version: 66.03
glider: 139
mission: 3
dive: 143
start: 7 30 108 3 52 16
data:
$ID,139
$MISSION,3
$DIVE,143
$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,-1273529
$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,59
$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
$GPS1,034129,2106.019,-15750.511,44,1.1,44,9.8
$_CALLS,1
$_XMS_NAKs,37
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-65.8
$GPS2,035127,2106.055,-15750.477,35,1.1,35,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT1
$TGT_LATLONG,2109.529,-15754.647
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.185,0.175
$KALMAN_X,-27088.8,800.5,-557.8,30864.7,17.1
$KALMAN_Y,-41168.2,295.8,-161.9,21368.8,-135.9
$MHEAD_RNG_PITCHd_Wd,303.6,9659,-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,-175.2,0.0,0.0,0,78,0.00,0.00,-54.75,0.000,2,0.000,0.000,430,2089,2898
$GC,80,-0.96,-175.2,3.9,-5.4,10,110,12.12,2.33,-8.15,0.000,4,0.155,0.044,2577,3467,3383
$GC,289,-0.96,-175.2,38.8,-12.1,40,296,0.00,2.30,0.00,0.000,6,0.000,0.020,2577,2077,3385
$GC,614,-0.96,-175.2,79.2,-9.7,71,618,0.00,2.33,0.00,0.000,4,0.000,0.035,2577,684,3385
$GC,682,-0.96,-175.2,85.8,-9.3,77,686,0.00,2.22,0.00,0.000,6,0.000,0.018,2577,2078,3386
$GC,1007,-0.96,-175.2,118.0,-9.8,107,1011,0.00,2.35,0.00,0.000,4,0.000,0.070,2577,684,3386
$GC,1024,-0.96,-175.2,119.8,-10.0,108,1028,0.00,2.25,0.00,0.000,6,0.000,0.054,2578,2084,3386
$GC,1350,-0.96,-175.2,150.0,-7.9,138,1351,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2088,3387
$GC,1667,-0.96,-175.2,175.9,-7.9,168,1671,0.00,2.38,0.00,0.000,4,0.000,0.035,2577,683,3387
$GC,1699,-0.96,-175.2,178.4,-7.2,170,1706,0.00,2.28,0.00,0.000,6,0.000,0.019,2578,2078,3387
$GC,2026,-0.96,-175.2,200.4,-6.8,201,2030,0.00,2.38,0.00,0.000,4,0.000,0.071,2577,680,3387
$GC,2058,-0.96,-175.2,202.9,-7.8,202,2065,0.00,2.28,0.00,0.000,6,0.000,0.020,2578,2073,3387
$GC,2373,-0.96,-175.2,225.8,-6.8,218,2378,0.00,2.35,0.00,0.000,4,0.000,0.036,2577,684,3386
$GC,2395,-0.96,-175.2,227.4,-7.2,219,2399,0.00,2.28,0.00,0.000,6,0.000,0.021,2577,2077,3387
$GC,2722,-0.96,-175.2,250.5,-6.8,235,2726,0.00,2.33,0.00,0.000,4,0.000,0.035,2577,3464,3386
$GC,2743,-0.96,-175.2,252.1,-6.8,236,2747,0.00,2.28,0.00,0.000,6,0.000,0.057,2577,2080,3386
$GC,3070,-0.96,-175.2,272.2,-5.7,252,3074,0.00,2.38,0.00,0.000,4,0.000,0.038,2577,676,3385
$GC,3114,-0.96,-175.2,274.9,-6.0,254,3118,0.00,2.28,0.00,0.000,6,0.000,0.022,2577,2075,3385
$GC,3440,-0.96,-175.2,292.3,-6.0,270,3441,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2078,3384
$GC,3767,-0.96,-175.2,315.5,-7.4,281,3771,0.00,2.38,0.00,0.000,4,0.000,0.041,2577,684,3382
$GC,3794,-0.96,-175.2,317.8,-8.4,281,3799,0.00,2.28,0.00,0.000,6,0.000,0.025,2577,2076,3382
$GC,4125,-0.96,-175.2,339.6,-6.2,289,4126,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2081,3380
$GC,4450,-0.96,-175.2,358.3,-5.7,297,4452,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2081,3378
$GC,4775,-0.96,-175.2,376.2,-5.2,305,4779,0.00,2.40,0.00,0.000,4,0.000,0.043,2577,681,3376
$GC,4801,-0.96,-175.2,377.6,-4.9,305,4806,0.00,2.30,0.00,0.000,6,0.000,0.028,2577,2075,3376
$GC,5138,-0.96,-175.2,393.8,-5.1,314,5139,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2076,3374
$GC,5463,-0.96,-175.2,408.6,-4.3,322,5467,0.00,2.40,0.00,0.000,4,0.000,0.043,2577,679,3372
$GC,5492,-0.96,-175.2,409.9,-5.3,322,5496,0.00,2.33,0.00,0.000,6,0.000,0.028,2577,2080,3371
$GC,5823,-0.96,-175.2,427.4,-5.3,330,5826,0.00,2.40,0.00,0.000,4,0.000,0.044,2578,3481,3370
$GC,5855,-0.96,-175.2,429.3,-5.8,330,5859,0.00,2.35,0.00,0.000,6,0.000,0.028,2577,2077,3369
$STATE,6149,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6149,begin apogee
$GC,6154,-0.31,0.0,450.1,7.3,338,6299,0.68,0.00,141.60,0.892,6,0.167,0.000,2730,2076,2664
$STATE,6299,end apogee,CONTROL_FINISHED_OK
$STATE,6299,begin climb
$GC,6301,0.96,175.2,457.9,0.0,341,6458,1.20,2.55,145.27,0.867,4,0.041,0.077,3006,680,1947
$GC,6509,0.96,175.2,454.2,8.7,346,6513,0.00,2.38,0.00,0.000,6,0.000,0.061,3006,2080,1939
$GC,6832,0.96,175.2,425.4,9.4,354,6835,0.00,2.45,0.00,0.000,4,0.000,0.044,3006,3482,1936
$GC,6888,0.96,175.2,419.9,9.9,355,6892,0.00,2.38,0.00,0.000,6,0.000,0.029,3006,2083,1936
$GC,7199,0.96,175.2,393.4,8.1,363,7204,0.00,2.45,0.00,0.000,4,0.000,0.043,3006,3481,1933
$GC,7243,0.96,175.2,389.6,8.9,364,7247,0.00,2.40,0.00,0.000,6,0.000,0.030,3005,2070,1933
$GC,7567,0.96,175.2,365.5,7.2,372,7571,0.00,2.45,0.00,0.000,4,0.000,0.048,3006,670,1931
$GC,7639,0.96,175.2,360.0,7.7,373,7643,0.00,2.38,0.00,0.000,6,0.000,0.029,3006,2081,1929
$GC,7976,0.99,195.9,337.6,6.6,382,7997,0.00,2.50,15.88,0.798,4,0.000,0.051,3006,676,1864
$GC,8035,0.99,195.9,333.2,7.9,383,8039,0.00,2.40,0.00,0.000,6,0.000,0.028,3006,2101,1861
$GC,8383,0.99,195.9,305.5,8.3,392,8387,0.00,2.50,0.00,0.000,4,0.000,0.048,3006,676,1860
$GC,8472,0.99,195.9,297.4,8.3,394,8476,0.00,2.40,0.00,0.000,6,0.000,0.038,3006,2086,1857
$GC,8799,0.99,198.6,272.1,7.1,410,8803,0.00,2.47,0.00,0.000,4,0.000,0.078,3006,669,1857
$GC,8883,1.02,223.0,266.3,6.5,414,8913,0.00,2.38,24.27,0.769,6,0.000,0.029,3006,2088,1753
$GC,9235,1.02,223.0,237.4,8.9,431,9239,0.00,2.47,0.00,0.000,4,0.000,0.044,3006,667,1748
$GC,9290,1.02,223.0,232.1,9.5,433,9294,0.00,2.35,0.00,0.000,6,0.000,0.027,3006,2078,1746
$GC,9611,1.04,236.9,207.3,6.8,449,9633,0.00,2.47,12.40,0.683,4,0.000,0.043,3006,3473,1698
$GC,9745,1.04,236.9,196.4,7.9,457,9750,0.00,2.35,0.00,0.000,6,0.000,0.026,3006,2073,1698
$GC,10071,1.07,267.9,172.1,6.3,487,10106,0.10,2.47,28.42,0.678,4,0.059,0.041,3037,680,1570
$GC,10213,1.07,267.9,159.3,10.3,500,10217,0.00,2.33,0.00,0.000,6,0.000,0.041,3037,2091,1564
$GC,10542,1.07,267.9,129.6,8.4,531,10546,0.00,2.33,0.00,0.000,4,0.000,0.034,3037,3470,1564
$GC,10631,1.07,267.9,121.8,8.9,538,10638,0.00,2.35,0.00,0.000,6,0.000,0.023,3037,2071,1564
$GC,10959,1.07,267.9,95.5,8.1,569,10960,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2069,1564
$GC,11274,1.07,267.9,70.7,7.5,599,11275,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2070,1564
$GC,11593,1.17,341.7,49.0,5.1,629,11661,0.00,2.40,62.92,0.556,4,0.000,0.037,3036,3478,1270
$GC,11689,1.17,341.7,43.1,7.7,637,11696,0.00,2.35,0.00,0.000,6,0.000,0.058,3037,2078,1269
$GC,12023,1.28,433.7,17.9,4.6,684,12107,0.15,2.40,75.90,0.522,4,0.040,0.071,3096,684,893
$STATE,12129,end climb,SURFACE_DEPTH_REACHED
$STATE,12129,begin surface coast
$FINISH,0.8,1.022883
$STATE,12147,end surface coast,CONTROL_FINISHED_OK
$STATE,12147,begin surface
$SM_CCo,12229,0.00,0.000,0,0,886,436.14
$SM_GC,1.37,11.73,0.00,0.00,0.041,0.000,0.000,422,2078,886,-10.82,-0.03,436.14
$IRIDIUM_FIX,2054.83,-15749.62,241097,000055
$TT8_MAMPS,0.029146
$HUMID,1877
$INTERNAL_PRESSURE,8.61956
$TCM_TEMP,23.00
$XPDR_PINGS,669
$24V_AH,23.3,50.424
$10V_AH,10.2,29.059
$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,25.975,118.450,506.675,0.000,0.000,30.052,36.113,376.601,167.250,0.000,0.000,36.613,1241.438,8772.790,539.520,1627.502,628.179,33.371,1371.549,0.000,1589.657,0.000,0.470
$DEVICE_MAMPS,167.206,78.234,892.021,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,473.222,457.396,773.989,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34839,706
$CAP_FILE_SIZE,104675,6
$CFSIZE,260165632,250388480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300708,071738,2107.178,-15751.700,58,1.2,58,9.8