version: 66.04
glider: 139
mission: 3
dive: 73
start: 2 13 109 22 33 12
data:
$ID,139
$MISSION,3
$DIVE,73
$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,-1317624.1
$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,49
$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,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-69.1
$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,11,begin dive
$GC,14,-1.22,-146.0,0.0,0.0,0,74,0.00,0.00,-57.85,0.000,2,0.000,0.000,424,1864,2268
$GC,77,-1.22,-146.0,3.7,-7.2,10,104,11.68,2.40,-9.02,0.000,4,0.147,0.038,2588,3287,2797
$GC,239,-1.22,-146.0,40.2,-16.7,33,243,0.00,2.28,0.00,0.000,6,0.000,0.029,2588,1911,2798
$GC,505,-1.22,-146.0,89.9,-16.5,58,509,0.00,2.45,0.00,0.000,4,0.000,0.044,2588,475,2798
$GC,560,-1.22,-146.0,99.2,-15.7,62,566,0.00,2.30,0.00,0.000,6,0.000,0.019,2588,1896,2798
$GC,823,-1.22,-146.0,138.5,-15.7,87,827,0.00,2.42,0.00,0.000,4,0.000,0.045,2588,483,2798
$GC,853,-1.22,-146.0,143.2,-16.5,89,857,0.00,2.25,0.00,0.000,6,0.000,0.020,2588,1898,2799
$GC,1114,-1.22,-146.0,179.0,-12.5,113,1118,0.00,2.42,0.00,0.000,4,0.000,0.077,2588,487,2798
$GC,1142,-1.22,-146.0,182.6,-12.8,115,1146,0.00,2.25,0.00,0.000,6,0.000,0.021,2588,1895,2798
$GC,1411,-1.22,-146.0,210.5,-9.9,135,1412,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1898,2798
$GC,1720,-1.22,-146.0,239.0,-9.3,150,1724,0.00,2.45,0.00,0.000,4,0.000,0.047,2588,477,2797
$GC,1741,-1.22,-146.0,241.4,-10.6,151,1745,0.00,2.30,0.00,0.000,6,0.000,0.024,2588,1883,2797
$GC,2068,-1.22,-146.0,279.4,-12.0,167,2070,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1886,2794
$GC,2396,-1.22,-146.0,316.0,-11.4,180,2400,0.00,2.35,0.00,0.000,4,0.000,0.037,2588,3281,2793
$GC,2423,-1.22,-146.0,319.3,-11.3,180,2427,0.00,2.35,0.00,0.000,6,0.000,0.031,2588,1885,2793
$GC,2760,-1.22,-146.0,361.4,-12.7,189,2764,0.00,2.45,0.00,0.000,4,0.000,0.052,2588,476,2790
$GC,2781,-1.22,-146.0,364.3,-12.7,189,2785,0.00,2.33,0.00,0.000,6,0.000,0.028,2587,1889,2790
$GC,3123,-1.22,-146.0,400.7,-9.7,198,3128,0.00,2.47,0.00,0.000,4,0.000,0.052,2588,475,2787
$GC,3156,-1.22,-146.0,404.1,-10.2,198,3163,0.00,2.35,0.00,0.000,6,0.000,0.029,2588,1895,2787
$GC,3487,-1.22,-146.0,436.8,-9.7,207,3491,0.00,2.38,0.00,0.000,4,0.000,0.041,2588,3296,2785
$GC,3509,-1.22,-146.0,438.9,-9.5,207,3513,0.00,2.40,0.00,0.000,6,0.000,0.035,2588,1883,2785
$GC,3857,-1.22,-146.0,471.8,-10.0,216,3861,0.00,2.47,0.00,0.000,4,0.000,0.057,2588,476,2783
$GC,3872,-1.22,-146.0,473.5,-10.1,216,3876,0.00,2.35,0.00,0.000,6,0.000,0.031,2588,1888,2782
$GC,4220,-1.22,-146.0,504.5,-8.3,225,4225,0.00,2.50,0.00,0.000,4,0.000,0.057,2588,476,2780
$GC,4276,-1.22,-146.0,509.2,-8.5,226,4280,0.00,2.38,0.00,0.000,6,0.000,0.032,2588,1891,2780
$GC,4624,-1.22,-146.0,536.7,-8.3,235,4625,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1895,2778
$GC,4948,-1.22,-146.0,564.4,-8.5,243,4950,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1896,2776
$GC,5273,-1.22,-146.0,596.1,-10.0,251,5274,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1896,2774
$GC,5598,-1.22,-146.0,626.6,-9.5,259,5602,0.00,2.53,0.00,0.000,4,0.000,0.065,2588,488,2772
$GC,5619,-1.22,-146.0,628.8,-9.8,259,5623,0.00,2.38,0.00,0.000,6,0.000,0.035,2588,1888,2771
$GC,5961,-1.22,-146.0,661.9,-10.0,268,5962,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1888,2770
$GC,6286,-1.22,-146.0,693.1,-9.4,276,6287,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1888,2768
$GC,6611,-1.22,-146.0,720.9,-8.4,284,6616,0.00,2.60,0.00,0.000,4,0.000,0.088,2588,483,2767
$GC,6633,-1.22,-146.0,722.7,-8.2,284,6637,0.00,2.42,0.00,0.000,6,0.000,0.044,2588,1883,2766
$GC,6970,-1.22,-146.0,751.8,-9.3,293,6974,0.00,2.60,0.00,0.000,4,0.000,0.080,2588,3294,2765
$GC,7002,-1.22,-146.0,755.0,-10.5,293,7008,0.00,2.55,0.00,0.000,6,0.000,0.099,2588,1898,2765
$GC,7333,-1.22,-146.0,788.0,-9.9,302,7337,0.00,2.75,0.00,0.000,4,0.000,0.103,2588,474,2763
$GC,7376,-1.22,-146.0,792.3,-10.0,303,7380,0.00,2.55,0.00,0.000,6,0.000,0.065,2588,1883,2763
$GC,7701,-1.22,-146.0,817.6,-7.4,311,7702,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1883,2763
$GC,8026,-1.22,-146.0,839.7,-6.6,319,8030,0.00,2.85,0.00,0.000,4,0.000,0.130,2588,477,2761
$GC,8047,-1.22,-146.0,841.2,-6.8,319,8052,0.00,2.65,0.00,0.000,6,0.000,0.081,2588,1891,2761
$GC,8383,-1.22,-146.0,864.6,-7.2,328,8384,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1892,2760
$GC,8708,-1.22,-146.0,889.6,-8.0,336,8709,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1891,2760
$GC,9033,-1.22,-146.0,917.3,-8.6,344,9038,0.00,3.05,0.00,0.000,4,0.000,0.151,2588,480,2759
$GC,9065,-1.22,-146.0,920.4,-10.1,344,9072,0.00,2.83,0.00,0.000,6,0.000,0.113,2588,1893,2758
$GC,9397,-1.22,-146.0,949.0,-8.6,353,9398,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1893,2758
$STATE,9435,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9435,begin apogee
$GC,9441,-0.31,0.0,952.3,8.6,354,9572,0.98,0.00,127.85,1.289,6,0.081,0.000,2791,1977,2200
$STATE,9573,end apogee,CONTROL_FINISHED_OK
$STATE,9573,begin climb
$GC,9575,1.22,146.0,957.4,0.0,357,9723,1.50,3.33,135.48,1.262,4,0.046,0.166,3127,561,1602
$GC,9975,1.22,146.0,940.6,9.1,366,9980,0.00,2.92,0.00,0.000,6,0.000,0.121,3127,1968,1589
$GC,10288,1.23,154.9,913.7,8.7,374,10303,0.00,3.08,6.70,0.978,4,0.000,0.134,3127,3385,1568
$GC,10319,1.23,154.9,910.6,9.2,374,10324,0.00,2.95,0.00,0.000,6,0.000,0.124,3127,1976,1568
$GC,10651,1.25,171.4,881.8,8.4,382,10670,0.00,0.00,16.92,1.156,6,0.000,0.000,3127,1976,1501
$GC,10976,1.27,190.6,854.9,8.3,390,11000,0.00,2.88,19.15,1.158,4,0.000,0.101,3128,3388,1422
$GC,11073,1.27,190.6,846.1,10.0,392,11077,0.00,2.80,0.00,0.000,6,0.000,0.121,3127,1969,1421
$GC,11392,1.28,192.7,817.7,9.0,400,11393,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1969,1418
$GC,11716,1.28,192.7,786.6,9.7,408,11717,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1969,1417
$GC,12041,1.28,192.7,756.3,9.2,416,12046,0.00,2.67,0.00,0.000,4,0.000,0.084,3127,545,1416
$GC,12057,1.28,192.7,754.7,9.3,416,12061,0.00,2.55,0.00,0.000,6,0.000,0.048,3127,1981,1415
$GC,12405,1.28,192.7,721.3,9.9,425,12409,0.00,2.55,0.00,0.000,4,0.000,0.067,3127,3385,1415
$GC,12471,1.28,192.7,714.2,10.3,426,12476,0.00,2.55,0.00,0.000,6,0.000,0.051,3127,1955,1415
$GC,12814,1.28,192.7,679.6,10.0,435,12818,0.00,2.55,0.00,0.000,4,0.000,0.054,3127,3384,1414
$GC,12943,1.28,192.7,666.9,10.2,438,12947,0.00,2.50,0.00,0.000,6,0.000,0.079,3128,1962,1414
$GC,13266,1.28,192.7,633.8,10.3,446,13270,0.00,2.53,0.00,0.000,4,0.000,0.050,3127,3389,1414
$GC,13298,1.28,192.7,630.4,10.0,446,13304,0.00,2.50,0.00,0.000,6,0.000,0.077,3127,1964,1414
$GC,13629,1.28,192.7,598.9,9.1,455,13630,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1963,1414
$GC,13954,1.34,245.5,575.0,6.9,463,14007,0.10,0.00,50.65,1.045,6,0.065,0.000,3154,1964,1199
$GC,14319,1.34,245.5,533.3,12.4,472,14323,0.00,2.50,0.00,0.000,4,0.000,0.045,3154,3384,1193
$GC,14351,1.34,245.5,529.0,12.5,472,14357,0.00,2.50,0.00,0.000,6,0.000,0.072,3154,1958,1193
$GC,14682,1.34,245.5,488.0,11.9,481,14683,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,1958,1192
$GC,15007,1.34,245.5,450.8,11.5,489,15008,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,1958,1191
$GC,15332,1.34,245.5,409.4,13.1,497,15336,0.00,2.50,0.00,0.000,4,0.000,0.044,3154,3386,1191
$GC,15358,1.34,245.5,405.5,14.2,497,15363,0.00,2.47,0.00,0.000,6,0.000,0.038,3154,1958,1191
$GC,15695,1.34,245.5,364.1,11.7,506,15699,0.00,2.50,0.00,0.000,4,0.000,0.043,3154,3389,1190
$GC,15716,1.34,245.5,361.8,10.4,506,15721,0.00,2.47,0.00,0.000,6,0.000,0.037,3154,1972,1190
$GC,16058,1.34,245.5,329.0,9.1,515,16062,0.00,2.45,0.00,0.000,4,0.000,0.041,3154,3385,1189
$GC,16091,1.34,245.5,325.9,9.1,515,16095,0.00,2.45,0.00,0.000,6,0.000,0.036,3154,1962,1189
$GC,16408,1.34,245.5,297.9,9.1,524,16412,0.00,2.47,0.00,0.000,4,0.000,0.040,3154,3393,1190
$GC,16429,1.34,245.5,295.8,11.0,525,16433,0.00,2.45,0.00,0.000,6,0.000,0.035,3154,1966,1189
$GC,16756,1.34,245.5,261.8,9.9,541,16760,0.00,2.47,0.00,0.000,4,0.000,0.054,3154,564,1190
$GC,16777,1.34,245.5,259.3,10.6,542,16781,0.00,2.40,0.00,0.000,6,0.000,0.031,3155,1985,1188
$GC,17103,1.34,245.5,228.4,9.7,558,17108,0.00,2.53,0.00,0.000,4,0.000,0.052,3154,556,1188
$GC,17147,1.34,245.5,224.2,9.5,560,17151,0.00,2.40,0.00,0.000,6,0.000,0.031,3154,1982,1188
$GC,17464,1.35,249.7,197.3,8.9,576,17468,0.00,2.38,0.00,0.000,4,0.000,0.041,3154,3372,1188
$GC,17480,1.37,266.9,195.7,8.3,577,17508,0.00,2.40,18.20,0.729,6,0.000,0.033,3155,1959,1111
$GC,17762,1.38,277.6,171.2,8.6,604,17777,0.00,2.50,10.25,0.661,4,0.000,0.051,3155,560,1068
$GC,17879,1.38,277.6,159.1,12.3,614,17886,0.00,2.38,0.00,0.000,6,0.000,0.028,3154,1985,1065
$GC,18141,1.40,293.4,133.1,8.4,639,18164,0.00,2.58,14.55,0.649,4,0.000,0.047,3154,560,1003
$GC,18191,1.42,312.4,128.7,8.3,643,18218,0.00,2.38,17.77,0.646,6,0.000,0.026,3154,1988,926
$GC,18472,1.42,312.4,98.6,11.8,670,18477,0.00,2.50,0.00,0.000,4,0.000,0.046,3154,555,923
$GC,18528,1.42,312.4,92.0,11.6,674,18535,0.00,2.38,0.00,0.000,6,0.000,0.025,3155,1971,922
$GC,18789,1.44,330.4,69.4,8.3,699,18812,0.00,2.38,16.17,0.582,4,0.000,0.046,3154,3372,852
$GC,18870,1.45,332.0,61.6,9.0,706,18874,0.00,2.35,0.00,0.000,6,0.000,0.064,3155,1969,852
$GC,19136,1.45,332.0,34.8,10.0,731,19141,0.00,2.42,0.00,0.000,4,0.000,0.044,3154,561,851
$GC,19193,1.45,332.0,28.7,10.6,736,19199,0.00,2.30,0.00,0.000,6,0.000,0.021,3155,1989,851
$GC,19402,1.48,360.6,7.3,7.9,773,19416,0.12,0.00,11.43,0.503,2,0.050,0.000,3193,1995,804
$STATE,19417,end climb,SURFACE_DEPTH_REACHED
$STATE,19417,begin surface coast
$FINISH,0.4,1.023639
$STATE,19484,end surface coast,CONTROL_FINISHED_OK
$STATE,19484,begin surface
$SM_CCo,19506,47.20,0.537,0,0,569,400.08
$SM_GC,1.02,0.00,0.00,47.20,0.000,0.000,0.537,426,1869,569,-11.19,-0.59,400.08
$IRIDIUM_FIX,2104.07,-15823.07,100598,161611
$TT8_MAMPS,0.029146
$HUMID,1638
$INTERNAL_PRESSURE,9.45979
$TCM_TEMP,22.20
$XPDR_PINGS,18
$24V_AH,23.1,12.510
$10V_AH,10.1,6.778
$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,26.325,186.275,445.125,47.200,0.000,29.600,27.051,246.062,4.500,0.000,0.000,1209.278,1477.233,15510.904,622.963,2985.628,555.605,0.000,1603.353,0.000,1768.452,0.000,0.541,0.000
$DEVICE_MAMPS,147.264,165.672,1288.560,536.900,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,533.898,311.553,496.906,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41205,787
$CAP_FILE_SIZE,136934,6
$CFSIZE,260165632,254853120
$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