version: 66.03
glider: 139
mission: 3
dive: 159
start: 8 1 108 11 9 48
data:
$ID,139
$MISSION,3
$DIVE,159
$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,-1273903.6
$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,205
$R_STBD_OVSHOOT,67
$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
$GPS1,110201,2102.423,-15749.816,37,1.4,42,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-66.4
$GPS2,110859,2102.408,-15749.858,13,2.5,32,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.254,0.014
$KALMAN_X,-49323.3,-104.6,809.5,53710.4,-3454.9
$KALMAN_Y,-30701.8,-200.4,-143.0,4635.0,-166.2
$MHEAD_RNG_PITCHd_Wd,77.1,5039,-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,-175.2,0.0,0.0,0,83,0.00,0.00,-59.80,0.000,2,0.000,0.000,426,2088,2804
$GC,85,-0.96,-175.2,3.5,-5.0,11,115,12.10,2.10,-10.55,0.000,4,0.153,0.050,2575,845,3381
$GC,144,-0.96,-175.2,18.5,-18.5,21,150,0.00,2.00,0.00,0.000,6,0.000,0.058,2575,2073,3382
$GC,261,-0.96,-175.2,33.9,-11.4,39,262,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2078,3383
$GC,579,-0.96,-175.2,69.8,-11.3,69,583,0.00,2.08,0.00,0.000,4,0.000,0.035,2575,840,3382
$GC,606,-0.96,-175.2,73.1,-12.1,71,613,0.00,2.00,0.00,0.000,6,0.000,0.018,2575,2077,3383
$GC,931,-0.96,-175.2,101.7,-8.5,102,935,0.00,2.30,0.00,0.000,4,0.000,0.030,2575,3464,3384
$GC,993,-0.96,-175.2,107.3,-8.5,107,997,0.00,2.00,0.00,0.000,6,0.000,0.058,2575,2228,3384
$GC,1325,-0.96,-175.2,140.8,-10.0,138,1329,0.00,2.33,0.00,0.000,4,0.000,0.067,2575,837,3385
$GC,1421,-0.96,-175.2,150.2,-9.1,146,1424,0.00,1.75,0.00,0.000,6,0.000,0.063,2574,1969,3385
$GC,1752,-0.96,-175.2,176.6,-7.3,177,1755,0.00,1.88,0.00,0.000,4,0.000,0.057,2575,3130,3385
$GC,1775,-0.96,-175.2,178.4,-7.3,179,1778,0.00,1.45,0.00,0.000,6,0.000,0.020,2575,2238,3385
$GC,2106,-0.96,-175.2,200.4,-6.2,210,2110,0.00,2.35,0.00,0.000,4,0.000,0.068,2575,838,3385
$GC,2200,-0.96,-175.2,207.0,-6.7,214,2204,0.00,2.00,0.00,0.000,6,0.000,0.019,2575,2084,3385
$GC,2521,-0.96,-175.2,228.5,-6.8,230,2525,0.00,2.10,0.00,0.000,4,0.000,0.035,2574,837,3385
$GC,2548,-0.96,-175.2,230.4,-6.9,231,2552,0.00,2.03,0.00,0.000,6,0.000,0.021,2575,2076,3385
$GC,2876,-0.96,-175.2,251.4,-7.1,247,2877,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2080,3384
$GC,3184,-0.96,-175.2,271.9,-5.9,262,3185,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2080,3383
$GC,3494,-0.96,-175.2,291.4,-5.8,277,3497,0.00,2.10,0.00,0.000,4,0.000,0.038,2574,838,3382
$GC,3557,-0.96,-175.2,294.9,-5.4,279,3563,0.00,2.00,0.00,0.000,6,0.000,0.029,2575,2073,3382
$GC,3889,-0.96,-175.2,313.0,-6.2,291,3890,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2077,3381
$GC,4214,-0.96,-175.2,334.8,-6.5,299,4217,0.00,2.10,0.00,0.000,4,0.000,0.039,2574,841,3379
$GC,4263,-0.96,-175.2,338.2,-6.8,300,4268,0.00,2.03,0.00,0.000,6,0.000,0.025,2576,2077,3379
$GC,4588,-0.96,-175.2,357.5,-5.5,308,4589,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2081,3378
$GC,4913,-0.96,-175.2,370.4,-3.8,316,4916,0.00,2.10,0.00,0.000,4,0.000,0.041,2574,848,3376
$GC,4946,-0.96,-175.2,371.8,-4.5,316,4949,0.00,2.03,0.00,0.000,6,0.000,0.026,2575,2076,3376
$GC,5282,-0.96,-175.2,387.3,-5.1,325,5286,0.00,2.40,0.00,0.000,4,0.000,0.041,2575,3478,3373
$GC,5309,-0.96,-175.2,389.2,-6.8,325,5313,0.00,2.08,0.00,0.000,6,0.000,0.065,2575,2244,3374
$GC,5652,-0.96,-175.2,410.5,-6.3,334,5656,0.00,2.40,0.00,0.000,4,0.000,0.041,2575,841,3371
$GC,5718,-0.96,-175.2,414.8,-6.4,335,5722,0.00,2.08,0.00,0.000,6,0.000,0.028,2574,2072,3371
$GC,6061,-0.96,-175.2,437.7,-6.7,344,6065,0.00,2.40,0.00,0.000,4,0.000,0.043,2575,3473,3369
$GC,6117,-0.96,-175.2,441.5,-7.4,345,6120,0.00,2.05,0.00,0.000,6,0.000,0.027,2575,2241,3369
$STATE,6270,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6270,begin apogee
$GC,6275,-0.31,0.0,452.0,6.8,349,6419,0.68,0.00,141.45,0.887,6,0.051,0.000,2729,2241,2664
$STATE,6420,end apogee,CONTROL_FINISHED_OK
$STATE,6420,begin climb
$GC,6422,0.96,175.2,460.4,0.0,352,6576,1.20,2.28,145.23,0.861,4,0.038,0.082,3007,3475,1948
$GC,6789,0.96,175.2,443.4,8.3,360,6793,0.00,2.10,0.00,0.000,6,0.000,0.029,3007,2259,1942
$GC,7131,0.96,175.2,416.8,7.8,369,7136,0.00,2.45,0.00,0.000,4,0.000,0.045,3008,851,1937
$GC,7158,0.96,175.2,414.5,8.8,369,7162,0.00,2.10,0.00,0.000,6,0.000,0.067,3007,2078,1934
$GC,7495,0.96,175.2,387.8,7.8,378,7499,0.00,2.15,0.00,0.000,4,0.000,0.084,3007,849,1933
$GC,7623,0.96,175.2,378.3,7.7,380,7629,0.00,2.10,0.00,0.000,6,0.000,0.029,3008,2081,1931
$GC,7954,0.98,193.1,356.5,6.7,389,7973,0.00,2.50,13.68,0.792,4,0.000,0.076,3008,3475,1876
$GC,8007,0.98,193.1,352.5,7.8,390,8012,0.00,2.10,0.00,0.000,6,0.000,0.028,3007,2253,1876
$GC,8326,0.98,193.1,325.9,8.7,398,8330,0.00,2.45,0.00,0.000,4,0.000,0.044,3007,841,1872
$GC,8520,0.98,193.1,307.2,9.9,402,8525,0.00,2.10,0.00,0.000,6,0.000,0.028,3008,2079,1869
$GC,8852,0.98,193.1,279.0,8.2,416,8855,0.00,2.15,0.00,0.000,4,0.000,0.081,3007,843,1869
$GC,8907,0.99,203.2,275.0,6.9,418,8920,0.00,2.10,9.18,0.703,6,0.000,0.066,3007,2080,1835
$GC,9227,0.99,203.2,251.4,8.4,434,9231,0.00,2.12,0.00,0.000,4,0.000,0.041,3007,849,1832
$GC,9321,0.99,203.2,242.9,8.3,438,9326,0.00,2.08,0.00,0.000,6,0.000,0.034,3007,2079,1830
$GC,9648,1.01,212.8,221.1,6.9,454,9663,0.00,1.77,9.77,0.667,4,0.000,0.060,3008,3131,1796
$GC,9831,1.01,212.8,207.8,7.3,462,9835,0.00,1.50,0.00,0.000,6,0.000,0.025,3008,2243,1795
$GC,10153,1.09,283.6,188.9,5.2,486,10219,0.10,0.00,62.78,0.695,6,0.060,0.000,3039,2242,1507
$GC,10533,1.09,283.6,158.1,8.8,522,10537,0.00,2.38,0.00,0.000,4,0.000,0.038,3040,846,1499
$GC,10708,1.09,283.6,140.8,11.3,537,10712,0.00,2.05,0.00,0.000,6,0.000,0.033,3039,2094,1495
$GC,11038,1.09,283.6,108.1,7.9,568,11042,0.00,2.33,0.00,0.000,4,0.000,0.032,3040,3474,1495
$GC,11103,1.09,283.6,102.9,7.4,573,11110,0.00,2.05,0.00,0.000,6,0.000,0.059,3040,2242,1495
$GC,11430,1.15,327.8,80.5,5.9,604,11474,0.00,2.17,37.70,0.580,4,0.000,0.067,3040,3475,1326
$GC,11519,1.15,327.8,73.8,8.6,612,11523,0.00,2.03,0.00,0.000,6,0.000,0.020,3040,2238,1326
$GC,11852,1.15,327.8,45.0,9.6,643,11856,0.00,2.35,0.00,0.000,4,0.000,0.058,3040,843,1323
$GC,11985,1.15,327.8,33.5,8.3,654,11992,0.00,2.03,0.00,0.000,6,0.000,0.018,3040,2090,1320
$GC,12326,1.21,381.2,6.3,5.7,711,12377,0.00,2.20,45.47,0.511,4,0.000,0.071,3040,844,1108
$STATE,12381,end climb,SURFACE_DEPTH_REACHED
$STATE,12382,begin surface coast
$FINISH,0.8,1.022937
$STATE,12417,end surface coast,CONTROL_FINISHED_OK
$STATE,12417,begin surface
$SM_CCo,12499,0.00,0.000,0,0,1100,383.65
$SM_GC,1.40,11.27,0.00,0.00,0.036,0.000,0.000,430,2078,1100,-10.81,-0.03,383.65
$IRIDIUM_FIX,2057.14,-15756.91,261097,070752
$TT8_MAMPS,0.028379
$HUMID,1872
$INTERNAL_PRESSURE,8.65862
$TCM_TEMP,23.20
$XPDR_PINGS,729
$24V_AH,23.3,52.667
$10V_AH,10.2,30.348
$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,25.350,109.775,465.250,0.000,0.000,32.613,44.543,192.140,182.250,0.000,0.000,34.945,1309.091,8825.660,507.065,1797.716,461.696,33.372,1397.204,0.000,1763.752,0.000,0.472
$DEVICE_MAMPS,153.400,84.370,886.652,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,487.064,471.866,797.494,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38009,727
$CAP_FILE_SIZE,104633,11
$CFSIZE,260165632,249569280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010808,143908,2101.428,-15749.364,26,1.2,26,9.8