version: 66.03
glider: 139
mission: 3
dive: 48
start: 7 15 108 22 8 47
data:
$ID,139
$MISSION,3
$DIVE,48
$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,-1271256.1
$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
$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,41
$R_STBD_OVSHOOT,59
$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
$GPS1,220132,2105.157,-15750.021,37,1.3,37,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.46
$_SM_ANGLEo,-67.0
$GPS2,220757,2105.162,-15750.043,12,1.2,12,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT1
$TGT_LATLONG,2109.529,-15754.647
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.157,0.200
$KALMAN_X,-3630.7,524.7,461.7,7410.2,-530.9
$KALMAN_Y,1800.7,-264.7,111.4,-22962.2,33.4
$MHEAD_RNG_PITCHd_Wd,312.1,11344,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-0.96,-175.2,0.0,0.0,0,110,0.00,0.00,-86.75,0.000,2,0.000,0.000,433,2089,2938
$GC,113,-0.96,-175.2,3.4,-6.6,16,138,12.10,2.35,-7.47,0.000,4,0.155,0.045,2576,3465,3382
$GC,329,-0.96,-175.2,40.1,-10.6,47,333,0.00,2.28,0.00,0.000,6,0.000,0.021,2575,2073,3385
$GC,653,-0.96,-175.2,77.5,-9.9,77,658,0.00,2.35,0.00,0.000,4,0.000,0.035,2575,675,3385
$GC,682,-0.96,-175.2,80.2,-9.6,79,686,0.00,2.25,0.00,0.000,6,0.000,0.018,2576,2087,3385
$GC,1006,-0.96,-175.2,113.6,-10.7,109,1010,0.00,2.38,0.00,0.000,4,0.000,0.036,2575,681,3385
$GC,1028,-0.96,-175.2,116.0,-10.8,111,1032,0.00,2.22,0.00,0.000,6,0.000,0.018,2575,2077,3385
$GC,1359,-0.96,-175.2,145.9,-7.4,142,1360,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2082,3386
$GC,1676,-0.96,-175.2,169.0,-7.9,172,1681,0.00,2.38,0.00,0.000,4,0.000,0.035,2575,678,3386
$GC,1716,-0.96,-175.2,172.0,-7.6,175,1720,0.00,2.25,0.00,0.000,6,0.000,0.019,2576,2077,3387
$GC,2048,-0.96,-175.2,194.8,-7.4,206,2049,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2082,3387
$GC,2367,-0.96,-175.2,218.7,-6.7,225,2371,0.00,2.38,0.00,0.000,4,0.000,0.038,2575,677,3386
$GC,2394,-0.96,-175.2,220.6,-7.3,226,2398,0.00,2.28,0.00,0.000,6,0.000,0.021,2576,2068,3386
$GC,2721,-0.96,-175.2,242.9,-6.6,242,2722,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2072,3385
$GC,3031,-0.96,-175.2,263.2,-6.2,257,3035,0.00,2.35,0.00,0.000,4,0.000,0.036,2576,3464,3384
$GC,3057,-0.96,-175.2,265.1,-7.4,258,3062,0.00,2.30,0.00,0.000,6,0.000,0.023,2575,2080,3384
$GC,3379,-0.96,-175.2,286.7,-7.4,274,3383,0.00,2.38,0.00,0.000,4,0.000,0.040,2575,681,3382
$GC,3428,-0.96,-175.2,290.4,-7.4,276,3432,0.00,2.30,0.00,0.000,6,0.000,0.024,2575,2072,3382
$GC,3767,-0.96,-175.2,308.3,-5.0,289,3771,0.00,2.38,0.00,0.000,4,0.000,0.038,2575,3474,3380
$GC,3807,-0.96,-175.2,310.3,-4.8,290,3811,0.00,2.30,0.00,0.000,6,0.000,0.061,2575,2081,3380
$GC,4136,-0.96,-175.2,328.8,-6.3,298,4140,0.00,2.40,0.00,0.000,4,0.000,0.041,2575,676,3378
$GC,4168,-0.96,-175.2,331.0,-7.0,298,4175,0.00,2.30,0.00,0.000,6,0.000,0.059,2576,2077,3378
$GC,4499,-0.96,-175.2,353.6,-7.1,307,4501,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2081,3377
$GC,4824,-0.96,-175.2,371.0,-4.8,315,4828,0.00,2.40,0.00,0.000,4,0.000,0.043,2575,678,3374
$GC,4864,-0.96,-175.2,373.0,-5.6,316,4868,0.00,2.33,0.00,0.000,6,0.000,0.035,2576,2081,3374
$GC,5187,-0.96,-175.2,392.2,-6.1,324,5192,0.00,2.38,0.00,0.000,4,0.000,0.043,2575,3473,3372
$GC,5227,-0.96,-175.2,394.7,-6.4,325,5231,0.00,2.33,0.00,0.000,6,0.000,0.064,2575,2081,3372
$GC,5551,-0.96,-175.2,416.8,-6.8,333,5555,0.00,2.40,0.00,0.000,4,0.000,0.044,2575,679,3370
$GC,5623,-0.96,-175.2,421.7,-6.3,334,5627,0.00,2.33,0.00,0.000,6,0.000,0.057,2575,2080,3369
$GC,5954,-0.96,-175.2,442.9,-6.4,342,5958,0.00,2.40,0.00,0.000,4,0.000,0.045,2576,3477,3367
$GC,6003,-0.96,-175.2,446.0,-6.1,343,6008,0.00,2.35,0.00,0.000,6,0.000,0.044,2576,2087,3367
$STATE,6082,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6082,begin apogee
$GC,6086,-0.31,0.0,450.7,6.2,345,6231,0.68,0.00,141.55,0.890,6,0.051,0.000,2728,2086,2664
$STATE,6232,end apogee,CONTROL_FINISHED_OK
$STATE,6232,begin climb
$GC,6234,0.96,175.2,458.1,0.0,348,6390,1.23,2.50,145.50,0.864,4,0.041,0.067,3009,3471,1948
$GC,6457,0.96,175.2,451.9,9.6,353,6461,0.00,2.38,0.00,0.000,6,0.000,0.058,3009,2085,1944
$GC,6770,0.96,175.2,422.8,9.3,361,6774,0.00,2.47,0.00,0.000,4,0.000,0.048,3009,676,1937
$GC,6810,0.96,175.2,419.3,8.7,362,6814,0.00,2.20,0.00,0.000,6,0.000,0.065,3009,2014,1935
$GC,7133,0.96,175.2,391.6,8.8,370,7137,0.00,2.55,0.00,0.000,4,0.000,0.045,3009,3476,1934
$GC,7216,0.96,175.2,384.0,9.7,372,7220,0.00,2.38,0.00,0.000,6,0.000,0.031,3009,2078,1934
$GC,7544,0.96,175.2,356.9,8.1,380,7546,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2076,1931
$GC,7869,0.96,175.2,329.7,8.3,388,7871,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2077,1930
$GC,8195,0.96,175.2,302.6,8.5,396,8199,0.00,2.45,0.00,0.000,4,0.000,0.079,3009,670,1928
$GC,8244,0.96,175.2,297.9,9.1,397,8248,0.00,2.38,0.00,0.000,6,0.000,0.028,3009,2076,1926
$GC,8565,0.98,194.1,274.5,6.6,413,8587,0.00,2.50,13.80,0.754,4,0.000,0.076,3009,3477,1872
$GC,8614,0.98,194.1,271.1,7.3,415,8618,0.00,2.38,0.00,0.000,6,0.000,0.063,3008,2077,1872
$GC,8941,0.98,194.1,247.7,7.5,431,8945,0.00,2.40,0.00,0.000,4,0.000,0.046,3009,3477,1868
$GC,8973,0.98,194.1,244.9,8.3,432,8977,0.00,2.38,0.00,0.000,6,0.000,0.028,3009,2080,1868
$GC,9294,0.98,194.1,220.0,7.8,448,9298,0.00,2.40,0.00,0.000,4,0.000,0.044,3009,677,1867
$GC,9377,0.98,194.1,212.7,9.2,451,9383,0.00,2.35,0.00,0.000,6,0.000,0.026,3009,2079,1864
$GC,9697,0.99,200.6,189.1,7.0,474,9709,0.00,2.42,6.20,0.588,4,0.000,0.049,3009,677,1845
$GC,9755,0.99,200.6,184.9,7.7,479,9759,0.00,2.33,0.00,0.000,6,0.000,0.025,3009,2083,1843
$GC,10082,1.05,245.4,164.7,5.9,509,10135,0.00,2.53,42.00,0.660,4,0.000,0.044,3009,677,1662
$GC,10207,1.05,245.4,155.7,8.9,520,10214,0.00,2.35,0.00,0.000,6,0.000,0.032,3008,2079,1656
$GC,10533,1.05,245.4,132.2,8.6,551,10537,0.00,1.88,0.00,0.000,4,0.000,0.074,3008,3214,1655
$GC,10578,1.05,245.4,128.1,8.9,555,10582,0.00,1.90,0.00,0.000,6,0.000,0.032,3008,2067,1655
$GC,10910,1.10,291.7,103.2,5.9,586,10952,0.12,0.00,39.75,0.614,6,0.054,0.000,3048,2066,1474
$GC,11266,1.10,291.7,71.7,9.8,620,11270,0.00,2.35,0.00,0.000,4,0.000,0.038,3048,682,1469
$GC,11303,1.10,291.7,67.7,10.3,623,11310,0.00,2.30,0.00,0.000,6,0.000,0.020,3048,2083,1466
$GC,11631,1.10,291.7,38.8,8.1,654,11636,0.00,2.40,0.00,0.000,4,0.000,0.037,3047,679,1466
$GC,11709,1.10,291.7,31.9,8.5,660,11716,0.00,2.30,0.00,0.000,6,0.000,0.019,3048,2091,1466
$GC,12051,1.11,298.7,6.3,7.0,719,12063,0.00,0.00,6.57,0.436,6,0.000,0.000,3047,2090,1446
$STATE,12095,end climb,SURFACE_DEPTH_REACHED
$STATE,12095,begin surface coast
$FINISH,-0.0,1.022681
$STATE,12136,end surface coast,CONTROL_FINISHED_OK
$STATE,12136,begin surface
$SM_CCo,12155,17.95,0.504,0,0,1358,320.12
$SM_GC,1.01,0.00,0.00,17.95,0.000,0.000,0.504,428,2089,1358,-10.89,0.28,320.12
$IRIDIUM_FIX,2057.14,-15751.76,091097,181812
$TT8_MAMPS,0.029146
$HUMID,1850
$INTERNAL_PRESSURE,8.64886
$TCM_TEMP,23.10
$XPDR_PINGS,697
$24V_AH,23.4,36.694
$10V_AH,10.2,21.268
$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,25.450,117.150,395.375,17.950,0.000,27.457,32.132,205.464,174.250,0.000,0.000,13.569,1303.546,8635.162,509.103,1654.846,445.165,33.359,1340.428,0.000,1641.188,0.000,0.470
$DEVICE_MAMPS,154.934,79.001,890.487,503.919,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,493.060,480.748,819.261,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37972,734
$CAP_FILE_SIZE,102766,10
$CFSIZE,260165632,255311872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,160708,013253,2106.354,-15751.117,15,2.1,34,9.8