version: 66.04
glider: 139
mission: 3
dive: 67
start: 2 12 109 10 13 46
data:
$ID,139
$MISSION,3
$DIVE,67
$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,-1306724.2
$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,41
$R_STBD_OVSHOOT,45
$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
$GPS1,041401,2108.288,-15839.251,12,1.4,12,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-70.1
$GPS2,041401,2108.288,-15839.251,12,1.4,12,9.8
$SPEED_LIMITS,0.157,0.255
$TGT_NAME,HEADING
$TGT_LATLONG,2111.982,-15828.367
$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,11,begin dive
$GC,14,-1.22,-146.0,0.0,0.0,0,74,0.00,0.00,-57.70,0.000,2,0.000,0.000,430,1856,2272
$GC,77,-1.22,-146.0,3.7,-7.6,10,104,11.70,2.42,-8.93,0.000,4,0.142,0.072,2588,3299,2797
$GC,172,-1.22,-146.0,29.2,-17.4,26,178,0.00,2.33,0.00,0.000,6,0.000,0.031,2587,1901,2798
$GC,376,-1.22,-146.0,67.2,-17.8,46,380,0.00,2.45,0.00,0.000,4,0.000,0.048,2587,476,2798
$GC,419,-1.22,-146.0,75.8,-19.9,49,426,0.00,2.30,0.00,0.000,6,0.000,0.020,2587,1900,2798
$GC,680,-1.22,-146.0,119.7,-16.9,74,681,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1904,2798
$GC,935,-1.22,-146.0,156.4,-12.2,98,939,0.00,2.45,0.00,0.000,4,0.000,0.079,2587,477,2798
$GC,985,-1.22,-146.0,163.0,-12.9,102,989,0.00,2.10,0.00,0.000,6,0.000,0.058,2587,1822,2798
$GC,1252,-1.22,-146.0,200.1,-13.6,127,1256,0.00,2.40,0.00,0.000,4,0.000,0.065,2588,3276,2798
$GC,1307,-1.22,-146.0,207.2,-11.6,129,1313,0.00,2.33,0.00,0.000,6,0.000,0.028,2587,1879,2798
$GC,1623,-1.22,-146.0,248.5,-14.2,145,1627,0.00,2.40,0.00,0.000,4,0.000,0.047,2587,479,2797
$GC,1640,-1.22,-146.0,250.9,-13.8,146,1644,0.00,2.28,0.00,0.000,6,0.000,0.022,2587,1897,2797
$GC,1966,-1.22,-146.0,288.6,-9.9,162,1970,0.00,2.45,0.00,0.000,4,0.000,0.048,2587,482,2796
$GC,2009,-1.22,-146.0,293.1,-9.6,164,2013,0.00,2.28,0.00,0.000,6,0.000,0.025,2587,1886,2796
$GC,2332,-1.22,-146.0,327.2,-10.9,174,2336,0.00,2.35,0.00,0.000,4,0.000,0.038,2588,3290,2793
$GC,2353,-1.22,-146.0,329.8,-11.6,174,2358,0.00,2.35,0.00,0.000,6,0.000,0.032,2587,1890,2793
$GC,2696,-1.22,-146.0,368.8,-11.7,183,2700,0.00,2.45,0.00,0.000,4,0.000,0.076,2587,484,2790
$GC,2746,-1.22,-146.0,375.4,-13.0,184,2750,0.00,2.33,0.00,0.000,6,0.000,0.028,2587,1893,2790
$GC,3064,-1.22,-146.0,408.8,-9.9,192,3068,0.00,2.50,0.00,0.000,4,0.000,0.069,2587,474,2788
$GC,3086,-1.22,-146.0,411.1,-10.5,192,3090,0.00,2.35,0.00,0.000,6,0.000,0.031,2587,1892,2787
$GC,3428,-1.22,-146.0,442.0,-8.8,201,3433,0.00,2.38,0.00,0.000,4,0.000,0.044,2587,3286,2785
$GC,3450,-1.22,-146.0,444.1,-9.2,201,3454,0.00,2.40,0.00,0.000,6,0.000,0.037,2587,1894,2785
$GC,3792,-1.22,-146.0,478.0,-10.7,210,3796,0.00,2.50,0.00,0.000,4,0.000,0.089,2587,473,2782
$GC,3814,-1.22,-146.0,480.6,-11.8,210,3818,0.00,2.38,0.00,0.000,6,0.000,0.033,2587,1888,2782
$GC,4162,-1.22,-146.0,517.2,-9.6,219,4163,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1892,2779
$GC,4487,-1.22,-146.0,545.5,-8.7,227,4491,0.00,2.45,0.00,0.000,4,0.000,0.051,2587,3297,2778
$GC,4514,-1.22,-146.0,548.0,-8.9,227,4519,0.00,2.42,0.00,0.000,6,0.000,0.041,2587,1892,2777
$GC,4845,-1.22,-146.0,578.4,-9.1,235,4849,0.00,2.50,0.00,0.000,4,0.000,0.064,2587,480,2775
$GC,4890,-1.22,-146.0,582.8,-9.9,236,4894,0.00,2.38,0.00,0.000,6,0.000,0.036,2587,1890,2775
$GC,5219,-1.22,-146.0,617.3,-10.9,244,5220,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1890,2772
$GC,5544,-1.22,-146.0,648.4,-9.0,252,5549,0.00,2.58,0.00,0.000,4,0.000,0.102,2587,477,2770
$GC,5566,-1.22,-146.0,650.2,-7.9,252,5571,0.00,2.42,0.00,0.000,6,0.000,0.037,2587,1897,2770
$GC,5903,-1.22,-146.0,674.8,-7.5,261,5904,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1897,2768
$GC,6227,-1.22,-146.0,704.1,-9.5,269,6229,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1897,2767
$GC,6553,-1.22,-146.0,736.3,-9.9,277,6557,0.00,2.67,0.00,0.000,4,0.000,0.087,2587,480,2766
$GC,6585,-1.22,-146.0,739.7,-10.6,277,6591,0.00,2.47,0.00,0.000,6,0.000,0.051,2587,1890,2766
$GC,6916,-1.22,-146.0,767.5,-7.6,286,6917,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1891,2764
$GC,7241,-1.22,-146.0,788.1,-6.1,294,7246,0.00,2.72,0.00,0.000,4,0.000,0.102,2587,484,2763
$GC,7292,-1.22,-146.0,791.8,-7.4,295,7296,0.00,2.55,0.00,0.000,6,0.000,0.067,2587,1885,2762
$GC,7604,-1.22,-146.0,815.9,-8.1,303,7605,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1885,2761
$GC,7929,-1.22,-146.0,842.5,-8.1,311,7930,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1885,2761
$GC,8254,-1.22,-146.0,867.3,-7.4,319,8258,0.00,2.92,0.00,0.000,4,0.000,0.161,2587,487,2760
$GC,8286,-1.22,-146.0,870.0,-7.8,319,8293,0.00,2.72,0.00,0.000,6,0.000,0.097,2587,1891,2759
$GC,8617,-1.22,-146.0,895.8,-8.1,328,8619,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1891,2759
$GC,8942,-1.22,-146.0,926.6,-10.0,336,8947,0.00,3.10,0.00,0.000,4,0.000,0.158,2587,486,2758
$GC,8969,-1.22,-146.0,929.4,-11.0,336,8973,0.00,2.88,0.00,0.000,6,0.000,0.120,2587,1894,2758
$STATE,9176,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9176,begin apogee
$GC,9182,-0.31,0.0,950.4,10.0,341,9312,0.98,0.00,127.45,1.278,6,0.081,0.000,2790,1977,2200
$STATE,9313,end apogee,CONTROL_FINISHED_OK
$STATE,9313,begin climb
$GC,9316,1.22,146.0,957.2,0.0,344,9461,1.55,3.28,135.60,1.253,4,0.047,0.165,3131,3387,1604
$GC,9629,1.27,186.1,953.2,7.4,351,9673,0.00,3.10,36.53,1.210,6,0.000,0.173,3131,1981,1440
$GC,10005,1.27,186.1,916.4,10.6,361,10006,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1981,1433
$GC,10330,1.27,186.1,882.4,10.5,369,10334,0.00,2.88,0.00,0.000,4,0.000,0.117,3131,3383,1431
$GC,10362,1.27,186.1,879.0,10.0,369,10369,0.00,2.88,0.00,0.000,6,0.000,0.112,3131,1970,1431
$GC,10693,1.27,186.1,844.4,10.3,378,10697,0.00,2.80,0.00,0.000,4,0.000,0.100,3131,3385,1430
$GC,10714,1.27,186.1,842.2,10.4,378,10719,0.00,2.80,0.00,0.000,6,0.000,0.125,3131,1966,1429
$GC,11050,1.27,186.1,810.0,9.3,387,11055,0.00,2.75,0.00,0.000,4,0.000,0.087,3131,3394,1429
$GC,11099,1.27,186.1,805.0,9.6,388,11104,0.00,2.72,0.00,0.000,6,0.000,0.082,3131,1965,1429
$GC,11412,1.27,186.1,774.3,9.8,396,11413,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1964,1428
$GC,11737,1.27,186.1,742.1,9.7,404,11741,0.00,2.62,0.00,0.000,4,0.000,0.064,3131,3397,1427
$GC,11825,1.27,186.1,733.3,9.7,406,11830,0.00,2.60,0.00,0.000,6,0.000,0.087,3131,1956,1427
$GC,12144,1.29,200.8,704.6,8.4,414,12163,0.00,2.67,12.40,1.040,4,0.000,0.056,3131,3392,1381
$GC,12236,1.31,219.0,696.8,8.3,416,12261,0.00,2.55,18.70,1.067,6,0.000,0.049,3131,1964,1306
$GC,12598,1.34,248.0,667.2,7.8,425,12632,0.00,2.65,27.35,1.072,4,0.000,0.052,3131,3392,1189
$GC,12685,1.34,248.0,658.6,10.8,427,12689,0.00,2.55,0.00,0.000,6,0.000,0.047,3131,1959,1188
$GC,13008,1.34,248.0,623.8,10.9,435,13009,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1959,1185
$GC,13333,1.34,248.0,588.9,10.4,443,13337,0.00,2.55,0.00,0.000,4,0.000,0.071,3131,553,1184
$GC,13354,1.34,248.0,586.4,11.1,443,13358,0.00,2.50,0.00,0.000,6,0.000,0.037,3131,1999,1183
$GC,13690,1.34,248.0,550.4,11.1,452,13691,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2003,1183
$GC,14015,1.34,248.0,513.7,11.3,460,14016,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2003,1183
$GC,14340,1.34,248.0,479.9,10.3,468,14344,0.00,2.60,0.00,0.000,4,0.000,0.072,3131,556,1183
$GC,14367,1.34,248.0,476.7,11.8,468,14371,0.00,2.42,0.00,0.000,6,0.000,0.036,3131,1971,1181
$GC,14697,1.34,248.0,441.7,10.7,476,14698,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1977,1181
$GC,15022,1.34,248.0,407.0,10.6,484,15026,0.00,2.55,0.00,0.000,4,0.000,0.089,3131,551,1181
$GC,15077,1.34,248.0,400.6,10.9,485,15081,0.00,2.45,0.00,0.000,6,0.000,0.035,3131,1986,1180
$GC,15390,1.34,248.0,370.0,9.7,493,15394,0.00,2.42,0.00,0.000,4,0.000,0.049,3131,3377,1180
$GC,15439,1.34,248.0,365.0,9.2,494,15443,0.00,2.45,0.00,0.000,6,0.000,0.038,3131,1956,1180
$GC,15757,1.34,248.0,336.2,9.2,502,15762,0.00,2.47,0.00,0.000,4,0.000,0.042,3131,3380,1180
$GC,15790,1.34,248.0,332.9,9.9,502,15796,0.00,2.42,0.00,0.000,6,0.000,0.037,3131,1969,1180
$GC,16122,1.35,249.5,302.3,9.0,511,16126,0.00,2.50,0.00,0.000,4,0.000,0.055,3130,554,1180
$GC,16171,1.35,249.5,297.3,10.0,512,16175,0.00,2.40,0.00,0.000,6,0.000,0.032,3131,1975,1180
$GC,16493,1.35,253.6,267.6,8.9,528,16503,0.10,2.42,5.15,0.618,4,0.061,0.044,3159,3372,1165
$GC,16570,1.35,253.6,259.7,10.6,531,16576,0.00,2.42,0.00,0.000,6,0.000,0.035,3160,1958,1165
$GC,16886,1.35,253.6,228.0,9.4,547,16887,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,1958,1165
$GC,17195,1.35,253.6,200.2,9.1,562,17199,0.00,2.42,0.00,0.000,4,0.000,0.038,3160,3373,1165
$GC,17261,1.35,253.6,194.2,9.7,567,17267,0.00,2.40,0.00,0.000,6,0.000,0.031,3160,1958,1165
$GC,17522,1.39,284.3,172.8,7.8,592,17553,0.00,0.00,27.98,0.706,6,0.000,0.000,3160,1958,1040
$GC,17807,1.39,284.3,143.7,9.3,619,17811,0.00,2.45,0.00,0.000,4,0.000,0.048,3160,554,1037
$GC,17869,1.39,284.3,137.5,9.4,624,17873,0.00,2.35,0.00,0.000,6,0.000,0.025,3160,1981,1035
$GC,18136,1.44,324.6,118.7,7.4,649,18179,0.00,2.42,34.80,0.643,4,0.000,0.035,3160,3365,875
$GC,18240,1.44,324.6,106.7,11.2,658,18246,0.00,2.40,0.00,0.000,6,0.000,0.029,3160,1969,875
$GC,18502,1.44,324.6,79.0,10.0,683,18506,0.00,2.45,0.00,0.000,4,0.000,0.046,3160,553,874
$GC,18609,1.44,324.6,66.6,11.1,692,18613,0.00,2.33,0.00,0.000,6,0.000,0.022,3160,1975,872
$GC,18870,1.44,324.6,39.4,9.9,716,18871,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,1981,872
$GC,19134,1.44,324.6,12.5,10.7,755,19139,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,1981,873
$STATE,19199,end climb,SURFACE_DEPTH_REACHED
$STATE,19200,begin surface coast
$FINISH,0.3,1.023414
$STATE,19268,end surface coast,CONTROL_FINISHED_OK
$STATE,19268,begin surface
$SM_CCo,19290,61.92,0.534,0,0,569,400.08
$SM_GC,0.96,0.00,0.00,61.92,0.000,0.000,0.534,427,1854,569,-11.19,-0.99,400.08
$IRIDIUM_FIX,2101.76,-15837.67,090598,040413
$TT8_MAMPS,0.029146
$HUMID,1622
$INTERNAL_PRESSURE,9.47932
$TCM_TEMP,22.50
$XPDR_PINGS,80
$24V_AH,23.1,11.477
$10V_AH,10.1,6.008
$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,26.075,182.000,425.950,61.925,0.000,25.810,32.376,185.181,20.000,0.000,0.000,1204.718,1463.212,15326.734,625.849,2981.949,493.717,0.000,1597.946,0.000,1772.349,0.000,0.540,0.000
$DEVICE_MAMPS,141.895,172.575,1277.822,533.832,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,528.652,310.280,490.254,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41097,779
$CAP_FILE_SIZE,133513,7
$CFSIZE,260165632,255238144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120209,041401,2108.288,-15839.251,12,1.4,12,9.8