version: 66.03
glider: 139
mission: 3
dive: 146
start: 7 30 108 14 6 29
data:
$ID,139
$MISSION,3
$DIVE,146
$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,-1273576.6
$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,49
$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
$GPS1,135226,2110.056,-15754.615,57,1.9,57,9.8
$_CALLS,3
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-67.5
$GPS2,140539,2110.136,-15754.755,11,1.2,11,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT1
$TGT_LATLONG,2109.529,-15754.647
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.039,-0.117
$KALMAN_X,-28056.2,-739.4,-520.2,25956.7,-196.6
$KALMAN_Y,-40892.3,-96.7,116.9,28756.4,21.9
$MHEAD_RNG_PITCHd_Wd,151.7,1140,-27.5,-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,-1.77,-37.4,0.0,0.0,0,71,0.00,0.00,-48.75,0.000,2,0.000,0.000,421,2071,2743
$GC,74,-1.79,-54.2,3.4,-5.0,9,93,11.07,2.40,-2.83,0.000,4,0.151,0.046,2401,686,2888
$GC,200,-1.79,-54.2,34.5,-20.9,30,204,0.00,2.25,0.00,0.000,6,0.000,0.019,2401,2085,2890
$GC,526,-1.79,-54.2,105.0,-20.3,60,529,0.00,1.90,0.00,0.000,4,0.000,0.054,2401,3265,2891
$GC,627,-1.79,-54.2,125.5,-20.7,69,631,0.00,1.92,0.00,0.000,6,0.000,0.021,2401,2083,2891
$GC,958,-1.79,-54.2,181.0,-14.8,100,961,0.00,2.10,0.00,0.000,4,0.000,0.066,2401,3362,2892
$GC,1215,-1.79,-54.2,219.4,-12.9,117,1219,0.00,2.12,0.00,0.000,6,0.000,0.021,2401,2077,2892
$GC,1537,-1.79,-54.2,258.1,-10.8,133,1541,0.00,2.33,0.00,0.000,4,0.000,0.032,2401,3466,2893
$GC,1653,-1.79,-54.2,273.9,-13.3,138,1657,0.00,2.30,0.00,0.000,6,0.000,0.022,2401,2082,2893
$GC,1993,-1.79,-54.2,318.9,-13.8,152,1997,0.00,2.33,0.00,0.000,4,0.000,0.035,2401,3464,2893
$GC,2183,-1.79,-54.2,344.2,-12.1,156,2187,0.00,2.30,0.00,0.000,6,0.000,0.025,2401,2070,2892
$GC,2531,-1.79,-54.2,382.0,-10.2,165,2535,0.00,2.38,0.00,0.000,4,0.000,0.038,2401,3463,2890
$GC,2660,-1.79,-54.2,395.8,-10.2,168,2664,0.00,2.28,0.00,0.000,6,0.000,0.041,2401,2083,2890
$GC,2989,-1.79,-54.2,426.6,-8.7,176,2993,0.00,2.38,0.00,0.000,4,0.000,0.039,2401,3469,2888
$STATE,3216,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3216,begin apogee
$GC,3223,-0.31,0.0,450.2,11.6,181,3273,1.55,0.00,45.42,0.851,6,0.136,0.000,2722,2080,2664
$STATE,3273,end apogee,CONTROL_FINISHED_OK
$STATE,3273,begin climb
$GC,3275,1.79,54.2,451.5,0.0,182,3326,2.05,0.00,45.83,0.831,6,0.074,0.000,3198,2080,2443
$GC,3619,1.85,108.5,451.1,0.2,191,3670,0.00,2.45,45.70,0.848,4,0.000,0.049,3197,3458,2220
$GC,3923,1.85,108.5,424.7,11.0,198,3927,0.00,2.35,0.00,0.000,6,0.000,0.066,3197,2078,2215
$GC,4246,1.85,108.5,393.5,9.1,206,4250,0.00,2.40,0.00,0.000,4,0.000,0.042,3198,3458,2211
$GC,4502,1.85,108.5,369.0,8.5,211,4509,0.00,2.35,0.00,0.000,6,0.000,0.029,3198,2085,2209
$GC,4833,1.85,108.5,344.2,7.6,220,4838,0.00,2.40,0.00,0.000,4,0.000,0.042,3198,3465,2207
$GC,5019,1.86,110.9,330.4,6.8,224,5023,0.00,2.35,0.00,0.000,6,0.000,0.028,3198,2072,2206
$GC,5331,1.86,114.1,308.6,6.7,232,5335,0.00,2.35,0.00,0.000,4,0.000,0.077,3197,682,2203
$GC,5588,1.87,118.0,289.4,6.6,240,5599,0.00,2.30,5.90,0.631,6,0.000,0.028,3197,2074,2182
$GC,5920,1.87,120.0,264.6,6.9,257,5921,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2076,2181
$GC,6229,1.88,126.4,248.3,6.3,272,6243,0.00,2.45,8.57,0.668,4,0.000,0.048,3198,3464,2148
$GC,6496,1.91,152.1,232.5,3.9,284,6526,0.00,2.33,23.38,0.722,6,0.000,0.062,3197,2072,2042
$GC,6848,1.91,152.1,205.9,8.5,301,6852,0.00,2.40,0.00,0.000,4,0.000,0.037,3198,3475,2037
$GC,7106,1.91,152.1,183.4,8.6,321,7110,0.00,2.33,0.00,0.000,6,0.000,0.025,3198,2080,2037
$GC,7432,1.93,169.2,159.6,5.0,351,7454,0.00,2.40,14.88,0.639,4,0.000,0.041,3198,3477,1974
$GC,7672,1.96,196.4,150.2,3.7,372,7704,0.08,2.35,24.58,0.634,6,0.045,0.056,3224,2075,1862
$GC,8029,1.96,196.4,117.5,9.4,406,8033,0.00,2.38,0.00,0.000,4,0.000,0.033,3224,3477,1858
$GC,8060,1.96,196.4,114.3,9.6,408,8068,0.00,2.33,0.00,0.000,6,0.000,0.031,3224,2085,1858
$GC,8388,1.96,196.4,86.0,8.0,439,8390,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,2084,1857
$GC,8704,1.96,196.4,64.6,7.6,469,8707,0.00,2.35,0.00,0.000,4,0.000,0.035,3225,681,1857
$GC,8962,1.96,196.4,41.3,9.0,492,8966,0.00,2.30,0.00,0.000,6,0.000,0.054,3224,2105,1855
$GC,9298,1.96,196.4,14.1,8.4,539,9304,0.00,2.40,0.00,0.000,4,0.000,0.034,3225,671,1856
$STATE,9410,end climb,SURFACE_DEPTH_REACHED
$STATE,9410,begin surface coast
$FINISH,0.7,1.012326
$STATE,9445,end surface coast,CONTROL_FINISHED_OK
$STATE,9445,begin surface
$SM_CCo,9468,100.82,0.515,0,0,1359,320.12
$SM_GC,1.26,0.00,0.00,100.82,0.000,0.000,0.515,431,2083,1359,-10.88,0.11,320.12
$IRIDIUM_FIX,2101.76,-15753.03,241097,141443
$TT8_MAMPS,0.029146
$HUMID,1838
$INTERNAL_PRESSURE,8.68792
$TCM_TEMP,23.50
$XPDR_PINGS,653
$24V_AH,23.4,50.802
$10V_AH,10.2,29.284
$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,26.800,78.625,214.250,100.825,0.000,94.989,85.144,366.139,163.250,0.000,0.000,12.856,1094.489,6514.908,381.578,1654.705,708.456,33.362,1147.934,0.000,1633.749,0.000,0.473
$DEVICE_MAMPS,151.099,76.700,850.603,514.657,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,379.762,368.956,631.232,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28525,565
$CAP_FILE_SIZE,91517,9
$CFSIZE,260165632,250261504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300708,164707,2109.935,-15755.164,31,1.6,31,9.8