version: 66.03
glider: 139
mission: 3
dive: 83
start: 7 21 108 4 49 24
data:
$ID,139
$MISSION,3
$DIVE,83
$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,-1272040.6
$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,58
$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
$GPS1,044256,2109.673,-15754.669,36,1.3,36,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-69.0
$GPS2,044833,2109.659,-15754.743,11,1.2,11,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.198,-0.160
$KALMAN_X,-14021.7,517.7,-590.6,10756.1,447.2
$KALMAN_Y,-7435.9,349.3,-73.3,-5832.7,-949.3
$MHEAD_RNG_PITCHd_Wd,119.3,19161,-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,-175.2,0.0,0.0,0,75,0.00,0.00,-54.83,0.000,2,0.000,0.000,431,2062,2936
$GC,78,-0.96,-175.2,3.6,-6.7,10,103,12.07,2.40,-7.40,0.000,4,0.155,0.050,2576,689,3382
$GC,126,-0.96,-175.2,20.5,-32.0,18,133,0.00,2.22,0.00,0.000,6,0.000,0.018,2577,2077,3383
$GC,242,-0.96,-175.2,37.5,-13.9,34,243,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2081,3384
$GC,561,-0.96,-175.2,77.6,-9.9,64,565,0.00,2.35,0.00,0.000,4,0.000,0.035,2577,686,3385
$GC,615,-0.96,-175.2,83.1,-10.1,68,622,0.00,2.25,0.00,0.000,6,0.000,0.018,2577,2074,3385
$GC,940,-0.96,-175.2,110.5,-7.4,99,941,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2078,3386
$GC,1259,-0.96,-175.2,138.8,-9.1,129,1260,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2078,3387
$GC,1577,-0.96,-175.2,165.4,-7.7,159,1581,0.00,2.33,0.00,0.000,4,0.000,0.032,2577,3463,3388
$GC,1616,-0.96,-175.2,168.5,-8.0,162,1620,0.00,2.25,0.00,0.000,6,0.000,0.021,2576,2080,3388
$GC,1942,-0.96,-175.2,192.8,-6.6,192,1943,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2078,3388
$GC,2253,-0.96,-175.2,213.1,-5.9,212,2257,0.00,2.35,0.00,0.000,4,0.000,0.038,2577,686,3388
$GC,2279,-0.96,-175.2,214.6,-5.5,213,2283,0.00,2.25,0.00,0.000,6,0.000,0.020,2577,2082,3388
$GC,2601,-0.96,-175.2,233.0,-5.9,229,2602,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2086,3387
$GC,2910,-0.96,-175.2,252.1,-6.6,244,2914,0.00,2.38,0.00,0.000,4,0.000,0.038,2577,686,3387
$GC,2931,-0.96,-175.2,253.6,-6.5,245,2935,0.00,2.25,0.00,0.000,6,0.000,0.021,2576,2076,3387
$GC,3258,-0.96,-175.2,271.2,-5.5,261,3262,0.00,2.35,0.00,0.000,4,0.000,0.036,2577,3469,3386
$GC,3301,-0.96,-175.2,274.3,-6.8,263,3305,0.00,2.28,0.00,0.000,6,0.000,0.058,2577,2082,3386
$GC,3628,-0.96,-175.2,296.9,-7.1,279,3632,0.00,2.38,0.00,0.000,4,0.000,0.041,2577,678,3384
$GC,3677,-0.96,-175.2,301.1,-8.7,281,3681,0.00,2.30,0.00,0.000,6,0.000,0.024,2577,2068,3384
$GC,4001,-0.96,-175.2,326.7,-7.5,289,4005,0.00,2.38,0.00,0.000,4,0.000,0.039,2577,3467,3382
$GC,4040,-0.96,-175.2,329.2,-6.7,290,4044,0.00,2.30,0.00,0.000,6,0.000,0.025,2577,2079,3382
$GC,4363,-0.96,-175.2,348.2,-6.0,298,4367,0.00,2.40,0.00,0.000,4,0.000,0.042,2577,679,3381
$GC,4412,-0.96,-175.2,351.7,-7.7,299,4416,0.00,2.30,0.00,0.000,6,0.000,0.026,2577,2076,3380
$GC,4730,-0.96,-175.2,376.6,-7.9,307,4734,0.00,2.40,0.00,0.000,4,0.000,0.041,2577,3479,3378
$GC,4756,-0.96,-175.2,378.5,-7.5,307,4761,0.00,2.35,0.00,0.000,6,0.000,0.050,2577,2085,3378
$GC,5094,-0.96,-175.2,400.4,-5.8,316,5098,0.00,2.40,0.00,0.000,4,0.000,0.042,2577,3476,3376
$GC,5121,-0.96,-175.2,401.9,-5.8,316,5125,0.00,2.35,0.00,0.000,6,0.000,0.061,2577,2068,3376
$GC,5457,-0.96,-175.2,418.7,-5.1,325,5462,0.00,2.38,0.00,0.000,4,0.000,0.044,2577,683,3374
$GC,5490,-0.96,-175.2,420.8,-6.0,325,5496,0.00,2.30,0.00,0.000,6,0.000,0.028,2577,2077,3374
$GC,5821,-0.96,-175.2,441.5,-6.5,334,5826,0.00,2.40,0.00,0.000,4,0.000,0.079,2577,3469,3372
$GC,5893,-0.96,-175.2,446.8,-7.6,335,5897,0.00,2.35,0.00,0.000,6,0.000,0.028,2577,2079,3371
$STATE,5944,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5944,begin apogee
$GC,5948,-0.31,0.0,450.3,7.1,337,6094,0.68,0.00,142.73,0.894,6,0.050,0.000,2730,2078,2664
$STATE,6095,end apogee,CONTROL_FINISHED_OK
$STATE,6095,begin climb
$GC,6097,0.96,175.2,458.6,0.0,340,6253,1.20,2.55,145.45,0.868,4,0.040,0.055,3008,3471,1948
$GC,6495,0.96,175.2,433.3,10.9,349,6499,0.00,2.38,0.00,0.000,6,0.000,0.031,3008,2078,1942
$GC,6813,0.96,175.2,406.2,7.8,357,6817,0.00,2.45,0.00,0.000,4,0.000,0.050,3007,676,1936
$GC,6874,0.96,175.2,400.9,8.5,358,6878,0.00,2.35,0.00,0.000,6,0.000,0.029,3008,2072,1933
$GC,7186,0.96,175.2,374.6,8.9,366,7191,0.00,2.45,0.00,0.000,4,0.000,0.045,3008,3478,1933
$GC,7230,0.96,175.2,370.0,10.9,367,7234,0.00,2.38,0.00,0.000,6,0.000,0.031,3008,2079,1933
$GC,7554,0.96,175.2,339.6,8.7,375,7555,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2077,1932
$GC,7879,1.04,240.4,320.1,5.4,383,7940,0.00,2.50,54.88,0.822,4,0.000,0.043,3007,3477,1684
$GC,8017,1.04,240.4,310.8,8.1,386,8022,0.00,2.33,0.00,0.000,6,0.000,0.064,3008,2107,1681
$GC,8333,1.04,240.4,279.5,10.9,398,8337,0.00,2.53,0.00,0.000,4,0.000,0.079,3008,667,1675
$GC,8416,1.04,240.4,270.2,10.6,402,8420,0.00,2.38,0.00,0.000,6,0.000,0.028,3008,2084,1672
$GC,8741,1.04,240.4,243.0,8.0,418,8742,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2089,1672
$GC,9051,1.04,240.4,219.4,7.8,433,9052,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2089,1671
$GC,9361,1.09,279.1,197.5,6.1,449,9404,0.10,2.55,32.88,0.710,4,0.061,0.054,3037,673,1525
$GC,9495,1.09,279.1,185.3,9.9,461,9500,0.00,2.35,0.00,0.000,6,0.000,0.031,3037,2086,1520
$GC,9821,1.09,279.1,151.3,10.2,491,9822,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2091,1519
$GC,10138,1.09,279.1,120.9,8.7,521,10142,0.00,2.45,0.00,0.000,4,0.000,0.041,3037,667,1519
$GC,10234,1.09,279.1,111.5,10.4,529,10238,0.00,2.33,0.00,0.000,6,0.000,0.025,3037,2084,1516
$GC,10558,1.09,279.1,80.3,9.1,559,10562,0.00,2.40,0.00,0.000,4,0.000,0.039,3037,670,1517
$GC,10602,1.09,279.1,76.1,9.6,563,10607,0.00,2.30,0.00,0.000,6,0.000,0.021,3037,2083,1516
$GC,10928,1.13,313.6,54.1,6.2,593,10964,0.00,2.47,30.38,0.565,4,0.000,0.070,3037,666,1384
$GC,11038,1.13,313.6,45.2,8.8,603,11042,0.00,2.30,0.00,0.000,6,0.000,0.029,3037,2083,1380
$GC,11371,1.13,313.6,19.1,7.6,645,11378,0.00,2.40,0.00,0.000,4,0.000,0.036,3037,664,1379
$GC,11406,1.13,313.6,15.8,8.9,651,11413,0.00,2.28,0.00,0.000,6,0.000,0.019,3037,2086,1378
$GC,11525,1.13,313.6,6.7,7.4,672,11531,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2091,1378
$STATE,11580,end climb,SURFACE_DEPTH_REACHED
$STATE,11580,begin surface coast
$FINISH,0.2,1.022973
$STATE,11634,end surface coast,CONTROL_FINISHED_OK
$STATE,11634,begin surface
$SM_CCo,11653,5.32,0.413,0,0,1358,320.12
$SM_GC,1.73,0.00,0.00,5.32,0.000,0.000,0.413,421,2091,1358,-10.92,0.34,320.12
$IRIDIUM_FIX,2101.76,-15756.04,151097,010103
$TT8_MAMPS,0.029146
$HUMID,1877
$INTERNAL_PRESSURE,8.66839
$TCM_TEMP,23.20
$XPDR_PINGS,683
$24V_AH,21.6,41.554
$10V_AH,10.2,24.140
$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,25.275,108.725,406.300,5.325,0.000,23.616,33.083,165.895,170.750,0.000,0.000,13.276,1249.374,8270.330,472.980,1607.346,386.436,33.373,1276.696,0.000,1594.618,0.000,0.471
$DEVICE_MAMPS,154.934,79.001,893.555,413.413,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,464.809,450.285,773.965,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34839,691
$CAP_FILE_SIZE,98677,7
$CFSIZE,260165632,253476864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210708,080601,2108.408,-15753.875,101,0.9,101,9.8