version: 66.03
glider: 139
mission: 3
dive: 41
start: 7 14 108 20 29 24
data:
$ID,139
$MISSION,3
$DIVE,41
$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,-1271129.1
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,435
$PITCH_MAX,3724
$C_PITCH,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,36
$R_STBD_OVSHOOT,62
$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
$GPS1,202208,2106.099,-15751.490,31,1.1,31,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.52
$_SM_ANGLEo,-70.3
$GPS2,202835,2106.090,-15751.481,12,2.8,31,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.182,-0.177
$KALMAN_X,-723.2,-256.9,333.4,2938.5,-172.4
$KALMAN_Y,3445.7,-39.0,69.4,-23077.0,331.9
$MHEAD_RNG_PITCHd_Wd,124.4,10516,-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,19,-0.96,-175.2,0.0,0.0,0,81,0.00,0.00,-59.72,0.000,2,0.000,0.000,427,2086,3120
$GC,83,-0.96,-175.2,4.5,-8.7,11,107,12.25,2.42,-4.03,0.000,4,0.160,0.050,2577,683,3382
$GC,131,-0.06,-175.2,25.8,-42.5,19,138,0.17,2.22,0.00,0.000,6,0.331,0.018,2620,2087,3384
$GC,251,-0.06,-175.2,40.4,-10.2,32,253,0.73,0.00,0.00,0.000,6,0.055,0.000,2779,2091,3384
$GC,571,-0.44,-175.2,70.5,-10.3,62,576,0.35,2.38,0.00,0.000,4,0.044,0.065,2692,676,3385
$GC,671,-0.81,-175.2,80.5,-9.6,70,678,0.28,2.25,0.00,0.000,6,0.042,0.018,2612,2080,3386
$GC,997,-1.00,-175.2,105.7,-8.0,101,1002,0.15,2.30,0.00,0.000,4,0.048,0.044,2561,3460,3386
$GC,1058,-1.00,-175.2,111.2,-9.1,106,1062,0.00,2.25,0.00,0.000,6,0.000,0.020,2560,2063,3386
$GC,1390,-1.08,-175.2,137.1,-7.7,137,1394,0.00,2.30,0.00,0.000,4,0.000,0.068,2560,687,3387
$GC,1440,-1.13,-175.2,141.3,-8.2,141,1445,0.00,2.20,0.00,0.000,6,0.000,0.018,2561,2069,3387
$GC,1768,-1.09,-175.2,170.0,-7.8,171,1769,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2072,3388
$GC,2083,-1.09,-175.2,195.7,-6.9,201,2084,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2072,3388
$GC,2405,-1.09,-175.2,217.5,-6.8,220,2409,0.00,2.33,0.00,0.000,4,0.000,0.034,2560,3460,3388
$GC,2438,-1.13,-175.2,219.9,-7.0,221,2444,0.00,2.25,0.00,0.000,6,0.000,0.021,2560,2078,3388
$GC,2753,-1.13,-175.2,241.9,-7.7,237,2757,0.00,2.35,0.00,0.000,4,0.000,0.038,2560,685,3387
$GC,2779,-1.13,-175.2,244.1,-7.7,238,2783,0.00,2.25,0.00,0.000,6,0.000,0.021,2560,2063,3387
$GC,3100,-1.13,-175.2,266.1,-6.5,254,3102,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2066,3386
$GC,3410,-1.13,-175.2,286.2,-6.6,269,3414,0.00,2.35,0.00,0.000,4,0.000,0.074,2560,687,3385
$GC,3443,-1.19,-175.2,288.5,-7.0,270,3450,0.12,2.25,0.00,0.000,6,0.051,0.060,2521,2075,3385
$GC,3755,-1.12,-175.2,314.9,-9.1,282,3760,0.15,2.38,0.00,0.000,4,0.077,0.038,2553,3476,3384
$GC,3804,-1.16,-175.2,319.2,-8.5,283,3808,0.00,2.30,0.00,0.000,6,0.000,0.025,2553,2085,3383
$GC,4123,-1.16,-175.2,343.5,-7.3,291,4127,0.00,2.40,0.00,0.000,4,0.000,0.042,2553,680,3382
$GC,4166,-1.21,-175.2,346.8,-7.2,292,4171,0.00,2.30,0.00,0.000,6,0.000,0.061,2553,2078,3382
$GC,4491,-1.21,-175.2,367.5,-6.5,300,4495,0.00,2.40,0.00,0.000,4,0.000,0.042,2553,679,3380
$GC,4512,-1.21,-175.2,369.0,-6.8,300,4516,0.00,2.30,0.00,0.000,6,0.000,0.027,2553,2076,3379
$GC,4854,-1.21,-175.2,391.2,-6.4,309,4858,0.00,2.38,0.00,0.000,4,0.000,0.042,2553,3472,3377
$GC,4882,-1.25,-175.2,393.0,-6.8,309,4886,0.15,2.33,0.00,0.000,6,0.048,0.064,2510,2080,3377
$GC,5218,-1.18,-175.2,420.4,-8.1,318,5222,0.12,2.42,0.00,0.000,4,0.083,0.044,2536,673,3375
$GC,5266,-1.18,-175.2,424.0,-7.2,319,5271,0.00,2.35,0.00,0.000,6,0.000,0.039,2537,2069,3375
$GC,5585,-1.18,-175.2,444.9,-6.6,327,5586,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2072,3373
$STATE,5664,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5664,begin apogee
$GC,5668,-0.31,0.0,451.2,7.3,329,5814,0.88,0.00,142.15,0.887,6,0.151,0.000,2726,2072,2664
$STATE,5814,end apogee,CONTROL_FINISHED_OK
$STATE,5815,begin climb
$GC,5816,0.96,175.2,457.7,0.0,332,5970,1.25,2.53,145.07,0.864,4,0.035,0.077,3013,679,1947
$GC,6022,0.78,175.2,453.8,10.0,337,6027,0.25,2.38,0.00,0.000,6,0.094,0.030,2966,2083,1940
$GC,6352,0.78,175.2,423.9,9.2,345,6356,0.00,2.47,0.00,0.000,4,0.000,0.047,2965,675,1936
$GC,6368,0.74,175.2,422.4,9.0,345,6373,0.00,2.38,0.00,0.000,6,0.000,0.030,2966,2085,1935
$GC,6710,0.74,175.2,394.5,7.9,354,6714,0.00,2.47,0.00,0.000,4,0.000,0.047,2966,675,1934
$GC,6770,0.68,175.2,389.4,8.5,355,6775,0.12,2.38,0.00,0.000,6,0.097,0.030,2943,2083,1932
$GC,7112,0.70,194.5,365.5,6.6,364,7131,0.00,2.42,14.85,0.804,4,0.000,0.077,2943,3474,1870
$GC,7164,0.73,218.6,362.1,6.5,365,7196,0.00,2.38,23.05,0.817,6,0.000,0.064,2943,2075,1771
$GC,7521,0.82,249.0,339.8,6.3,374,7555,0.12,2.55,26.77,0.815,4,0.058,0.077,2976,676,1648
$GC,7633,0.82,249.0,330.0,9.1,376,7637,0.00,2.40,0.00,0.000,6,0.000,0.029,2976,2080,1643
$GC,7976,0.82,249.0,299.0,9.5,385,7980,0.00,2.45,0.00,0.000,4,0.000,0.046,2975,679,1641
$GC,8019,0.82,249.0,294.5,10.7,387,8023,0.00,2.38,0.00,0.000,6,0.000,0.028,2975,2078,1639
$GC,8346,0.82,249.0,267.4,7.7,403,8350,0.00,2.45,0.00,0.000,4,0.000,0.044,2976,676,1639
$GC,8402,0.82,249.0,262.5,9.5,405,8408,0.00,2.35,0.00,0.000,6,0.000,0.028,2976,2086,1637
$GC,8717,0.82,249.0,236.8,7.8,421,8721,0.00,2.40,0.00,0.000,4,0.000,0.041,2976,3482,1637
$GC,8738,0.82,249.0,235.2,7.6,422,8742,0.00,2.38,0.00,0.000,6,0.000,0.027,2975,2083,1637
$GC,9065,0.83,260.5,213.0,6.8,438,9080,0.00,2.47,9.85,0.675,4,0.000,0.072,2976,670,1600
$GC,9152,0.83,260.5,206.3,7.5,441,9156,0.00,2.38,0.00,0.000,6,0.000,0.033,2976,2080,1597
$GC,9477,0.87,260.5,182.1,8.0,467,9481,0.00,2.38,0.00,0.000,4,0.000,0.043,2976,3474,1597
$GC,9572,0.92,260.5,174.2,8.0,475,9577,0.00,2.35,0.00,0.000,6,0.000,0.058,2976,2069,1597
$GC,9897,0.97,265.0,152.0,7.0,505,9910,0.15,2.40,5.35,0.526,4,0.051,0.048,3023,678,1582
$GC,10030,0.90,265.0,139.3,9.6,516,10037,0.15,2.30,0.00,0.000,6,0.090,0.023,2993,2093,1580
$GC,10354,0.95,265.0,114.0,7.5,547,10358,0.00,2.33,0.00,0.000,4,0.000,0.034,2993,3473,1580
$GC,10454,1.01,265.0,106.3,7.7,555,10461,0.00,2.33,0.00,0.000,6,0.000,0.022,2993,2079,1580
$GC,10781,1.11,298.8,85.3,6.2,586,10819,0.20,0.00,30.95,0.597,6,0.041,0.000,3052,2078,1445
$GC,11137,1.11,298.8,53.9,7.4,620,11141,0.00,2.35,0.00,0.000,4,0.000,0.037,3052,684,1442
$GC,11194,1.05,298.8,49.8,7.5,625,11199,0.12,2.28,0.00,0.000,6,0.083,0.054,3026,2093,1439
$GC,11522,1.10,298.8,27.0,7.2,658,11528,0.00,2.38,0.00,0.000,4,0.000,0.035,3026,683,1439
$GC,11575,1.10,298.8,22.9,7.7,667,11582,0.00,2.22,0.00,0.000,6,0.000,0.056,3026,2083,1439
$GC,11695,1.15,298.8,14.3,7.2,688,11700,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2086,1440
$GC,11814,1.20,301.7,5.8,7.1,709,11820,0.12,2.35,0.00,0.000,4,0.048,0.035,3068,683,1440
$STATE,11847,end climb,SURFACE_DEPTH_REACHED
$STATE,11847,begin surface coast
$FINISH,-0.1,1.022684
$STATE,11882,end surface coast,CONTROL_FINISHED_OK
$STATE,11883,begin surface
$SM_CCo,11904,18.08,0.504,0,0,1358,320.12
$SM_GC,0.37,0.00,0.00,18.08,0.000,0.000,0.504,425,2089,1358,-10.90,0.28,320.12
$IRIDIUM_FIX,2059.45,-15831.22,081097,171759
$TT8_MAMPS,0.029146
$HUMID,1851
$INTERNAL_PRESSURE,8.65862
$TCM_TEMP,23.10
$XPDR_PINGS,702
$24V_AH,23.4,35.604
$10V_AH,10.2,20.675
$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,29.275,127.200,398.050,18.075,0.000,31.099,38.115,183.115,175.500,0.000,0.000,33.439,1316.355,8389.972,535.892,1629.720,426.438,33.362,1332.890,0.000,1599.312,0.000,0.470
$DEVICE_MAMPS,331.344,77.467,887.419,503.919,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,484.567,472.569,820.988,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38054,721
$CAP_FILE_SIZE,109803,13
$CFSIZE,260165632,255705088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140708,235008,2105.179,-15750.554,84,1.2,84,9.8