version: 66.03
glider: 139
mission: 3
dive: 25
start: 7 12 108 12 51 11
data:
$ID,139
$MISSION,3
$DIVE,25
$D_SURF,3
$D_FLARE,3
$D_TGT,450
$D_ABORT,600
$D_NO_BLEED,200
$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,210
$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,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51851
$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,320
$N_FILEKB,4
$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,0
$CAPMAXSIZE,50000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1270788.8
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,435
$PITCH_MAX,3724
$C_PITCH,2795
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,170
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,227
$ROLL_MAX,3931
$ROLL_DEG,40
$C_ROLL_DIVE,2079
$C_ROLL_CLIMB,2079
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,64
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0.029999999
$ROLL_ADJ_DBAND,1
$VBD_MIN,450
$VBD_MAX,3860
$C_VBD,2664
$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
$PRESSURE_YINT,-15.422788
$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,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,1
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-2.25
$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
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043412433
$SEABIRD_T_H,0.00063263031
$SEABIRD_T_I,2.551855e-05
$SEABIRD_T_J,2.8651004e-06
$SEABIRD_C_G,-9.8929949
$SEABIRD_C_H,1.093717
$SEABIRD_C_I,-0.0013470891
$SEABIRD_C_J,0.00018459925
$GPS1,124356,2109.372,-15754.325,39,1.3,39,9.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.56
$_SM_ANGLEo,-68.6
$GPS2,125020,2109.353,-15754.320,12,1.4,12,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.163,-0.196
$KALMAN_X,498.4,-459.5,-51.6,-2603.1,695.9
$KALMAN_Y,4649.5,-260.8,-178.0,-17761.0,-352.7
$MHEAD_RNG_PITCHd_Wd,130.4,18244,-11.9,-7.143
$D_GRID,450
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.96,-175.2,0.0,0.0,0,77,0.00,0.00,-54.88,0.000,2,0.000,0.000,431,2082,2910
$GC,79,-0.96,-175.2,3.1,-5.6,10,109,12.30,2.42,-8.00,0.000,4,0.160,0.050,2577,687,3383
$GC,138,-0.54,-175.2,22.0,-24.3,20,145,0.47,2.10,0.00,0.000,6,0.073,0.038,2678,2029,3384
$GC,259,-0.68,-175.2,29.6,-5.2,41,265,0.15,0.00,0.00,0.000,6,0.041,0.000,2635,2033,3384
$GC,377,-0.68,-175.2,38.2,-8.6,53,381,0.00,2.40,0.00,0.000,4,0.000,0.031,2635,3468,3384
$GC,399,-0.72,-175.2,40.4,-10.1,54,405,0.00,2.30,0.00,0.000,6,0.000,0.019,2634,2068,3385
$GC,725,-0.79,-175.2,63.8,-6.6,85,729,0.00,2.33,0.00,0.000,4,0.000,0.070,2634,684,3385
$GC,764,-0.90,-175.2,66.6,-7.1,88,771,0.17,2.22,0.00,0.000,6,0.045,0.056,2583,2092,3385
$GC,1091,-0.85,-175.2,99.5,-9.9,119,1096,0.12,2.28,0.00,0.000,4,0.079,0.046,2610,3459,3386
$GC,1168,-0.92,-175.2,106.3,-7.6,125,1175,0.00,2.25,0.00,0.000,6,0.000,0.019,2610,2083,3386
$GC,1497,-0.99,-175.2,126.0,-5.9,156,1501,0.12,2.35,0.00,0.000,4,0.046,0.038,2569,682,3387
$GC,1525,-0.99,-175.2,128.4,-7.8,158,1529,0.00,2.22,0.00,0.000,6,0.000,0.054,2569,2077,3387
$GC,1848,-0.99,-175.2,155.9,-8.1,188,1852,0.00,2.35,0.00,0.000,4,0.000,0.035,2568,687,3388
$GC,1881,-0.99,-175.2,158.6,-7.7,190,1888,0.00,2.25,0.00,0.000,6,0.000,0.019,2568,2074,3388
$GC,2207,-0.99,-175.2,182.8,-7.2,221,2211,0.00,2.38,0.00,0.000,4,0.000,0.071,2568,679,3388
$GC,2263,-0.99,-175.2,187.0,-6.7,226,2267,0.00,2.25,0.00,0.000,6,0.000,0.020,2568,2080,3388
$GC,2594,-0.99,-175.2,210.2,-8.0,251,2595,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2085,3387
$GC,2903,-0.99,-175.2,234.0,-7.3,266,2907,0.00,2.35,0.00,0.000,4,0.000,0.037,2568,689,3387
$GC,2929,-0.99,-175.2,236.0,-7.8,267,2934,0.00,2.25,0.00,0.000,6,0.000,0.021,2569,2069,3387
$GC,3251,-0.99,-175.2,256.9,-6.0,283,3255,0.00,2.35,0.00,0.000,4,0.000,0.044,2569,3466,3386
$GC,3272,-1.03,-175.2,258.4,-6.9,284,3277,0.00,2.28,0.00,0.000,6,0.000,0.038,2568,2074,3386
$GC,3594,-1.06,-175.2,279.0,-6.1,300,3598,0.00,2.35,0.00,0.000,4,0.000,0.076,2568,687,3385
$GC,3611,-1.10,-175.2,280.2,-6.3,301,3615,0.00,2.28,0.00,0.000,6,0.000,0.024,2569,2082,3385
$GC,3957,-1.14,-175.2,303.4,-6.0,317,3959,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2087,3383
$GC,4282,-1.18,-175.2,320.1,-5.3,325,4287,0.15,2.40,0.00,0.000,4,0.047,0.041,2524,683,3382
$GC,4308,-1.18,-175.2,322.1,-7.9,325,4313,0.00,2.30,0.00,0.000,6,0.000,0.025,2524,2066,3382
$GC,4646,-1.12,-175.2,351.4,-9.0,334,4650,0.12,2.40,0.00,0.000,4,0.083,0.041,2550,3473,3380
$GC,4678,-1.15,-175.2,354.2,-8.3,334,4684,0.00,2.33,0.00,0.000,6,0.000,0.047,2549,2079,3379
$GC,5009,-1.15,-175.2,377.6,-7.1,343,5013,0.00,2.40,0.00,0.000,4,0.000,0.044,2549,680,3377
$GC,5052,-1.15,-175.2,381.2,-8.4,344,5056,0.00,2.33,0.00,0.000,6,0.000,0.035,2550,2084,3377
$GC,5376,-1.15,-175.2,407.9,-8.4,352,5377,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2088,3375
$GC,5701,-1.15,-175.2,432.7,-7.7,360,5705,0.00,2.42,0.00,0.000,4,0.000,0.046,2549,682,3373
$GC,5745,-1.19,-175.2,436.4,-9.1,361,5749,0.00,2.33,0.00,0.000,6,0.000,0.063,2550,2078,3373
$STATE,5945,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5945,begin apogee
$GC,5950,-0.31,0.0,451.8,7.5,366,6094,0.82,0.00,141.57,0.884,6,0.064,0.000,2729,2082,2664
$STATE,6095,end apogee,CONTROL_FINISHED_OK
$STATE,6095,begin climb
$GC,6097,0.96,175.2,458.3,0.0,369,6246,1.20,0.00,144.95,0.861,6,0.040,0.000,3007,2081,1949
$GC,6545,0.86,175.2,433.7,9.4,380,6549,0.12,2.47,0.00,0.000,4,0.102,0.080,2984,676,1938
$GC,6629,0.76,175.2,426.1,8.8,382,6634,0.12,2.35,0.00,0.000,6,0.100,0.064,2962,2077,1935
$GC,6952,0.77,187.2,403.2,6.8,390,6966,0.00,2.50,9.38,0.759,4,0.000,0.081,2961,677,1899
$GC,7005,0.73,187.2,399.1,8.4,391,7010,0.00,2.38,0.00,0.000,6,0.000,0.048,2961,2079,1896
$GC,7318,0.73,187.2,375.5,7.8,399,7322,0.00,2.45,0.00,0.000,4,0.000,0.079,2962,681,1895
$GC,7367,0.69,187.2,371.5,8.0,400,7371,0.00,2.38,0.00,0.000,6,0.000,0.048,2961,2087,1893
$GC,7685,0.74,222.4,351.3,6.2,408,7722,0.00,2.45,31.20,0.827,4,0.000,0.072,2961,3479,1757
$GC,7738,0.77,251.5,347.7,6.4,408,7770,0.00,2.40,27.02,0.804,6,0.000,0.066,2961,2076,1638
$GC,8088,0.81,251.5,318.5,8.5,417,8092,0.00,2.45,0.00,0.000,4,0.000,0.047,2961,678,1629
$GC,8133,0.81,251.5,314.5,9.5,418,8137,0.00,2.38,0.00,0.000,6,0.000,0.041,2961,2086,1627
$GC,8459,0.85,253.0,290.4,7.1,429,8463,0.00,2.45,0.00,0.000,4,0.000,0.077,2961,677,1626
$GC,8498,0.85,253.0,287.4,7.2,431,8502,0.00,2.35,0.00,0.000,6,0.000,0.041,2961,2080,1625
$GC,8824,0.92,276.7,265.5,6.5,447,8853,0.15,2.55,21.42,0.759,4,0.053,0.055,3004,678,1534
$GC,8881,0.88,276.7,260.8,8.5,449,8887,0.00,2.35,0.00,0.000,6,0.000,0.028,3004,2080,1531
$GC,9196,0.88,276.7,230.1,10.5,465,9201,0.00,2.45,0.00,0.000,4,0.000,0.045,3004,676,1529
$GC,9245,0.88,276.7,224.3,11.9,467,9250,0.00,2.38,0.00,0.000,6,0.000,0.044,3004,2081,1528
$GC,9569,0.88,276.7,190.4,10.3,487,9573,0.00,2.45,0.00,0.000,4,0.000,0.044,3004,672,1528
$GC,9637,0.88,276.7,183.2,10.9,493,9641,0.00,2.35,0.00,0.000,6,0.000,0.025,3004,2088,1526
$GC,9967,0.88,276.7,155.2,8.5,524,9971,0.00,2.45,0.00,0.000,4,0.000,0.074,3004,677,1526
$GC,10022,0.88,276.7,149.9,9.6,528,10030,0.00,2.35,0.00,0.000,6,0.000,0.024,3004,2088,1525
$GC,10350,0.88,276.7,122.6,7.9,559,10354,0.00,2.42,0.00,0.000,4,0.000,0.074,3004,676,1525
$GC,10411,0.88,276.7,116.6,9.5,564,10415,0.00,2.30,0.00,0.000,6,0.000,0.033,3005,2078,1525
$GC,10737,0.92,276.7,90.4,7.4,594,10740,0.00,1.65,0.00,0.000,4,0.000,0.058,3004,3087,1525
$GC,10775,0.96,277.7,87.5,7.1,597,10782,0.00,1.70,0.00,0.000,6,0.000,0.023,3004,2066,1525
$GC,11101,1.00,277.7,64.5,7.7,628,11106,0.00,2.35,0.00,0.000,4,0.000,0.044,3004,680,1525
$GC,11141,1.00,277.7,61.3,7.8,631,11145,0.00,2.28,0.00,0.000,6,0.000,0.021,3005,2092,1525
$GC,11466,1.08,277.7,37.9,7.4,661,11470,0.10,2.40,0.00,0.000,4,0.057,0.036,3038,684,1526
$GC,11618,1.08,277.7,25.9,7.7,678,11624,0.00,2.25,0.00,0.000,6,0.000,0.058,3037,2090,1527
$GC,11737,1.08,277.7,15.9,8.6,699,11743,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2095,1527
$GC,11856,1.08,277.7,6.2,7.2,720,11862,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2095,1527
$STATE,11905,end climb,SURFACE_DEPTH_REACHED
$STATE,11905,begin surface coast
$FINISH,-0.2,1.022909
$STATE,11957,end surface coast,CONTROL_FINISHED_OK
$STATE,11957,begin surface
$SM_CCo,11977,36.17,0.518,0,0,1359,320.12
$SM_GC,0.77,0.00,0.00,36.17,0.000,0.000,0.518,422,2093,1359,-10.92,0.40,320.12
$IRIDIUM_FIX,2101.76,-15753.03,061097,101010
$TT8_MAMPS,0.029146
$HUMID,1857
$INTERNAL_PRESSURE,8.64886
$TCM_TEMP,23.10
$XPDR_PINGS,712
$24V_AH,23.4,33.425
$10V_AH,10.2,19.399
$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
$DEVICE_SECS,27.400,130.525,375.550,36.175,0.000,30.668,32.597,206.447,178.000,0.000,0.000,14.068,1343.436,8419.965,528.529,1645.035,453.754,33.350,1344.827,0.000,1633.126,0.000,0.472
$DEVICE_MAMPS,159.536,80.535,884.351,518.492,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,496.397,485.689,857.959,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38015,738
$CAP_FILE_SIZE,112087,16
$CFSIZE,260165632,256589824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,120708,161237,2108.060,-15753.246,35,1.3,35,9.8