version: 66.03
glider: 139
mission: 3
dive: 32
start: 7 13 108 13 36 53
data:
$ID,139
$MISSION,3
$DIVE,32
$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,-1270907.5
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,435
$PITCH_MAX,3724
$C_PITCH,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,41
$R_STBD_OVSHOOT,58
$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
$GPS1,132931,2103.834,-15748.553,30,1.0,41,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.56
$_SM_ANGLEo,-70.0
$GPS2,133603,2103.797,-15748.545,10,1.8,10,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT1
$TGT_LATLONG,2109.529,-15754.647
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.177,0.183
$KALMAN_X,-2495.1,-68.5,-34.0,9950.3,-47.8
$KALMAN_Y,4678.9,-534.6,-201.9,-27787.3,-2.4
$MHEAD_RNG_PITCHd_Wd,306.1,14960,-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,-175.2,0.0,0.0,0,86,0.00,0.00,-64.72,0.000,2,0.000,0.000,424,2092,2967
$GC,89,-0.96,-175.2,3.5,-6.5,12,114,12.35,2.35,-6.68,0.000,4,0.160,0.073,2578,3470,3383
$GC,283,-0.93,-175.2,39.0,-10.1,39,287,0.00,2.28,0.00,0.000,6,0.000,0.020,2577,2070,3385
$GC,608,-0.83,-175.2,72.8,-10.9,69,610,0.17,0.00,0.00,0.000,6,0.084,0.000,2614,2069,3385
$GC,926,-0.88,-175.2,98.8,-8.8,99,930,0.00,2.35,0.00,0.000,4,0.000,0.071,2614,676,3386
$GC,948,-0.95,-175.2,100.8,-8.2,100,955,0.08,2.28,0.00,0.000,6,0.037,0.054,2583,2080,3386
$GC,1272,-0.95,-175.2,129.7,-7.8,131,1276,0.00,2.30,0.00,0.000,4,0.000,0.031,2582,3463,3386
$GC,1323,-0.98,-175.2,133.8,-7.9,135,1327,0.00,2.25,0.00,0.000,6,0.000,0.020,2582,2078,3387
$GC,1649,-0.98,-175.2,158.4,-7.4,165,1653,0.00,2.35,0.00,0.000,4,0.000,0.069,2582,685,3388
$GC,1693,-1.03,-175.2,161.9,-8.2,168,1700,0.00,2.25,0.00,0.000,6,0.000,0.038,2582,2070,3387
$GC,2019,-1.03,-175.2,183.5,-6.8,199,2023,0.00,2.33,0.00,0.000,4,0.000,0.067,2582,3461,3387
$GC,2054,-1.09,-175.2,185.9,-7.2,202,2059,0.12,2.25,0.00,0.000,6,0.064,0.057,2552,2077,3388
$GC,2386,-1.05,-175.2,213.7,-7.7,225,2390,0.00,2.33,0.00,0.000,4,0.000,0.072,2551,689,3388
$GC,2418,-1.05,-175.2,216.5,-8.3,226,2422,0.00,2.28,0.00,0.000,6,0.000,0.028,2551,2073,3387
$GC,2740,-1.05,-175.2,238.2,-6.7,242,2744,0.00,2.33,0.00,0.000,4,0.000,0.035,2551,3467,3387
$GC,2834,-1.05,-175.2,245.0,-7.4,246,2838,0.00,2.28,0.00,0.000,6,0.000,0.057,2550,2079,3387
$GC,3161,-1.05,-175.2,267.8,-7.0,262,3165,0.00,2.35,0.00,0.000,4,0.000,0.035,2551,3467,3386
$GC,3187,-1.05,-175.2,270.0,-7.5,263,3191,0.00,2.30,0.00,0.000,6,0.000,0.024,2551,2086,3386
$GC,3508,-1.05,-175.2,293.8,-7.9,279,3512,0.00,2.40,0.00,0.000,4,0.000,0.040,2551,676,3385
$GC,3602,-1.05,-175.2,302.0,-8.6,283,3607,0.00,2.33,0.00,0.000,6,0.000,0.024,2551,2076,3384
$GC,3921,-1.05,-175.2,325.6,-7.4,291,3925,0.00,2.40,0.00,0.000,4,0.000,0.041,2550,678,3383
$GC,3953,-1.05,-175.2,328.1,-7.2,291,3959,0.00,2.33,0.00,0.000,6,0.000,0.025,2551,2077,3383
$GC,4284,-1.05,-175.2,354.3,-8.2,300,4288,0.00,2.38,0.00,0.000,4,0.000,0.041,2551,3471,3381
$GC,4316,-1.05,-175.2,357.1,-8.6,300,4323,0.00,2.33,0.00,0.000,6,0.000,0.062,2551,2074,3381
$GC,4647,-1.05,-175.2,383.4,-7.5,309,4651,0.00,2.40,0.00,0.000,4,0.000,0.044,2550,678,3379
$GC,4673,-1.05,-175.2,385.4,-7.1,309,4677,0.00,2.33,0.00,0.000,6,0.000,0.028,2551,2084,3379
$GC,5010,-1.05,-175.2,407.7,-6.5,318,5014,0.00,2.42,0.00,0.000,4,0.000,0.044,2550,680,3377
$GC,5036,-1.05,-175.2,409.6,-7.2,318,5041,0.00,2.35,0.00,0.000,6,0.000,0.028,2551,2080,3377
$GC,5373,-1.05,-175.2,430.3,-5.9,327,5374,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2084,3374
$GC,5698,-1.05,-175.2,449.4,-5.9,335,5702,0.00,2.42,0.00,0.000,4,0.000,0.078,2550,682,3373
$STATE,5706,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5706,begin apogee
$GC,5714,-0.31,0.0,450.2,6.0,335,5859,0.77,0.00,141.80,0.890,6,0.064,0.000,2722,2090,2664
$STATE,5860,end apogee,CONTROL_FINISHED_OK
$STATE,5860,begin climb
$GC,5862,0.96,175.2,454.7,0.0,338,6014,1.23,2.53,144.57,0.863,4,0.041,0.052,3004,677,1948
$GC,6077,0.82,175.2,447.4,9.7,344,6081,0.15,2.38,0.00,0.000,6,0.097,0.030,2976,2080,1939
$GC,6394,0.77,175.2,421.5,7.6,352,6395,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2084,1936
$GC,6719,0.76,197.9,399.4,6.5,360,6740,0.00,0.00,18.45,0.823,6,0.000,0.000,2976,2084,1857
$GC,7044,0.76,197.9,375.8,7.5,368,7048,0.00,2.45,0.00,0.000,4,0.000,0.079,2976,683,1851
$GC,7098,0.70,197.9,371.0,9.2,369,7103,0.15,2.35,0.00,0.000,6,0.097,0.031,2948,2080,1849
$GC,7411,0.73,197.9,348.2,7.3,377,7415,0.00,2.42,0.00,0.000,4,0.000,0.051,2948,3477,1849
$GC,7450,0.76,197.9,345.3,7.8,378,7454,0.00,2.35,0.00,0.000,6,0.000,0.030,2948,2083,1849
$GC,7773,0.83,223.3,323.7,6.5,386,7803,0.12,2.53,22.35,0.808,4,0.058,0.047,2981,682,1751
$GC,7830,0.78,223.3,318.8,9.0,387,7835,0.00,2.38,0.00,0.000,6,0.000,0.029,2980,2086,1748
$GC,8145,0.78,223.3,290.7,8.7,397,8149,0.00,2.47,0.00,0.000,4,0.000,0.077,2981,674,1746
$GC,8313,0.74,223.3,276.5,7.7,404,8320,0.12,2.35,0.00,0.000,6,0.094,0.029,2957,2089,1744
$GC,8629,0.84,273.3,257.4,5.8,420,8685,0.00,2.42,45.95,0.751,4,0.000,0.049,2957,3479,1548
$GC,8712,0.92,273.3,251.8,8.2,423,8717,0.17,2.38,0.00,0.000,6,0.049,0.062,3001,2079,1547
$GC,9039,0.92,273.3,221.1,9.4,439,9043,0.00,2.42,0.00,0.000,4,0.000,0.044,3001,677,1542
$GC,9088,0.88,273.3,216.1,10.0,441,9092,0.00,2.35,0.00,0.000,6,0.000,0.027,3001,2086,1539
$GC,9408,0.88,273.3,186.4,9.3,463,9412,0.00,2.38,0.00,0.000,4,0.000,0.038,3002,3474,1539
$GC,9474,0.88,273.3,180.4,8.9,468,9481,0.00,2.38,0.00,0.000,6,0.000,0.027,3001,2077,1539
$GC,9801,0.88,273.3,157.5,7.2,499,9805,0.00,2.42,0.00,0.000,4,0.000,0.074,3001,674,1538
$GC,9855,0.88,273.3,153.0,8.2,503,9862,0.00,2.35,0.00,0.000,6,0.000,0.024,3001,2086,1536
$GC,10183,0.88,273.3,126.6,9.3,534,10187,0.00,2.45,0.00,0.000,4,0.000,0.058,3001,670,1536
$GC,10211,0.88,273.3,123.9,9.7,536,10215,0.00,2.33,0.00,0.000,6,0.000,0.057,3001,2086,1536
$GC,10536,0.93,281.5,96.2,6.9,566,10546,0.00,0.00,6.47,0.515,6,0.000,0.000,3001,2091,1516
$GC,10867,1.03,322.4,74.7,6.0,597,10911,0.00,2.45,37.15,0.594,4,0.000,0.044,3001,673,1347
$GC,10972,1.12,341.1,67.9,6.6,606,10995,0.17,2.30,16.65,0.555,6,0.044,0.056,3050,2099,1273
$GC,11313,1.12,341.1,36.7,8.6,638,11316,0.00,2.28,0.00,0.000,4,0.000,0.031,3051,3462,1270
$GC,11380,1.12,341.1,30.4,9.0,644,11384,0.00,2.30,0.00,0.000,6,0.000,0.030,3050,2062,1270
$STATE,11699,end climb,SURFACE_DEPTH_REACHED
$STATE,11699,begin surface coast
$FINISH,-0.1,1.023189
$STATE,11738,end surface coast,CONTROL_FINISHED_OK
$STATE,11740,begin surface
$SM_CCo,11819,0.00,0.000,0,0,1265,342.93
$SM_GC,0.50,11.38,0.00,0.00,0.044,0.000,0.000,431,2056,1265,-10.81,-0.65,342.93
$IRIDIUM_FIX,2054.83,-15746.61,071097,101053
$TT8_MAMPS,0.029146
$HUMID,1842
$INTERNAL_PRESSURE,8.63909
$TCM_TEMP,22.70
$XPDR_PINGS,686
$24V_AH,23.4,34.419
$10V_AH,10.2,19.966
$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,27.000,122.675,433.400,0.000,0.000,27.916,32.164,211.054,171.500,0.000,0.000,12.268,1278.982,8345.298,513.360,1610.958,447.191,33.360,1324.487,0.000,1602.313,0.000,0.470
$DEVICE_MAMPS,160.303,79.001,889.720,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,475.311,464.071,797.452,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34871,707
$CAP_FILE_SIZE,105435,13
$CFSIZE,260165632,256188416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,130708,165508,2104.986,-15749.232,41,1.2,41,9.8