version: 66.03
glider: 139
mission: 3
dive: 160
start: 8 1 108 14 46 29
data:
$ID,139
$MISSION,3
$DIVE,160
$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,-1273916.2
$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,47
$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
$GPS1,143908,2101.428,-15749.364,26,1.2,26,9.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-68.1
$GPS2,144539,2101.431,-15749.396,10,1.2,10,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.247,0.059
$KALMAN_X,-50804.8,-120.9,-101.1,56907.0,-2279.3
$KALMAN_Y,-32099.1,-666.2,-270.6,4820.4,-429.7
$MHEAD_RNG_PITCHd_Wd,66.7,4534,-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,21,-0.96,-175.2,0.0,0.0,0,83,0.00,0.00,-59.85,0.000,2,0.000,0.000,430,2078,2762
$GC,86,-0.96,-175.2,3.1,-3.7,11,115,12.02,2.10,-11.55,0.000,4,0.152,0.049,2576,841,3380
$GC,127,-0.96,-175.2,16.1,-29.3,18,133,0.00,2.00,0.00,0.000,6,0.000,0.018,2577,2099,3381
$GC,250,-0.96,-175.2,34.4,-12.8,37,251,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2104,3381
$GC,568,-0.96,-175.2,74.2,-13.1,67,572,0.00,2.12,0.00,0.000,4,0.000,0.035,2576,838,3382
$GC,619,-0.96,-175.2,80.5,-11.9,71,623,0.00,1.70,0.00,0.000,6,0.000,0.064,2577,1944,3382
$GC,950,-0.96,-175.2,116.2,-8.2,102,955,0.00,2.53,0.00,0.000,4,0.000,0.050,2576,3461,3382
$GC,1083,-0.96,-175.2,127.3,-8.0,113,1090,0.00,2.00,0.00,0.000,6,0.000,0.019,2576,2242,3383
$GC,1409,-0.96,-175.2,155.1,-8.4,144,1413,0.00,2.35,0.00,0.000,4,0.000,0.048,2577,837,3384
$GC,1511,-0.96,-175.2,162.7,-7.0,152,1517,0.00,1.98,0.00,0.000,6,0.000,0.018,2577,2094,3384
$GC,1837,-0.96,-175.2,186.3,-7.5,183,1840,0.00,2.10,0.00,0.000,4,0.000,0.061,2576,842,3384
$GC,1870,-0.96,-175.2,189.0,-8.0,186,1874,0.00,1.83,0.00,0.000,6,0.000,0.062,2577,2008,3384
$GC,2205,-0.96,-175.2,215.0,-7.7,209,2209,0.00,2.42,0.00,0.000,4,0.000,0.032,2577,3463,3384
$GC,2243,-0.96,-175.2,218.4,-8.4,210,2250,0.00,2.00,0.00,0.000,6,0.000,0.020,2577,2235,3384
$GC,2559,-0.96,-175.2,242.3,-7.0,226,2563,0.00,2.33,0.00,0.000,4,0.000,0.035,2576,844,3384
$GC,2647,-0.96,-175.2,248.5,-6.1,230,2651,0.00,2.00,0.00,0.000,6,0.000,0.021,2576,2067,3384
$GC,2974,-0.96,-175.2,267.4,-6.0,246,2975,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2070,3383
$GC,3284,-0.96,-175.2,288.1,-6.8,261,3287,0.00,2.08,0.00,0.000,4,0.000,0.038,2576,843,3382
$GC,3310,-0.96,-175.2,290.4,-7.9,262,3315,0.00,2.03,0.00,0.000,6,0.000,0.023,2576,2071,3382
$GC,3635,-0.96,-175.2,311.2,-6.2,274,3636,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2075,3381
$GC,3960,-0.96,-175.2,331.2,-6.2,282,3961,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2074,3379
$GC,4285,-0.96,-175.2,348.4,-5.1,290,4288,0.00,2.10,0.00,0.000,4,0.000,0.040,2576,839,3377
$GC,4312,-0.96,-175.2,350.0,-6.4,290,4316,0.00,2.05,0.00,0.000,6,0.000,0.066,2577,2068,3377
$GC,4654,-0.96,-175.2,371.6,-6.4,299,4656,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2072,3376
$GC,4979,-0.96,-175.2,392.8,-6.6,307,4980,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2073,3373
$GC,5304,-0.96,-175.2,410.7,-5.5,315,5308,0.00,2.10,0.00,0.000,4,0.000,0.041,2576,843,3371
$GC,5326,-0.96,-175.2,412.1,-6.1,315,5330,0.00,2.05,0.00,0.000,6,0.000,0.028,2577,2082,3370
$GC,5674,-0.96,-175.2,432.4,-5.7,324,5678,0.00,2.40,0.00,0.000,4,0.000,0.055,2577,3474,3368
$GC,5706,-0.96,-175.2,434.3,-6.0,324,5712,0.00,2.05,0.00,0.000,6,0.000,0.033,2577,2245,3368
$STATE,5994,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5994,begin apogee
$GC,5999,-0.31,0.0,452.5,6.5,332,6143,0.65,0.00,141.45,0.893,6,0.169,0.000,2729,2244,2664
$STATE,6144,end apogee,CONTROL_FINISHED_OK
$STATE,6144,begin climb
$GC,6146,0.96,175.2,461.1,0.0,335,6302,1.20,2.28,145.35,0.866,4,0.105,0.053,3009,3478,1948
$GC,6476,0.96,175.2,445.1,9.5,342,6480,0.00,2.10,0.00,0.000,6,0.000,0.029,3009,2258,1943
$GC,6812,0.96,175.2,418.7,8.1,351,6813,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2258,1936
$GC,7137,0.96,175.2,387.2,9.9,359,7141,0.00,2.15,0.00,0.000,4,0.000,0.050,3009,3480,1934
$GC,7170,0.96,175.2,384.0,9.4,359,7174,0.00,2.10,0.00,0.000,6,0.000,0.069,3009,2259,1934
$GC,7507,0.96,175.2,356.6,7.8,368,7511,0.00,2.45,0.00,0.000,4,0.000,0.066,3009,850,1932
$GC,7601,0.96,175.2,348.9,8.1,370,7605,0.00,2.08,0.00,0.000,6,0.000,0.028,3009,2069,1929
$GC,7919,0.96,175.2,324.1,8.4,378,7923,0.00,2.12,0.00,0.000,4,0.000,0.058,3009,846,1929
$GC,7957,0.96,175.2,320.5,9.1,378,7964,0.00,2.10,0.00,0.000,6,0.000,0.067,3009,2078,1927
$GC,8269,0.96,175.2,296.1,7.6,387,8273,0.00,2.42,0.00,0.000,4,0.000,0.045,3009,3476,1927
$GC,8391,0.96,175.2,287.0,8.0,392,8398,0.00,2.08,0.00,0.000,6,0.000,0.027,3009,2254,1927
$GC,8707,0.96,175.2,263.0,7.8,408,8711,0.00,2.42,0.00,0.000,4,0.000,0.076,3009,849,1926
$GC,8845,0.96,175.2,251.3,8.5,414,8850,0.00,2.10,0.00,0.000,6,0.000,0.035,3009,2084,1924
$GC,9167,0.96,175.2,226.9,7.6,430,9171,0.00,2.40,0.00,0.000,4,0.000,0.040,3009,3480,1924
$GC,9216,0.96,175.2,222.9,7.9,432,9220,0.00,2.08,0.00,0.000,6,0.000,0.058,3009,2250,1924
$GC,9537,1.00,205.0,200.3,6.3,448,9569,0.00,2.50,22.48,0.710,4,0.000,0.072,3009,848,1826
$GC,9698,1.00,207.6,189.5,7.1,461,9704,0.00,2.05,0.00,0.000,6,0.000,0.025,3008,2088,1822
$GC,10023,1.00,207.6,167.8,7.3,492,10027,0.00,2.12,0.00,0.000,4,0.000,0.038,3009,846,1822
$GC,10135,1.00,207.6,158.8,7.8,502,10139,0.00,2.05,0.00,0.000,6,0.000,0.031,3009,2087,1820
$GC,10467,1.03,228.8,136.7,6.6,533,10500,0.00,2.22,23.10,0.598,4,0.000,0.051,3009,842,1730
$GC,10550,1.03,228.8,130.6,7.4,540,10557,0.00,2.08,0.00,0.000,6,0.000,0.042,3008,2083,1726
$GC,10878,1.06,255.6,108.4,6.4,571,10911,0.00,2.17,24.10,0.605,4,0.000,0.044,3009,849,1620
$GC,10950,1.07,263.1,103.3,6.9,577,10967,0.00,2.05,7.93,0.525,6,0.000,0.021,3009,2085,1590
$GC,11284,1.08,270.3,81.4,6.9,609,11295,0.00,0.00,7.43,0.502,6,0.000,0.000,3009,2089,1562
$GC,11616,1.17,342.9,61.3,5.2,640,11682,0.10,0.00,62.92,0.565,6,0.696,0.000,3060,2089,1266
$GC,11999,1.17,342.9,27.3,8.5,678,12006,0.00,2.10,0.00,0.000,4,0.000,0.035,3060,840,1260
$GC,12047,1.17,342.9,22.7,10.2,686,12053,0.00,1.98,0.00,0.000,6,0.000,0.019,3060,2086,1258
$GC,12166,1.17,342.9,11.2,9.2,707,12172,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2090,1258
$STATE,12260,end climb,SURFACE_DEPTH_REACHED
$STATE,12260,begin surface coast
$FINISH,0.8,1.017852
$STATE,12300,end surface coast,CONTROL_FINISHED_OK
$STATE,12300,begin surface
$SM_CCo,12380,0.00,0.000,0,0,1255,345.87
$SM_GC,1.67,11.32,0.00,0.00,0.033,0.000,0.000,424,2091,1255,-10.81,0.31,345.87
$IRIDIUM_FIX,2052.52,-15935.56,261097,111105
$TT8_MAMPS,0.029146
$HUMID,1887
$INTERNAL_PRESSURE,8.66839
$TCM_TEMP,23.30
$XPDR_PINGS,697
$24V_AH,21.9,52.799
$10V_AH,10.2,30.427
$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,25.300,98.500,434.750,0.000,0.000,30.608,27.497,213.167,174.250,0.000,0.000,12.056,1280.579,8858.984,508.636,1657.200,452.683,33.367,1345.892,0.000,1649.090,0.000,0.470
$DEVICE_MAMPS,696.436,75.933,892.788,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,489.747,476.981,814.224,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38023,731
$CAP_FILE_SIZE,99609,16
$CFSIZE,260165632,249524224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,010808,181425,2101.173,-15748.508,44,1.1,61,9.8