version: 66.03
glider: 139
mission: 3
dive: 140
start: 7 29 108 16 33 48
data:
$ID,139
$MISSION,3
$DIVE,140
$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,-1273402.8
$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,42
$R_STBD_OVSHOOT,60
$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
$GPS1,162308,2102.004,-15747.352,40,1.3,40,9.8
$_CALLS,2
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-68.7
$GPS2,163257,2102.027,-15747.315,12,1.4,12,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT1
$TGT_LATLONG,2109.529,-15754.647
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.180,0.180
$KALMAN_X,-26270.2,-452.5,-82.5,36288.5,-493.0
$KALMAN_Y,-40016.6,-374.9,-279.5,13549.8,758.4
$MHEAD_RNG_PITCHd_Wd,305.2,18799,-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,-175.2,0.0,0.0,0,82,0.00,0.00,-59.95,0.000,2,0.000,0.000,424,2092,2797
$GC,85,-0.96,-175.2,3.3,-4.2,11,114,12.15,2.28,-10.55,0.000,4,0.153,0.074,2578,3461,3381
$GC,238,-0.96,-175.2,31.4,-13.7,37,245,0.00,2.25,0.00,0.000,6,0.000,0.021,2577,2079,3382
$GC,563,-0.96,-175.2,72.5,-11.5,68,567,0.00,2.35,0.00,0.000,4,0.000,0.035,2577,680,3383
$GC,630,-0.96,-175.2,80.0,-11.0,73,637,0.00,2.22,0.00,0.000,6,0.000,0.018,2577,2080,3382
$GC,955,-0.96,-175.2,110.4,-8.0,104,959,0.00,2.38,0.00,0.000,4,0.000,0.035,2578,673,3383
$GC,994,-0.96,-175.2,113.8,-8.7,107,998,0.00,2.25,0.00,0.000,6,0.000,0.018,2578,2080,3383
$GC,1320,-0.96,-175.2,141.4,-8.3,137,1324,0.00,2.30,0.00,0.000,4,0.000,0.046,2578,3463,3384
$GC,1364,-0.96,-175.2,145.2,-8.2,140,1371,0.00,2.25,0.00,0.000,6,0.000,0.020,2578,2067,3384
$GC,1692,-0.96,-175.2,170.7,-7.8,171,1696,0.00,2.33,0.00,0.000,4,0.000,0.069,2577,685,3384
$GC,1731,-0.96,-175.2,173.9,-7.7,174,1735,0.00,2.25,0.00,0.000,6,0.000,0.019,2578,2087,3384
$GC,2056,-0.96,-175.2,200.1,-7.9,204,2060,0.00,2.38,0.00,0.000,4,0.000,0.070,2577,684,3385
$GC,2111,-0.96,-175.2,204.2,-7.0,206,2117,0.00,2.25,0.00,0.000,6,0.000,0.020,2578,2071,3384
$GC,2426,-0.96,-175.2,229.2,-8.6,222,2430,0.00,2.33,0.00,0.000,4,0.000,0.033,2577,3461,3384
$GC,2469,-0.96,-175.2,233.0,-8.6,224,2474,0.00,2.25,0.00,0.000,6,0.000,0.021,2578,2077,3384
$GC,2798,-0.96,-175.2,256.8,-6.5,240,2802,0.00,2.35,0.00,0.000,4,0.000,0.037,2577,683,3384
$GC,2836,-0.96,-175.2,259.6,-7.6,242,2840,0.00,1.62,0.00,0.000,6,0.000,0.055,2577,1738,3383
$GC,3169,-0.96,-175.2,280.3,-5.7,258,3173,0.00,2.72,0.00,0.000,4,0.000,0.061,2578,3392,3382
$GC,3262,-0.96,-175.2,286.6,-6.8,262,3267,0.00,2.17,0.00,0.000,6,0.000,0.061,2577,2078,3382
$GC,3581,-0.96,-175.2,310.6,-7.8,275,3583,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2077,3381
$GC,3907,-0.96,-175.2,332.5,-6.2,283,3911,0.00,2.35,0.00,0.000,4,0.000,0.037,2578,3463,3380
$GC,3973,-0.96,-175.2,336.3,-6.0,284,3977,0.00,2.30,0.00,0.000,6,0.000,0.024,2578,2081,3379
$GC,4315,-0.96,-175.2,356.9,-6.0,293,4319,0.00,2.38,0.00,0.000,4,0.000,0.040,2577,682,3377
$GC,4387,-0.96,-175.2,361.4,-5.9,294,4391,0.00,2.28,0.00,0.000,6,0.000,0.025,2577,2072,3377
$GC,4722,-0.96,-175.2,383.9,-7.2,303,4727,0.00,2.38,0.00,0.000,4,0.000,0.040,2578,3469,3375
$GC,4811,-0.96,-175.2,390.5,-7.3,305,4816,0.00,2.33,0.00,0.000,6,0.000,0.025,2578,2082,3375
$GC,5136,-0.96,-175.2,412.5,-6.8,313,5140,0.00,2.38,0.00,0.000,4,0.000,0.041,2578,686,3373
$GC,5176,-0.96,-175.2,415.2,-6.8,314,5181,0.00,2.30,0.00,0.000,6,0.000,0.031,2577,2076,3372
$GC,5500,-0.96,-175.2,438.9,-7.5,322,5504,0.00,2.40,0.00,0.000,4,0.000,0.042,2577,3476,3370
$GC,5571,-0.96,-175.2,444.4,-8.0,323,5575,0.00,2.33,0.00,0.000,6,0.000,0.027,2578,2081,3370
$STATE,5662,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5662,begin apogee
$GC,5667,-0.31,0.0,451.2,7.4,326,5811,0.68,0.00,141.68,0.881,6,0.046,0.000,2733,2079,2664
$STATE,5812,end apogee,CONTROL_FINISHED_OK
$STATE,5812,begin climb
$GC,5814,0.96,175.2,459.9,0.0,329,5968,1.17,2.47,144.88,0.858,4,0.040,0.076,3005,682,1947
$GC,6181,0.96,175.2,440.1,9.3,337,6185,0.00,2.38,0.00,0.000,6,0.000,0.028,3005,2071,1936
$GC,6523,0.96,175.2,410.0,8.5,346,6528,0.00,2.45,0.00,0.000,4,0.000,0.043,3005,3479,1934
$GC,6595,0.96,175.2,403.5,8.9,347,6600,0.00,2.40,0.00,0.000,6,0.000,0.065,3005,2082,1934
$GC,6932,0.96,175.2,374.8,8.2,356,6936,0.00,2.42,0.00,0.000,4,0.000,0.042,3005,3480,1932
$GC,7105,0.96,175.2,360.6,8.1,359,7111,0.00,2.38,0.00,0.000,6,0.000,0.035,3005,2078,1932
$GC,7436,1.02,224.9,340.1,5.8,368,7482,0.00,2.50,41.12,0.817,4,0.000,0.077,3005,673,1746
$GC,7532,1.02,224.9,333.9,7.3,370,7536,0.00,2.40,0.00,0.000,6,0.000,0.061,3005,2079,1741
$GC,7845,1.02,224.9,305.3,10.1,378,7846,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2083,1739
$GC,8153,1.02,224.9,273.6,10.5,391,8157,0.00,2.40,0.00,0.000,4,0.000,0.041,3005,3475,1737
$GC,8244,1.02,224.9,264.0,10.0,395,8248,0.00,2.38,0.00,0.000,6,0.000,0.061,3005,2070,1737
$GC,8570,1.02,224.9,237.4,7.9,411,8574,0.00,2.42,0.00,0.000,4,0.000,0.044,3005,671,1735
$GC,8624,1.02,224.9,232.8,8.0,413,8631,0.00,2.38,0.00,0.000,6,0.000,0.056,3005,2084,1733
$GC,8940,1.05,249.7,213.3,6.5,429,8974,0.00,2.45,22.75,0.657,4,0.000,0.038,3005,3475,1646
$GC,9008,1.05,249.7,207.7,8.3,432,9013,0.00,2.35,0.00,0.000,6,0.000,0.025,3005,2075,1645
$GC,9331,1.06,254.5,185.4,7.0,457,9343,0.00,2.42,5.68,0.542,4,0.000,0.074,3005,675,1625
$GC,9410,1.06,254.5,179.8,7.5,464,9415,0.00,2.33,0.00,0.000,6,0.000,0.023,3005,2087,1622
$GC,9735,1.06,254.5,157.9,7.5,494,9736,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2091,1622
$GC,10054,1.12,306.6,135.2,5.7,524,10118,0.15,2.42,48.35,0.614,4,0.044,0.033,3059,3470,1412
$GC,10187,1.12,306.6,123.6,10.7,536,10191,0.00,2.33,0.00,0.000,6,0.000,0.058,3059,2075,1411
$GC,10511,1.12,306.6,91.3,8.9,566,10515,0.00,2.38,0.00,0.000,4,0.000,0.038,3059,681,1408
$GC,10578,1.12,306.6,85.0,9.1,571,10584,0.00,2.28,0.00,0.000,6,0.000,0.020,3059,2095,1406
$GC,10904,1.12,306.6,59.5,8.2,602,10908,0.00,2.42,0.00,0.000,4,0.000,0.062,3059,674,1406
$GC,10965,1.12,306.6,54.3,8.0,607,10969,0.00,2.28,0.00,0.000,6,0.000,0.026,3059,2086,1405
$GC,11292,1.12,306.6,26.1,8.7,641,11297,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2090,1405
$GC,11410,1.12,306.6,16.1,8.7,662,11416,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2091,1405
$GC,11528,1.12,306.6,5.2,9.3,683,11534,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2091,1406
$STATE,11560,end climb,SURFACE_DEPTH_REACHED
$STATE,11561,begin surface coast
$FINISH,0.6,1.022894
$STATE,11607,end surface coast,CONTROL_FINISHED_OK
$STATE,11607,begin surface
$SM_CCo,11627,10.88,0.472,0,0,1359,320.12
$SM_GC,1.51,0.00,0.00,10.88,0.000,0.000,0.472,429,2089,1359,-10.88,0.28,320.12
$IRIDIUM_FIX,2052.52,-15746.61,231097,161650
$TT8_MAMPS,0.029146
$HUMID,1890
$INTERNAL_PRESSURE,8.67815
$TCM_TEMP,23.30
$XPDR_PINGS,701
$24V_AH,23.3,49.915
$10V_AH,10.2,28.796
$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,25.525,116.950,404.450,10.875,0.000,55.408,60.458,286.227,175.250,0.000,0.000,13.904,1270.453,8157.637,502.442,1691.048,595.358,33.365,1352.598,0.000,1676.295,0.000,0.473
$DEVICE_MAMPS,153.400,76.700,881.283,471.705,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,467.589,457.492,779.029,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34831,697
$CAP_FILE_SIZE,104723,13
$CFSIZE,260165632,250548224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,290708,194940,2103.224,-15747.897,77,1.2,77,9.8