version: 66.03
glider: 139
mission: 3
dive: 114
start: 7 25 108 20 20 35
data:
$ID,139
$MISSION,3
$DIVE,114
$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,-1272855.1
$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,43
$R_STBD_OVSHOOT,56
$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
$GPS1,200725,2107.738,-15752.443,30,1.4,47,9.8
$_CALLS,2
$_XMS_NAKs,27
$_XMS_TOUTs,1
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-68.5
$GPS2,201945,2107.760,-15752.585,12,1.3,12,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT1
$TGT_LATLONG,2109.529,-15754.647
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.175,0.185
$KALMAN_X,-16877.0,66.1,-383.1,17575.0,679.9
$KALMAN_Y,-29410.2,41.8,-37.1,12894.9,-917.8
$MHEAD_RNG_PITCHd_Wd,306.7,4840,-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,-175.2,0.0,0.0,0,76,0.00,0.00,-55.00,0.000,2,0.000,0.000,424,2066,2917
$GC,79,-0.96,-175.2,3.4,-5.1,10,109,12.12,2.38,-7.95,0.000,4,0.154,0.057,2574,3454,3381
$GC,243,-0.96,-175.2,32.3,-11.0,37,249,0.00,2.28,0.00,0.000,6,0.000,0.020,2574,2079,3383
$GC,568,-0.96,-175.2,71.5,-11.1,68,572,0.00,2.30,0.00,0.000,4,0.000,0.030,2575,3464,3384
$GC,601,-0.96,-175.2,75.1,-10.7,71,605,0.00,2.25,0.00,0.000,6,0.000,0.020,2574,2077,3384
$GC,926,-0.96,-175.2,106.8,-9.6,101,930,0.00,2.35,0.00,0.000,4,0.000,0.035,2574,676,3384
$GC,980,-0.96,-175.2,112.3,-9.9,105,987,0.00,2.28,0.00,0.000,6,0.000,0.024,2575,2075,3384
$GC,1306,-0.96,-175.2,142.6,-8.8,136,1310,0.00,2.35,0.00,0.000,4,0.000,0.070,2574,685,3385
$GC,1334,-0.96,-175.2,145.2,-8.9,138,1338,0.00,2.25,0.00,0.000,6,0.000,0.019,2575,2086,3385
$GC,1661,-0.96,-175.2,172.4,-8.1,168,1665,0.00,2.38,0.00,0.000,4,0.000,0.050,2575,684,3385
$GC,1693,-0.96,-175.2,175.1,-7.8,170,1700,0.00,2.28,0.00,0.000,6,0.000,0.019,2575,2083,3385
$GC,2019,-0.96,-175.2,199.5,-7.2,201,2020,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2087,3385
$GC,2338,-0.96,-175.2,221.8,-7.6,217,2342,0.00,2.38,0.00,0.000,4,0.000,0.037,2574,680,3385
$GC,2364,-0.96,-175.2,224.3,-9.0,218,2368,0.00,2.28,0.00,0.000,6,0.000,0.027,2575,2071,3385
$GC,2685,-0.96,-175.2,251.1,-7.9,234,2689,0.00,2.35,0.00,0.000,4,0.000,0.035,2575,3469,3384
$GC,2734,-0.96,-175.2,254.9,-7.3,236,2738,0.00,2.30,0.00,0.000,6,0.000,0.021,2574,2081,3384
$GC,3055,-0.96,-175.2,276.5,-7.1,252,3059,0.00,2.35,0.00,0.000,4,0.000,0.038,2574,686,3383
$GC,3078,-0.96,-175.2,278.2,-7.7,253,3082,0.00,2.25,0.00,0.000,6,0.000,0.022,2574,2072,3383
$GC,3404,-0.96,-175.2,300.3,-6.8,269,3408,0.00,2.35,0.00,0.000,4,0.000,0.037,2575,3473,3382
$GC,3436,-0.96,-175.2,302.6,-7.2,269,3441,0.00,2.30,0.00,0.000,6,0.000,0.031,2574,2079,3381
$GC,3773,-0.96,-175.2,323.1,-5.8,278,3777,0.00,2.38,0.00,0.000,4,0.000,0.040,2574,681,3380
$GC,3813,-0.96,-175.2,325.4,-6.2,279,3817,0.00,2.28,0.00,0.000,6,0.000,0.024,2574,2076,3380
$GC,4136,-0.96,-175.2,347.4,-7.2,287,4137,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2080,3378
$GC,4461,-0.96,-175.2,368.2,-6.1,295,4462,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2080,3376
$GC,4786,-0.96,-175.2,386.2,-5.5,303,4787,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2080,3374
$GC,5111,-0.96,-175.2,402.6,-4.9,311,5115,0.00,2.40,0.00,0.000,4,0.000,0.043,2574,680,3372
$GC,5139,-0.96,-175.2,404.3,-7.0,311,5143,0.00,2.30,0.00,0.000,6,0.000,0.028,2575,2073,3372
$GC,5470,-0.96,-175.2,423.5,-5.5,319,5474,0.00,2.40,0.00,0.000,4,0.000,0.049,2575,3471,3370
$GC,5497,-0.96,-175.2,425.2,-6.5,319,5501,0.00,2.33,0.00,0.000,6,0.000,0.054,2575,2080,3370
$GC,5839,-0.96,-175.2,442.1,-4.5,328,5843,0.00,2.42,0.00,0.000,4,0.000,0.046,2574,676,3368
$GC,5879,-0.96,-175.2,444.1,-5.8,329,5883,0.00,2.35,0.00,0.000,6,0.000,0.029,2574,2086,3368
$STATE,5996,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5996,begin apogee
$GC,6001,-0.31,0.0,450.6,5.5,332,6145,0.68,0.00,141.12,0.901,6,0.172,0.000,2728,2087,2664
$STATE,6146,end apogee,CONTROL_FINISHED_OK
$STATE,6146,begin climb
$GC,6148,0.96,175.2,458.5,0.0,335,6304,1.20,2.53,145.10,0.877,4,0.104,0.076,3011,674,1946
$GC,6410,0.96,175.2,451.0,8.9,341,6415,0.00,2.40,0.00,0.000,6,0.000,0.028,3011,2077,1937
$GC,6729,0.96,175.2,422.5,9.3,349,6733,0.00,2.45,0.00,0.000,4,0.000,0.044,3011,3481,1935
$GC,6767,0.96,175.2,418.3,11.5,350,6772,0.00,2.38,0.00,0.000,6,0.000,0.030,3011,2083,1935
$GC,7091,0.96,175.2,384.5,10.2,358,7095,0.00,2.45,0.00,0.000,4,0.000,0.048,3011,677,1933
$GC,7134,0.96,175.2,379.9,10.4,359,7139,0.00,2.38,0.00,0.000,6,0.000,0.029,3011,2089,1931
$GC,7459,0.97,181.2,354.9,7.0,367,7463,0.00,2.40,0.00,0.000,4,0.000,0.044,3011,3477,1931
$GC,7514,0.98,191.4,351.3,6.9,368,7532,0.00,2.38,12.10,0.793,6,0.000,0.029,3011,2074,1883
$GC,7864,0.98,191.4,323.2,8.6,377,7868,0.00,2.42,0.00,0.000,4,0.000,0.047,3011,679,1879
$GC,7936,0.98,191.4,316.5,9.9,378,7940,0.00,2.35,0.00,0.000,6,0.000,0.063,3011,2078,1877
$GC,8254,0.98,191.4,291.0,7.3,389,8259,0.00,2.40,0.00,0.000,4,0.000,0.057,3011,3476,1876
$GC,8320,0.98,191.4,285.5,9.0,392,8325,0.00,2.38,0.00,0.000,6,0.000,0.033,3011,2073,1876
$GC,8647,0.98,191.4,253.8,10.2,408,8648,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2070,1876
$GC,8957,1.04,238.6,228.9,5.9,423,9000,0.00,0.00,41.53,0.757,6,0.000,0.000,3011,2070,1691
$GC,9306,1.04,238.6,200.5,9.5,440,9310,0.00,2.42,0.00,0.000,4,0.000,0.043,3011,669,1683
$GC,9450,1.04,238.6,187.1,8.1,452,9457,0.00,2.38,0.00,0.000,6,0.000,0.030,3011,2082,1679
$GC,9777,1.07,262.0,164.0,6.5,483,9802,0.00,2.47,20.10,0.676,4,0.000,0.073,3011,676,1595
$GC,9825,1.09,281.5,160.8,6.6,487,9847,0.00,1.70,18.27,0.653,6,0.000,0.069,3011,1746,1516
$GC,10164,1.09,281.5,134.3,8.0,519,10169,0.00,2.92,0.00,0.000,4,0.000,0.032,3011,3472,1510
$GC,10294,1.11,299.6,124.4,6.6,530,10317,0.12,2.33,16.75,0.617,6,0.048,0.023,3053,2069,1441
$GC,10633,1.11,299.6,89.8,11.6,562,10637,0.00,2.35,0.00,0.000,4,0.000,0.039,3053,682,1439
$GC,10712,1.11,299.6,81.0,10.5,569,10716,0.00,2.28,0.00,0.000,6,0.000,0.021,3053,2088,1436
$GC,11043,1.12,308.3,53.3,6.9,600,11058,0.00,2.45,8.57,0.512,4,0.000,0.036,3053,684,1405
$GC,11076,1.13,312.2,50.9,7.0,603,11088,0.00,2.28,4.97,0.446,6,0.000,0.020,3053,2088,1390
$GC,11408,1.13,312.2,24.8,8.1,639,11414,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2090,1390
$GC,11526,1.13,312.2,15.0,8.7,660,11532,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2090,1390
$GC,11644,1.13,312.2,4.7,7.5,681,11650,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2090,1390
$STATE,11666,end climb,SURFACE_DEPTH_REACHED
$STATE,11666,begin surface coast
$FINISH,0.3,1.020076
$STATE,11712,end surface coast,CONTROL_FINISHED_OK
$STATE,11712,begin surface
$SM_CCo,11732,7.38,0.456,0,0,1359,320.12
$SM_GC,1.80,0.00,0.00,7.38,0.000,0.000,0.456,421,2089,1359,-10.92,0.28,320.12
$IRIDIUM_FIX,2059.45,-15750.89,191097,202004
$TT8_MAMPS,0.029146
$HUMID,1900
$INTERNAL_PRESSURE,8.65862
$TCM_TEMP,23.10
$XPDR_PINGS,656
$24V_AH,23.3,46.220
$10V_AH,10.2,26.711
$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,25.375,112.950,408.525,7.375,0.000,49.425,67.037,432.863,164.000,0.000,0.000,13.654,1240.924,8433.991,494.249,1560.046,737.760,33.367,1283.316,0.000,1549.289,0.000,0.470
$DEVICE_MAMPS,171.808,75.933,901.225,455.598,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,465.744,452.198,765.381,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34877,693
$CAP_FILE_SIZE,104691,10
$CFSIZE,260165632,251863040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250708,233755,2108.588,-15753.124,63,1.6,63,9.8