,1.22,232.6,325.6,8.1,418,11859,0.00,2.50,0.00,0.000,4,0.000,0.058,3110,568,1269
$GC,11926,1.22,232.6,318.6,9.7,419,11931,0.00,2.40,0.00,0.000,6,0.000,0.034,3111,1979,1267
$GC,12238,1.22,232.6,291.8,8.2,428,12242,0.00,2.53,0.00,0.000,4,0.000,0.055,3110,561,1267
$GC,12322,1.22,232.6,284.3,8.7,432,12326,0.00,2.40,0.00,0.000,6,0.000,0.034,3111,1979,1266
$GC,12648,1.25,259.7,260.8,7.0,448,12679,0.12,2.58,24.75,0.788,4,0.058,0.053,3146,567,1160
$GC,12723,1.25,259.7,254.7,8.5,451,12728,0.00,2.40,0.00,0.000,6,0.000,0.031,3145,1980,1158
$GC,13045,1.29,291.1,231.4,6.9,467,13075,0.00,0.00,28.05,0.756,6,0.000,0.000,3145,1985,1033
$GC,13391,1.29,291.1,198.3,10.0,484,13395,0.00,2.50,0.00,0.000,4,0.000,0.051,3146,567,1029
$GC,13474,1.29,291.1,189.2,10.5,491,13480,0.00,2.38,0.00,0.000,6,0.000,0.028,3146,1979,1028
$GC,13735,1.29,291.1,163.9,10.5,516,13736,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1984,1027
$GC,13990,1.29,291.1,138.8,8.1,540,13994,0.00,2.47,0.00,0.000,4,0.000,0.048,3145,565,1027
$GC,14063,1.31,307.7,132.7,7.4,546,14085,0.00,2.35,14.73,0.636,6,0.000,0.026,3146,1985,964
$GC,14339,1.31,307.7,109.3,8.9,572,14343,0.00,2.35,0.00,0.000,4,0.000,0.035,3146,3372,962
$GC,14382,1.31,307.7,105.5,8.4,575,14389,0.00,2.38,0.00,0.000,6,0.000,0.029,3146,1963,963
$GC,14644,1.34,331.1,84.1,7.2,600,14670,0.00,2.42,20.65,0.595,4,0.000,0.066,3146,3372,870
$GC,14704,1.34,331.1,79.1,8.3,605,14708,0.00,2.35,0.00,0.000,6,0.000,0.028,3146,1971,870
$GC,14970,1.34,331.1,54.9,9.6,630,14974,0.00,2.42,0.00,0.000,4,0.000,0.044,3145,565,869
$GC,15055,1.34,331.1,46.1,10.6,637,15059,0.00,2.30,0.00,0.000,6,0.000,0.021,3145,1979,868
$GC,15320,1.34,331.1,21.1,9.8,669,15327,0.00,2.42,0.00,0.000,4,0.000,0.044,3146,570,868
$GC,15344,1.34,331.1,18.6,10.2,673,15351,0.00,2.28,0.00,0.000,6,0.000,0.021,3146,1981,868
$STATE,15467,end climb,SURFACE_DEPTH_REACHED
$STATE,15467,begin surface coast
$FINISH,0.2,1.015077
$STATE,15535,end surface coast,CONTROL_FINISHED_OK
$STATE,15535,begin surface
$SM_CCo,15556,57.28,0.528,0,0,588,400.08
$SM_GC,0.95,0.00,0.00,57.28,0.000,0.000,0.528,427,1898,588,-11.21,-0.79,400.08
$IRIDIUM_FIX,2104.07,-15812.77,030598,020251
$TT8_MAMPS,0.029146
$HUMID,1600
$INTERNAL_PRESSURE,9.46956
$TCM_TEMP,22.40
$XPDR_PINGS,12
$24V_AH,23.2,6.996
$10V_AH,10.1,3.051
$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,26.400,173.925,420.225,57.275,0.000,23.916,30.183,219.153,3.000,0.000,0.000,13.998,1356.257,11787.334,592.720,1746.138,515.537,33.350,1526.770,0.000,1725.798,0.000,0.539,0.000
$DEVICE_MAMPS,148.798,79.768,1097.577,528.463,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,478.634,385.402,528.802,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37995,707
$CAP_FILE_SIZE,123977,2
$CFSIZE,260165632,257048576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,060209,111807,2107.515,-15815.795,39,1.4,40,9.8