version: 66.03
glider: 139
mission: 3
dive: 33
start: 7 13 108 17 2 43
data:
$ID,139
$MISSION,3
$DIVE,33
$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,-1270923.9
$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,42
$R_STBD_OVSHOOT,61
$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
$GPS1,165508,2104.986,-15749.232,41,1.2,41,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.54
$_SM_ANGLEo,-68.0
$GPS2,170151,2104.958,-15749.275,14,1.2,14,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT1
$TGT_LATLONG,2109.529,-15754.647
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.196,0.163
$KALMAN_X,-2041.9,-101.7,504.2,7726.6,-344.4
$KALMAN_Y,4500.4,-629.0,-80.7,-25487.1,521.2
$MHEAD_RNG_PITCHd_Wd,299.9,12561,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.96,-175.2,0.0,0.0,0,81,0.00,0.00,-60.20,0.000,2,0.000,0.000,431,2057,2979
$GC,83,-0.96,-175.2,3.2,-5.9,11,108,12.38,1.10,-6.65,0.000,4,0.164,0.109,2574,2772,3382
$GC,360,-0.85,-175.2,49.6,-11.7,45,367,0.12,1.12,0.00,0.000,6,0.081,0.021,2605,2070,3385
$GC,686,-0.85,-175.2,77.8,-8.9,76,690,0.00,2.33,0.00,0.000,4,0.000,0.038,2605,3460,3385
$GC,741,-0.92,-175.2,82.7,-8.4,80,747,0.00,2.22,0.00,0.000,6,0.000,0.020,2605,2077,3386
$GC,1067,-0.96,-175.2,108.5,-7.3,111,1071,0.00,2.33,0.00,0.000,4,0.000,0.057,2605,689,3386
$GC,1135,-1.06,-175.2,113.0,-6.5,117,1139,0.17,2.22,0.00,0.000,6,0.042,0.018,2560,2083,3386
$GC,1459,-1.00,-175.2,140.6,-8.4,147,1463,0.00,2.30,0.00,0.000,4,0.000,0.031,2560,3464,3387
$GC,1525,-1.00,-175.2,146.6,-9.4,152,1532,0.00,2.28,0.00,0.000,6,0.000,0.021,2560,2083,3387
$GC,1852,-0.97,-175.2,176.2,-8.8,183,1854,0.12,0.00,0.00,0.000,6,0.083,0.000,2586,2080,3387
$GC,2171,-1.01,-175.2,196.8,-7.6,213,2172,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2080,3388
$GC,2480,-1.06,-175.2,220.6,-6.8,230,2485,0.10,2.33,0.00,0.000,4,0.053,0.033,2550,3462,3388
$GC,2500,-1.06,-175.2,222.5,-8.4,231,2505,0.00,2.28,0.00,0.000,6,0.000,0.022,2549,2087,3388
$GC,2828,-1.06,-175.2,250.6,-7.9,247,2832,0.00,2.38,0.00,0.000,4,0.000,0.045,2550,684,3387
$GC,2905,-1.06,-175.2,256.6,-7.4,250,2912,0.00,2.28,0.00,0.000,6,0.000,0.022,2550,2070,3387
$GC,3220,-1.06,-175.2,279.7,-7.2,266,3224,0.00,2.35,0.00,0.000,4,0.000,0.037,2550,3466,3386
$GC,3264,-1.06,-175.2,283.0,-7.5,268,3268,0.00,2.30,0.00,0.000,6,0.000,0.024,2550,2066,3385
$GC,3589,-1.06,-175.2,307.7,-7.8,282,3593,0.00,2.35,0.00,0.000,4,0.000,0.040,2549,680,3384
$GC,3649,-1.06,-175.2,312.8,-8.3,283,3654,0.00,2.30,0.00,0.000,6,0.000,0.034,2550,2068,3384
$GC,3998,-1.06,-175.2,337.5,-6.8,292,3999,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2071,3382
$GC,4323,-1.06,-175.2,358.9,-6.7,300,4324,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2071,3380
$GC,4647,-1.06,-175.2,382.8,-7.3,308,4649,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2071,3379
$GC,4972,-1.06,-175.2,407.4,-7.5,316,4976,0.00,2.40,0.00,0.000,4,0.000,0.044,2549,678,3377
$GC,5016,-1.10,-175.2,410.6,-7.5,317,5021,0.00,2.33,0.00,0.000,6,0.000,0.028,2550,2077,3377
$GC,5335,-1.10,-175.2,429.4,-5.9,325,5339,0.00,2.40,0.00,0.000,4,0.000,0.044,2550,3478,3374
$GC,5356,-1.10,-175.2,430.7,-5.9,325,5360,0.00,2.33,0.00,0.000,6,0.000,0.058,2549,2087,3374
$STATE,5696,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5696,begin apogee
$GC,5701,-0.31,0.0,450.5,6.0,334,5846,0.82,0.00,141.85,0.885,6,0.066,0.000,2728,2085,2664
$STATE,5847,end apogee,CONTROL_FINISHED_OK
$STATE,5847,begin climb
$GC,5849,0.96,175.2,455.0,0.0,337,6002,1.20,2.47,144.15,0.861,4,0.040,0.047,3006,3473,1948
$GC,6035,0.82,175.2,451.4,8.6,341,6040,0.17,2.38,0.00,0.000,6,0.099,0.031,2974,2083,1946
$GC,6377,0.79,175.2,425.8,7.2,350,6378,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2081,1937
$GC,6702,0.78,198.0,404.8,6.5,358,6723,0.00,0.00,18.77,0.821,6,0.000,0.000,2973,2081,1856
$GC,7027,0.79,204.9,381.6,7.0,366,7040,0.00,2.55,6.85,0.704,4,0.000,0.077,2974,673,1827
$GC,7103,0.73,204.9,375.8,7.7,367,7107,0.00,2.40,0.00,0.000,6,0.000,0.038,2974,2095,1824
$GC,7439,0.73,204.9,348.8,8.6,376,7443,0.00,2.38,0.00,0.000,4,0.000,0.044,2974,3477,1823
$GC,7471,0.73,204.9,346.0,8.9,376,7475,0.00,2.38,0.00,0.000,6,0.000,0.030,2974,2071,1823
$GC,7808,0.73,204.9,320.6,7.3,385,7812,0.00,2.42,0.00,0.000,4,0.000,0.048,2974,677,1821
$GC,7937,0.70,204.9,309.7,8.5,388,7942,0.12,2.35,0.00,0.000,6,0.096,0.039,2950,2082,1819
$GC,8263,0.74,204.9,285.2,7.7,400,8267,0.00,2.45,0.00,0.000,4,0.000,0.045,2950,676,1819
$GC,8324,0.74,204.9,280.3,7.8,403,8328,0.00,2.35,0.00,0.000,6,0.000,0.062,2950,2081,1818
$GC,8651,0.82,239.5,258.8,6.2,419,8687,0.10,2.45,30.50,0.771,4,0.061,0.073,2979,3478,1686
$GC,8725,0.82,239.5,252.9,8.5,421,8732,0.00,2.40,0.00,0.000,6,0.000,0.035,2979,2077,1685
$GC,9042,0.82,240.2,229.1,7.1,437,9046,0.00,2.42,0.00,0.000,4,0.000,0.044,2979,677,1681
$GC,9148,0.82,240.2,219.5,9.2,442,9152,0.00,2.35,0.00,0.000,6,0.000,0.061,2979,2087,1678
$GC,9466,0.83,242.6,194.6,7.1,461,9470,0.00,2.38,0.00,0.000,4,0.000,0.039,2979,3478,1678
$GC,9509,0.86,242.6,191.3,7.7,464,9516,0.00,2.33,0.00,0.000,6,0.000,0.026,2979,2078,1678
$GC,9836,0.96,298.0,172.5,5.6,495,9892,0.12,2.45,50.42,0.694,4,0.055,0.074,3013,680,1448
$GC,9965,0.96,298.0,161.9,9.1,506,9972,0.00,2.30,0.00,0.000,6,0.000,0.024,3014,2083,1443
$GC,10291,0.96,298.0,135.3,10.1,537,10294,0.00,1.75,0.00,0.000,4,0.000,0.077,3014,3143,1441
$GC,10317,0.96,298.0,132.5,10.2,539,10325,0.00,1.80,0.00,0.000,6,0.000,0.024,3014,2070,1441
$GC,10645,0.96,298.0,103.9,7.5,570,10649,0.00,2.38,0.00,0.000,4,0.000,0.045,3014,683,1440
$GC,10734,0.96,298.0,97.1,7.2,577,10741,0.00,2.33,0.00,0.000,6,0.000,0.028,3014,2093,1438
$GC,11061,1.06,336.6,77.6,6.1,608,11103,0.00,2.50,33.10,0.584,4,0.000,0.068,3013,683,1289
$GC,11196,1.12,336.6,68.0,7.6,620,11200,0.10,2.28,0.00,0.000,6,0.058,0.028,3045,2082,1285
$GC,11520,1.15,336.6,39.9,9.2,650,11524,0.00,2.30,0.00,0.000,4,0.000,0.031,3045,3462,1285
$GC,11549,1.20,336.6,37.2,9.2,652,11553,0.00,2.28,0.00,0.000,6,0.000,0.057,3045,2074,1285
$GC,11887,1.20,336.6,7.2,8.9,705,11893,0.00,2.33,0.00,0.000,4,0.000,0.041,3044,681,1285
$STATE,11931,end climb,SURFACE_DEPTH_REACHED
$STATE,11931,begin surface coast
$FINISH,-0.2,1.022786
$STATE,11966,end surface coast,CONTROL_FINISHED_OK
$STATE,11966,begin surface
$SM_CCo,12048,0.00,0.000,0,0,1281,339.25
$SM_GC,0.50,11.32,0.00,0.00,0.043,0.000,0.000,424,2069,1281,-10.82,-0.28,339.25
$IRIDIUM_FIX,2057.14,-15746.61,071097,131313
$TT8_MAMPS,0.028379
$HUMID,1834
$INTERNAL_PRESSURE,8.64886
$TCM_TEMP,23.30
$XPDR_PINGS,683
$24V_AH,23.4,34.554
$10V_AH,10.2,20.045
$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,26.875,109.325,425.650,0.000,0.000,28.904,38.090,211.946,170.750,0.000,0.000,15.727,1283.248,8564.687,500.919,1631.338,457.624,33.363,1312.868,0.000,1620.636,0.000,0.470
$DEVICE_MAMPS,164.138,108.914,885.118,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,483.133,471.096,807.544,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37922,719
$CAP_FILE_SIZE,104152,14
$CFSIZE,260165632,256131072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130708,202438,2106.149,-15750.147,32,1.2,32,9.8