version: 66.03
glider: 139
mission: 3
dive: 134
start: 7 28 108 18 51 47
data:
$ID,139
$MISSION,3
$DIVE,134
$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,-1273258
$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
$GPS1,183955,2107.519,-15752.175,28,1.4,45,9.8
$_CALLS,2
$_XMS_NAKs,29
$_XMS_TOUTs,1
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-68.9
$GPS2,185057,2107.491,-15752.318,15,1.8,15,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.177,-0.183
$KALMAN_X,-19186.0,-254.1,91.2,20198.4,-0.0
$KALMAN_Y,-40619.0,179.1,83.3,23346.7,-13.4
$MHEAD_RNG_PITCHd_Wd,126.0,13360,-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,-54.97,0.000,2,0.000,0.000,428,2112,2801
$GC,79,-0.96,-175.2,3.2,-4.0,10,109,12.07,2.42,-10.32,0.000,4,0.153,0.048,2577,679,3380
$GC,177,-0.96,-175.2,25.4,-14.0,27,183,0.00,2.10,0.00,0.000,6,0.000,0.051,2577,2025,3382
$GC,292,-0.96,-175.2,39.1,-11.7,41,293,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2030,3382
$GC,610,-0.96,-175.2,74.7,-10.7,71,614,0.00,2.28,0.00,0.000,4,0.000,0.035,2577,674,3382
$GC,648,-0.96,-175.2,78.8,-10.4,74,655,0.00,2.28,0.00,0.000,6,0.000,0.054,2577,2074,3382
$GC,974,-0.96,-175.2,107.9,-9.2,105,977,0.00,2.35,0.00,0.000,4,0.000,0.035,2577,680,3383
$GC,1011,-0.96,-175.2,111.6,-9.5,108,1018,0.00,2.25,0.00,0.000,6,0.000,0.018,2577,2070,3383
$GC,1339,-0.96,-175.2,142.0,-8.7,139,1343,0.00,1.77,0.00,0.000,4,0.000,0.053,2577,3173,3384
$GC,1362,-0.96,-175.2,144.2,-8.5,141,1366,0.00,1.77,0.00,0.000,6,0.000,0.021,2577,2072,3383
$GC,1693,-0.96,-175.2,171.4,-7.4,172,1697,0.00,2.35,0.00,0.000,4,0.000,0.067,2577,677,3383
$GC,1786,-0.96,-175.2,178.8,-7.3,180,1793,0.00,2.28,0.00,0.000,6,0.000,0.053,2577,2071,3384
$GC,2113,-0.96,-175.2,200.5,-4.9,211,2117,0.00,2.33,0.00,0.000,4,0.000,0.067,2577,3462,3384
$GC,2146,-0.96,-175.2,202.4,-5.4,212,2153,0.00,2.28,0.00,0.000,6,0.000,0.021,2577,2083,3384
$GC,2462,-0.96,-175.2,221.5,-6.1,228,2466,0.00,2.33,0.00,0.000,4,0.000,0.032,2577,3467,3383
$GC,2483,-0.96,-175.2,222.9,-6.0,229,2487,0.00,2.28,0.00,0.000,6,0.000,0.021,2577,2075,3384
$GC,2810,-0.96,-175.2,244.0,-6.6,245,2814,0.00,2.35,0.00,0.000,4,0.000,0.038,2577,682,3383
$GC,2854,-0.96,-175.2,246.4,-5.1,247,2858,0.00,2.28,0.00,0.000,6,0.000,0.056,2577,2083,3383
$GC,3181,-0.96,-175.2,264.3,-5.8,263,3185,0.00,2.33,0.00,0.000,4,0.000,0.035,2577,3468,3382
$GC,3227,-0.96,-175.2,267.1,-6.0,265,3231,0.00,2.28,0.00,0.000,6,0.000,0.023,2577,2080,3382
$GC,3554,-0.96,-175.2,286.1,-6.5,281,3558,0.00,2.38,0.00,0.000,4,0.000,0.072,2577,683,3380
$GC,3609,-0.96,-175.2,290.2,-7.9,283,3616,0.00,2.30,0.00,0.000,6,0.000,0.058,2577,2069,3380
$GC,3923,-0.96,-175.2,311.8,-6.6,295,3924,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2073,3379
$GC,4247,-0.96,-175.2,331.9,-6.4,303,4249,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2073,3377
$GC,4572,-0.96,-175.2,351.0,-5.4,311,4573,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2073,3375
$GC,4897,-0.96,-175.2,367.9,-5.6,319,4901,0.00,2.38,0.00,0.000,4,0.000,0.042,2577,687,3373
$GC,4936,-0.96,-175.2,370.3,-6.4,320,4940,0.00,2.30,0.00,0.000,6,0.000,0.027,2577,2074,3373
$GC,5259,-0.96,-175.2,396.1,-8.4,328,5263,0.00,2.40,0.00,0.000,4,0.000,0.042,2578,3474,3371
$GC,5324,-0.96,-175.2,401.6,-8.0,329,5329,0.00,2.35,0.00,0.000,6,0.000,0.061,2577,2083,3370
$GC,5667,-0.96,-175.2,427.3,-7.2,338,5671,0.00,2.42,0.00,0.000,4,0.000,0.044,2577,674,3368
$GC,5724,-0.96,-175.2,431.1,-6.8,339,5728,0.00,2.33,0.00,0.000,6,0.000,0.027,2577,2079,3368
$STATE,6034,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6034,begin apogee
$GC,6039,-0.31,0.0,451.5,6.5,347,6183,0.40,0.00,141.23,0.885,6,0.102,0.000,2674,2082,2664
$STATE,6184,end apogee,CONTROL_FINISHED_OK
$STATE,6184,begin climb
$GC,6186,0.96,175.2,458.9,0.0,350,6342,1.48,2.55,144.95,0.861,4,0.046,0.051,3004,678,1946
$GC,6426,0.96,175.2,449.3,10.0,355,6430,0.00,2.38,0.00,0.000,6,0.000,0.028,3004,2066,1938
$GC,6763,0.97,180.4,423.2,7.0,364,6772,0.00,2.50,3.65,0.499,4,0.000,0.056,3004,3468,1928
$GC,6873,0.97,180.4,414.9,7.7,366,6877,0.00,2.35,0.00,0.000,6,0.000,0.030,3004,2088,1928
$GC,7221,0.99,200.7,391.1,6.6,375,7245,0.00,2.53,19.17,0.818,4,0.000,0.077,3004,676,1844
$GC,7291,0.99,200.7,385.9,8.3,376,7295,0.00,2.38,0.00,0.000,6,0.000,0.029,3004,2081,1840
$GC,7633,0.99,200.7,352.2,10.1,385,7637,0.00,2.42,0.00,0.000,4,0.000,0.044,3004,3477,1838
$GC,7681,0.99,200.7,347.1,10.4,386,7686,0.00,2.40,0.00,0.000,6,0.000,0.030,3004,2079,1838
$GC,8000,0.99,200.7,319.1,8.1,394,8004,0.00,2.45,0.00,0.000,4,0.000,0.048,3004,3480,1837
$GC,8055,1.00,205.6,315.2,7.0,395,8064,0.00,2.38,4.62,0.581,6,0.000,0.050,3004,2078,1824
$GC,8388,1.00,208.5,293.7,7.1,405,8392,0.00,2.45,0.00,0.000,4,0.000,0.080,3004,673,1822
$GC,8511,1.00,208.5,282.9,8.8,410,8517,0.00,2.38,0.00,0.000,6,0.000,0.028,3004,2079,1820
$GC,8826,1.00,208.5,258.9,7.5,426,8830,0.00,2.40,0.00,0.000,4,0.000,0.041,3004,3477,1820
$GC,8942,1.00,208.5,249.3,8.3,431,8947,0.00,2.38,0.00,0.000,6,0.000,0.028,3004,2083,1820
$GC,9264,1.03,229.9,222.9,6.6,447,9295,0.00,0.00,24.02,0.685,6,0.000,0.000,3004,2082,1726
$GC,9594,1.03,229.9,198.4,8.5,463,9598,0.00,2.40,0.00,0.000,4,0.000,0.038,3004,3480,1722
$GC,9694,1.04,243.3,191.0,6.8,471,9712,0.00,2.35,12.77,0.663,6,0.000,0.026,3004,2075,1672
$GC,10029,1.07,267.9,168.7,6.5,503,10062,0.10,2.47,22.85,0.665,4,0.058,0.074,3035,684,1569
$GC,10067,1.07,267.9,165.4,9.3,506,10073,0.00,2.38,0.00,0.000,6,0.000,0.024,3035,2089,1568
$GC,10393,1.07,267.9,142.3,7.5,537,10397,0.00,2.45,0.00,0.000,4,0.000,0.043,3035,673,1566
$GC,10469,1.07,267.9,134.1,10.5,543,10476,0.00,2.33,0.00,0.000,6,0.000,0.021,3035,2080,1563
$GC,10796,1.07,267.9,104.5,8.9,574,10800,0.00,2.35,0.00,0.000,4,0.000,0.069,3034,3468,1563
$GC,10839,1.07,267.9,100.3,9.7,577,10846,0.00,2.33,0.00,0.000,6,0.000,0.023,3035,2081,1563
$GC,11165,1.07,267.9,72.9,7.3,608,11169,0.00,2.40,0.00,0.000,4,0.000,0.041,3035,674,1563
$GC,11239,1.11,296.1,67.6,6.4,614,11271,0.00,2.28,24.90,0.571,6,0.000,0.020,3035,2089,1455
$GC,11589,1.14,318.1,42.6,6.5,647,11614,0.00,2.47,19.92,0.537,4,0.000,0.068,3034,656,1366
$GC,11738,1.14,318.1,30.4,8.2,660,11745,0.00,2.28,0.00,0.000,6,0.000,0.019,3035,2074,1362
$GC,12082,1.14,318.1,4.0,7.9,720,12088,0.00,2.35,0.00,0.000,4,0.000,0.035,3034,679,1361
$STATE,12092,end climb,SURFACE_DEPTH_REACHED
$STATE,12093,begin surface coast
$FINISH,0.5,1.021419
$STATE,12134,end surface coast,CONTROL_FINISHED_OK
$STATE,12134,begin surface
$SM_CCo,12217,0.00,0.000,0,0,1358,320.36
$SM_GC,1.31,11.23,0.00,0.00,0.029,0.000,0.000,425,2088,1358,-10.81,0.25,320.36
$IRIDIUM_FIX,2059.45,-15753.90,221097,181834
$TT8_MAMPS,0.029146
$HUMID,1890
$INTERNAL_PRESSURE,8.66839
$TCM_TEMP,23.30
$XPDR_PINGS,713
$24V_AH,23.3,49.047
$10V_AH,10.2,28.304
$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,25.275,126.175,418.100,0.000,0.000,60.415,63.154,350.858,178.250,0.000,0.000,17.424,1309.797,8695.908,507.330,1694.971,658.300,33.373,1357.569,0.000,1677.346,0.000,0.471
$DEVICE_MAMPS,152.633,79.768,885.118,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,489.382,479.702,814.235,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37911,729
$CAP_FILE_SIZE,107730,11
$CFSIZE,260165632,250843136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,280708,221734,2106.494,-15751.354,95,1.0,95,9.8