version: 66.03
glider: 139
mission: 3
dive: 66
start: 7 18 108 15 56 18
data:
$ID,139
$MISSION,3
$DIVE,66
$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,-1271678.4
$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,44
$R_STBD_OVSHOOT,51
$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
$GPS1,154537,2107.616,-15752.180,35,1.6,41,9.8
$_CALLS,2
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,0.60
$_SM_ANGLEo,-64.4
$GPS2,155528,2107.634,-15752.379,13,2.0,14,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT1
$TGT_LATLONG,2109.529,-15754.647
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.182,0.178
$KALMAN_X,-11220.9,-616.5,-422.0,12998.6,-54.9
$KALMAN_Y,826.0,-175.8,-310.4,-17083.2,-133.4
$MHEAD_RNG_PITCHd_Wd,304.5,5260,-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,20,-0.96,-175.2,0.0,0.0,0,99,0.00,0.00,-76.43,0.000,2,0.000,0.000,425,2066,3020
$GC,102,-0.96,-175.2,4.2,-7.9,14,126,12.23,2.35,-5.75,0.000,4,0.158,0.074,2575,3477,3382
$GC,252,-0.96,-175.2,35.8,-12.4,36,256,0.00,2.28,0.00,0.000,6,0.000,0.021,2574,2082,3383
$GC,577,-0.96,-175.2,78.5,-11.4,66,578,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2081,3383
$GC,894,-0.96,-175.2,113.3,-10.7,96,899,0.00,2.33,0.00,0.000,4,0.000,0.029,2574,3477,3384
$GC,945,-0.96,-175.2,118.7,-10.5,100,949,0.00,2.28,0.00,0.000,6,0.000,0.021,2574,2075,3384
$GC,1271,-0.96,-175.2,146.7,-7.1,130,1275,0.00,2.35,0.00,0.000,4,0.000,0.070,2574,678,3385
$GC,1303,-0.96,-175.2,149.2,-7.3,132,1310,0.00,2.28,0.00,0.000,6,0.000,0.018,2575,2080,3385
$GC,1629,-0.96,-175.2,173.9,-8.0,163,1633,0.00,2.30,0.00,0.000,4,0.000,0.057,2575,3461,3385
$GC,1690,-0.96,-175.2,178.5,-7.9,168,1694,0.00,2.25,0.00,0.000,6,0.000,0.021,2574,2074,3385
$GC,2021,-0.96,-175.2,200.1,-6.2,199,2025,0.00,2.35,0.00,0.000,4,0.000,0.053,2574,683,3385
$GC,2071,-0.96,-175.2,203.4,-5.9,201,2075,0.00,2.25,0.00,0.000,6,0.000,0.019,2574,2085,3385
$GC,2392,-0.96,-175.2,224.8,-7.7,217,2396,0.00,2.38,0.00,0.000,4,0.000,0.037,2574,682,3385
$GC,2408,-0.96,-175.2,226.2,-7.6,218,2412,0.00,2.25,0.00,0.000,6,0.000,0.021,2574,2076,3385
$GC,2733,-0.96,-175.2,250.6,-7.3,234,2737,0.00,2.35,0.00,0.000,4,0.000,0.038,2574,690,3384
$GC,2760,-0.96,-175.2,252.7,-7.5,235,2764,0.00,2.28,0.00,0.000,6,0.000,0.029,2574,2070,3384
$GC,3082,-0.96,-175.2,271.1,-4.5,251,3083,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2074,3383
$GC,3391,-0.96,-175.2,288.4,-6.2,266,3395,0.00,2.35,0.00,0.000,4,0.000,0.039,2574,690,3381
$GC,3423,-0.96,-175.2,290.5,-6.9,267,3429,0.00,2.28,0.00,0.000,6,0.000,0.031,2575,2078,3382
$GC,3736,-0.96,-175.2,309.9,-5.9,279,3737,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2082,3380
$GC,4061,-0.96,-175.2,330.0,-6.0,287,4062,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2082,3378
$GC,4386,-0.96,-175.2,348.1,-5.8,295,4390,0.00,2.38,0.00,0.000,4,0.000,0.042,2574,691,3376
$GC,4418,-0.96,-175.2,350.3,-6.7,295,4425,0.00,2.28,0.00,0.000,6,0.000,0.026,2574,2074,3375
$GC,4749,-0.96,-175.2,371.3,-6.7,304,4753,0.00,2.40,0.00,0.000,4,0.000,0.042,2574,3473,3373
$GC,4771,-0.96,-175.2,372.9,-6.7,304,4775,0.00,2.33,0.00,0.000,6,0.000,0.063,2574,2083,3373
$GC,5113,-0.96,-175.2,396.4,-6.6,313,5117,0.00,2.42,0.00,0.000,4,0.000,0.045,2574,674,3371
$GC,5152,-0.96,-175.2,399.0,-7.0,314,5156,0.00,2.33,0.00,0.000,6,0.000,0.028,2574,2076,3371
$GC,5475,-0.96,-175.2,422.0,-7.0,322,5480,0.00,2.40,0.00,0.000,4,0.000,0.044,2575,3474,3369
$GC,5530,-0.96,-175.2,425.8,-6.7,323,5535,0.00,2.35,0.00,0.000,6,0.000,0.028,2575,2068,3368
$GC,5844,-0.96,-175.2,445.7,-6.2,331,5848,0.00,2.40,0.00,0.000,4,0.000,0.046,2575,678,3366
$GC,5899,-0.96,-175.2,448.8,-5.5,332,5903,0.00,2.33,0.00,0.000,6,0.000,0.029,2574,2075,3366
$STATE,5960,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5960,begin apogee
$GC,5965,-0.31,0.0,452.2,5.3,334,6109,0.70,0.00,141.30,0.898,6,0.051,0.000,2733,2077,2664
$STATE,6110,end apogee,CONTROL_FINISHED_OK
$STATE,6110,begin climb
$GC,6112,0.96,175.2,458.5,0.0,337,6269,1.20,2.55,145.25,0.871,4,0.041,0.060,3008,683,1947
$GC,6386,0.96,175.2,444.9,10.0,343,6390,0.00,2.40,0.00,0.000,6,0.000,0.035,3008,2077,1938
$GC,6735,0.96,175.2,415.4,8.0,352,6739,0.00,2.47,0.00,0.000,4,0.000,0.081,3008,676,1936
$GC,6818,0.96,175.2,408.3,8.4,354,6823,0.00,2.38,0.00,0.000,6,0.000,0.064,3009,2080,1933
$GC,7142,0.96,175.2,384.0,7.4,362,7143,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2084,1933
$GC,7467,0.96,175.2,360.4,7.3,370,7471,0.00,2.45,0.00,0.000,4,0.000,0.078,3008,682,1930
$GC,7493,0.96,175.2,358.0,9.0,370,7497,0.00,2.38,0.00,0.000,6,0.000,0.063,3008,2074,1929
$GC,7830,0.96,175.2,332.4,7.6,379,7834,0.00,2.42,0.00,0.000,4,0.000,0.044,3008,3475,1929
$GC,7857,0.96,175.2,330.2,8.4,379,7861,0.00,2.35,0.00,0.000,6,0.000,0.030,3008,2082,1929
$GC,8187,0.96,175.2,303.5,8.3,387,8192,0.00,2.45,0.00,0.000,4,0.000,0.079,3008,677,1928
$GC,8231,0.96,175.2,299.7,9.1,388,8235,0.00,2.35,0.00,0.000,6,0.000,0.029,3008,2082,1926
$GC,8560,0.97,182.2,275.7,7.0,403,8564,0.00,2.42,0.00,0.000,4,0.000,0.045,3008,676,1926
$GC,8609,0.97,182.2,272.0,7.2,405,8613,0.00,2.38,0.00,0.000,6,0.000,0.028,3008,2080,1925
$GC,8936,1.00,208.7,251.6,6.4,421,8967,0.00,2.45,26.25,0.766,4,0.000,0.054,3008,3477,1812
$GC,9011,1.00,208.7,245.4,8.7,424,9018,0.00,2.40,0.00,0.000,6,0.000,0.028,3008,2075,1811
$GC,9327,1.00,209.1,220.9,7.1,440,9328,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2074,1808
$GC,9637,1.00,209.1,198.5,7.3,455,9638,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2074,1806
$GC,9955,1.00,209.1,172.1,9.0,485,9956,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2074,1806
$GC,10274,1.00,209.1,146.9,7.2,515,10275,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2074,1806
$GC,10593,1.00,211.1,124.3,7.1,545,10597,0.00,1.77,0.00,0.000,4,0.000,0.076,3008,3152,1806
$GC,10852,1.09,279.9,109.5,5.3,568,10919,0.10,1.77,60.92,0.628,6,0.058,0.024,3045,2068,1522
$GC,11244,1.09,279.9,76.3,8.9,605,11248,0.00,2.40,0.00,0.000,4,0.000,0.032,3045,3488,1515
$GC,11351,1.09,279.9,67.5,7.5,614,11355,0.00,2.33,0.00,0.000,6,0.000,0.055,3045,2078,1515
$GC,11676,1.09,280.2,45.3,7.1,644,11678,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2077,1514
$GC,11999,1.09,280.2,23.5,7.5,683,12004,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2077,1514
$GC,12117,1.09,280.2,14.4,8.9,704,12123,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2077,1514
$GC,12238,1.16,340.9,4.9,5.5,725,12261,0.00,0.00,21.20,0.505,2,0.000,0.000,3045,2077,1421
$STATE,12262,end climb,SURFACE_DEPTH_REACHED
$STATE,12262,begin surface coast
$FINISH,0.1,1.022860
$STATE,12312,end surface coast,CONTROL_FINISHED_OK
$STATE,12312,begin surface
$SM_CCo,12332,12.32,0.479,0,0,1358,320.12
$SM_GC,0.52,0.00,0.00,12.32,0.000,0.000,0.479,425,2073,1358,-10.90,-0.17,320.12
$IRIDIUM_FIX,2101.76,-15753.03,121097,151529
$TT8_MAMPS,0.029146
$HUMID,1854
$INTERNAL_PRESSURE,8.66839
$TCM_TEMP,23.40
$XPDR_PINGS,683
$24V_AH,23.4,39.205
$10V_AH,10.2,22.761
$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,25.575,102.600,394.925,12.325,0.000,59.141,67.305,276.190,170.750,0.000,0.000,16.336,1304.118,8893.483,481.877,1654.566,590.203,33.364,1303.506,0.000,1646.330,0.000,0.470
$DEVICE_MAMPS,158.002,80.535,898.157,479.375,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,495.797,482.285,827.656,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37816,738
$CAP_FILE_SIZE,103700,12
$CFSIZE,260165632,254341120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180708,192431,2108.640,-15753.435,112,1.0,112,9.8