version: 66.03
glider: 139
mission: 3
dive: 44
start: 7 15 108 7 25 16
data:
$ID,139
$MISSION,3
$DIVE,44
$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,543.09418
$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,-1271193.8
$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
$PITCH_ADJ_DBAND,0
$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,39
$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
$GPS1,065932,2103.296,-15748.479,40,0.9,40,9.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.51
$_SM_ANGLEo,-68.3
$GPS2,072426,2103.246,-15748.540,10,1.9,15,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.248,-0.058
$KALMAN_X,-3413.4,176.4,214.3,10389.6,-1057.4
$KALMAN_Y,3911.4,279.1,68.1,-29125.8,-576.1
$MHEAD_RNG_PITCHd_Wd,93.4,3261,-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,-175.2,0.0,0.0,0,82,0.00,0.00,-60.20,0.000,2,0.000,0.000,430,2088,2978
$GC,85,-0.96,-175.2,3.4,-6.5,11,109,12.18,2.47,-6.57,0.000,4,0.158,0.051,2574,675,3381
$GC,155,-0.96,-175.2,25.0,-18.6,23,161,0.00,2.22,0.00,0.000,6,0.000,0.019,2574,2077,3383
$GC,275,-0.96,-175.2,39.3,-11.7,38,279,0.00,2.30,0.00,0.000,4,0.000,0.029,2574,3464,3383
$GC,337,-0.96,-175.2,46.4,-10.4,43,341,0.00,2.25,0.00,0.000,6,0.000,0.020,2574,2075,3382
$GC,661,-0.96,-175.2,83.3,-12.3,73,665,0.00,2.35,0.00,0.000,4,0.000,0.036,2574,679,3383
$GC,716,-0.96,-175.2,90.0,-12.0,77,723,0.00,2.25,0.00,0.000,6,0.000,0.018,2574,2070,3383
$GC,1041,-0.96,-175.2,124.4,-9.8,108,1045,0.00,2.30,0.00,0.000,4,0.000,0.030,2574,3460,3383
$GC,1067,-0.96,-175.2,127.1,-10.1,110,1074,0.00,2.28,0.00,0.000,6,0.000,0.020,2574,2077,3383
$GC,1394,-0.96,-175.2,154.0,-7.0,141,1398,0.00,2.33,0.00,0.000,4,0.000,0.069,2574,687,3383
$GC,1416,-0.96,-175.2,155.8,-7.6,143,1420,0.00,2.22,0.00,0.000,6,0.000,0.018,2574,2079,3384
$GC,1742,-0.96,-175.2,181.7,-8.1,173,1746,0.00,2.35,0.00,0.000,4,0.000,0.051,2574,687,3384
$GC,1770,-0.96,-175.2,184.0,-8.0,175,1774,0.00,2.22,0.00,0.000,6,0.000,0.054,2574,2076,3384
$GC,2093,-0.96,-175.2,205.3,-6.3,201,2097,0.00,2.35,0.00,0.000,4,0.000,0.069,2574,687,3383
$GC,2142,-0.96,-175.2,208.8,-6.6,203,2146,0.00,2.25,0.00,0.000,6,0.000,0.020,2574,2072,3383
$GC,2463,-0.96,-175.2,230.2,-7.3,219,2467,0.00,2.33,0.00,0.000,4,0.000,0.035,2574,3460,3382
$GC,2495,-0.96,-175.2,232.9,-7.9,220,2503,0.00,2.28,0.00,0.000,6,0.000,0.038,2574,2086,3382
$GC,2811,-0.96,-175.2,254.5,-6.1,236,2813,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2085,3381
$GC,3121,-0.96,-175.2,272.1,-5.7,251,3125,0.00,2.38,0.00,0.000,4,0.000,0.054,2574,670,3380
$GC,3188,-0.96,-175.2,276.0,-5.9,254,3192,0.00,2.30,0.00,0.000,6,0.000,0.028,2574,2080,3379
$GC,3514,-0.96,-175.2,293.4,-5.9,270,3518,0.00,2.35,0.00,0.000,4,0.000,0.039,2574,3469,3377
$GC,3547,-0.96,-175.2,295.6,-6.3,271,3551,0.00,2.30,0.00,0.000,6,0.000,0.056,2574,2076,3377
$GC,3864,-0.96,-175.2,317.6,-7.1,281,3869,0.00,2.38,0.00,0.000,4,0.000,0.041,2574,680,3375
$GC,3897,-0.96,-175.2,319.8,-7.3,281,3903,0.00,2.33,0.00,0.000,6,0.000,0.025,2574,2079,3375
$GC,4228,-0.96,-175.2,341.6,-6.7,290,4229,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2083,3374
$GC,4553,-0.96,-175.2,361.2,-5.8,298,4554,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2083,3371
$GC,4878,-0.96,-175.2,378.9,-5.3,306,4882,0.00,2.38,0.00,0.000,4,0.000,0.043,2574,685,3369
$GC,4905,-0.96,-175.2,380.5,-5.5,306,4909,0.00,2.30,0.00,0.000,6,0.000,0.063,2574,2075,3369
$GC,5248,-0.96,-175.2,397.3,-4.9,315,5252,0.00,2.40,0.00,0.000,4,0.000,0.044,2574,680,3367
$GC,5269,-0.96,-175.2,398.4,-5.0,315,5273,0.00,2.33,0.00,0.000,6,0.000,0.029,2574,2080,3366
$GC,5611,-0.96,-175.2,416.6,-5.7,324,5615,0.00,2.40,0.00,0.000,4,0.000,0.044,2574,3474,3364
$GC,5633,-0.96,-175.2,418.1,-6.4,324,5637,0.00,2.35,0.00,0.000,6,0.000,0.028,2574,2087,3364
$GC,5975,-0.96,-175.2,437.4,-5.4,333,5979,0.00,2.40,0.00,0.000,4,0.000,0.046,2574,680,3362
$GC,5996,-0.96,-175.2,438.6,-5.9,333,6000,0.00,2.35,0.00,0.000,6,0.000,0.038,2574,2087,3362
$STATE,6220,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6220,begin apogee
$GC,6225,-0.31,0.0,450.9,5.5,339,6368,0.70,0.00,140.23,0.898,6,0.060,0.000,2728,2089,2664
$STATE,6369,end apogee,CONTROL_FINISHED_OK
$STATE,6369,begin climb
$GC,6371,0.96,175.2,457.5,0.0,342,6527,1.20,2.58,145.23,0.871,4,0.041,0.077,3005,680,1946
$GC,6560,0.96,175.2,454.9,8.2,346,6564,0.00,2.40,0.00,0.000,6,0.000,0.065,3005,2069,1941
$GC,6902,0.96,175.2,425.7,8.4,355,6907,0.00,2.47,0.00,0.000,4,0.000,0.046,3005,3481,1936
$GC,6946,0.96,175.2,422.0,8.5,356,6950,0.00,2.40,0.00,0.000,6,0.000,0.031,3005,2089,1937
$GC,7270,0.96,175.2,397.0,7.7,364,7274,0.00,2.45,0.00,0.000,4,0.000,0.046,3005,3483,1934
$GC,7309,0.96,175.2,393.6,9.1,365,7313,0.00,2.40,0.00,0.000,6,0.000,0.034,3005,2077,1934
$GC,7632,0.96,175.2,366.5,8.2,373,7633,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2074,1932
$GC,7957,0.96,175.2,341.6,7.9,381,7958,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2074,1931
$GC,8282,0.96,175.2,316.7,7.4,389,8286,0.00,2.45,0.00,0.000,4,0.000,0.076,3005,3482,1930
$GC,8371,0.96,175.2,309.5,7.7,391,8375,0.00,2.38,0.00,0.000,6,0.000,0.059,3005,2076,1930
$GC,8697,0.96,175.2,284.0,7.9,403,8698,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2074,1928
$GC,9006,1.02,221.2,263.1,5.9,418,9046,0.00,0.00,37.40,0.783,6,0.000,0.000,3005,2074,1762
$GC,9355,1.02,221.2,236.4,7.7,435,9359,0.00,2.42,0.00,0.000,4,0.000,0.040,3005,3482,1755
$GC,9404,1.02,221.2,232.1,9.2,437,9408,0.00,2.40,0.00,0.000,6,0.000,0.027,3005,2076,1755
$GC,9726,1.02,221.2,208.9,7.2,453,9730,0.00,2.42,0.00,0.000,4,0.000,0.044,3005,674,1752
$GC,9769,1.02,221.2,205.4,7.8,455,9773,0.00,2.38,0.00,0.000,6,0.000,0.025,3005,2088,1751
$GC,10094,1.05,245.2,180.8,6.5,482,10120,0.00,2.50,20.98,0.687,4,0.000,0.053,3005,671,1663
$GC,10210,1.05,245.2,172.6,7.8,492,10214,0.00,2.35,0.00,0.000,6,0.000,0.024,3005,2092,1657
$GC,10534,1.05,245.2,148.8,7.4,522,10538,0.00,2.33,0.00,0.000,4,0.000,0.035,3005,3470,1657
$GC,10600,1.05,245.2,143.2,8.3,527,10606,0.00,2.35,0.00,0.000,6,0.000,0.058,3005,2073,1657
$GC,10927,1.05,245.2,116.8,7.6,558,10931,0.00,2.38,0.00,0.000,4,0.000,0.051,3004,3472,1657
$GC,10956,1.05,245.2,114.4,8.5,560,10960,0.00,2.30,0.00,0.000,6,0.000,0.022,3005,2078,1657
$GC,11282,1.15,329.4,93.7,4.8,590,11360,0.15,2.42,72.35,0.604,4,0.048,0.048,3055,674,1319
$GC,11427,1.15,329.4,80.7,11.1,603,11432,0.00,2.30,0.00,0.000,6,0.000,0.020,3055,2087,1314
$GC,11753,1.15,329.4,49.0,10.4,633,11754,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2092,1314
$GC,12077,1.15,329.4,16.0,9.3,675,12083,0.00,2.40,0.00,0.000,4,0.000,0.064,3055,679,1312
$GC,12174,1.15,329.4,6.7,9.0,692,12180,0.00,2.25,0.00,0.000,6,0.000,0.019,3056,2088,1311
$STATE,12212,end climb,SURFACE_DEPTH_REACHED
$STATE,12212,begin surface coast
$FINISH,-0.2,1.016256
$STATE,12247,end surface coast,CONTROL_FINISHED_OK
$STATE,12247,begin surface
$SM_CCo,12267,171.00,0.516,0,0,450,543.09
$SM_GC,0.39,0.00,0.00,171.00,0.000,0.000,0.516,424,2090,450,-10.91,0.34,543.09
$IRIDIUM_FIX,2054.83,-15746.61,091097,070747
$TT8_MAMPS,0.029146
$HUMID,1804
$INTERNAL_PRESSURE,8.57073
$TCM_TEMP,23.00
$XPDR_PINGS,664
$24V_AH,23.4,36.082
$10V_AH,10.2,20.930
$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,25.575,122.400,416.175,171.000,0.000,137.332,150.534,808.394,166.000,0.000,0.000,16.883,1251.873,9146.351,662.157,1552.863,1307.097,33.359,1454.128,0.000,1538.505,0.000,0.471
$DEVICE_MAMPS,158.002,77.467,898.157,516.191,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,474.266,451.269,760.351,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34912,705
$CAP_FILE_SIZE,110126,11
$CFSIZE,260165632,255442944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150708,105355,2102.545,-15747.362,26,1.1,43,9.8