version: 66.03
glider: 139
mission: 3
dive: 184
start: 8 5 108 2 6 41
data:
$ID,139
$MISSION,3
$DIVE,184
$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,-1274484.2
$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,57
$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
$GPS1,015844,2104.511,-15755.142,38,0.9,45,9.8
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,1
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-68.6
$GPS2,020552,2104.428,-15755.254,14,3.3,33,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.167,0.192
$KALMAN_X,-106404.4,165.1,491.2,101525.2,-3663.9
$KALMAN_Y,-65653.1,78.3,260.7,42629.9,-1990.6
$MHEAD_RNG_PITCHd_Wd,31.3,14890,-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,-175.2,0.0,0.0,0,72,0.00,0.00,-49.72,0.000,2,0.000,0.000,422,2091,2678
$GC,75,-0.96,-175.2,3.4,-3.9,9,110,12.18,2.35,-13.40,0.000,4,0.156,0.055,2577,3466,3381
$GC,161,-0.96,-175.2,19.0,-11.4,24,167,0.00,1.98,0.00,0.000,6,0.000,0.020,2576,2240,3383
$GC,279,-0.96,-175.2,33.3,-12.7,43,283,0.00,2.35,0.00,0.000,4,0.000,0.035,2576,840,3383
$GC,340,-0.96,-175.2,41.1,-13.3,48,344,0.00,2.00,0.00,0.000,6,0.000,0.018,2577,2085,3382
$GC,670,-0.96,-175.2,82.0,-12.8,79,674,0.00,2.30,0.00,0.000,4,0.000,0.030,2577,3471,3383
$GC,686,-0.96,-175.2,84.1,-13.0,80,692,0.00,2.03,0.00,0.000,6,0.000,0.061,2576,2241,3383
$GC,1011,-0.96,-175.2,117.2,-9.5,111,1014,0.00,2.33,0.00,0.000,4,0.000,0.033,2576,839,3385
$GC,1127,-0.96,-175.2,128.4,-9.2,121,1135,0.00,2.00,0.00,0.000,6,0.000,0.053,2577,2073,3385
$GC,1455,-0.96,-175.2,154.7,-7.7,152,1459,0.00,2.30,0.00,0.000,4,0.000,0.048,2577,3464,3386
$GC,1509,-0.96,-175.2,159.4,-7.7,156,1517,0.00,2.00,0.00,0.000,6,0.000,0.018,2576,2237,3386
$GC,1836,-0.96,-175.2,184.3,-6.6,187,1840,0.00,2.35,0.00,0.000,4,0.000,0.048,2576,835,3386
$GC,1870,-0.96,-175.2,186.3,-5.8,190,1874,0.00,2.00,0.00,0.000,6,0.000,0.020,2577,2085,3386
$GC,2199,-0.96,-175.2,203.6,-5.8,218,2202,0.00,2.08,0.00,0.000,4,0.000,0.073,2576,845,3386
$GC,2231,-0.96,-175.2,206.0,-6.7,219,2235,0.00,2.00,0.00,0.000,6,0.000,0.045,2577,2069,3386
$GC,2553,-0.96,-175.2,229.1,-7.2,235,2557,0.00,2.35,0.00,0.000,4,0.000,0.034,2577,3471,3386
$GC,2585,-0.96,-175.2,231.5,-7.2,236,2592,0.00,2.03,0.00,0.000,6,0.000,0.030,2576,2243,3386
$GC,2901,-0.96,-175.2,253.8,-7.8,252,2905,0.00,2.35,0.00,0.000,4,0.000,0.035,2576,845,3385
$GC,2957,-0.96,-175.2,258.3,-8.4,254,2963,0.00,1.98,0.00,0.000,6,0.000,0.022,2577,2077,3385
$GC,3272,-0.96,-175.2,283.8,-7.5,270,3276,0.00,2.35,0.00,0.000,4,0.000,0.036,2577,3466,3384
$GC,3298,-0.96,-175.2,285.7,-7.7,271,3302,0.00,2.03,0.00,0.000,6,0.000,0.022,2576,2244,3384
$GC,3638,-0.96,-175.2,310.2,-7.2,285,3642,0.00,2.38,0.00,0.000,4,0.000,0.038,2577,838,3382
$GC,3726,-0.96,-175.2,316.0,-6.3,287,3730,0.00,2.05,0.00,0.000,6,0.000,0.046,2577,2089,3382
$GC,4051,-0.96,-175.2,332.6,-5.3,295,4055,0.00,2.35,0.00,0.000,4,0.000,0.038,2577,3473,3381
$GC,4090,-0.96,-175.2,334.8,-5.9,296,4093,0.00,2.03,0.00,0.000,6,0.000,0.025,2577,2244,3380
$GC,4419,-0.96,-175.2,349.0,-3.4,304,4423,0.00,2.38,0.00,0.000,4,0.000,0.040,2576,848,3379
$GC,4486,-0.96,-175.2,350.8,-3.0,305,4490,0.00,2.03,0.00,0.000,6,0.000,0.025,2577,2077,3379
$GC,4828,-0.96,-175.2,371.7,-7.9,314,4832,0.00,2.38,0.00,0.000,4,0.000,0.041,2577,3471,3376
$GC,4876,-0.96,-175.2,376.1,-9.3,315,4881,0.00,2.05,0.00,0.000,6,0.000,0.025,2576,2247,3376
$GC,5196,-0.96,-175.2,403.7,-8.4,323,5200,0.00,2.38,0.00,0.000,4,0.000,0.039,2577,846,3375
$GC,5318,-0.96,-175.2,412.4,-5.5,325,5324,0.00,2.05,0.00,0.000,6,0.000,0.027,2577,2082,3374
$GC,5649,-0.96,-175.2,422.6,-2.3,334,5653,0.00,2.40,0.00,0.000,4,0.000,0.043,2577,3476,3372
$GC,5722,-0.96,-175.2,424.8,-2.5,335,5725,0.00,2.05,0.00,0.000,6,0.000,0.060,2577,2240,3371
$GC,6058,-0.96,-175.2,441.7,-6.3,344,6062,0.00,2.38,0.00,0.000,4,0.000,0.041,2576,848,3370
$STATE,6151,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6151,begin apogee
$GC,6158,-0.31,0.0,450.2,9.8,346,6303,0.65,0.00,142.40,0.889,6,0.051,0.000,2726,2078,2664
$STATE,6304,end apogee,CONTROL_FINISHED_OK
$STATE,6304,begin climb
$GC,6306,0.96,175.2,460.6,0.0,349,6461,1.20,2.25,145.60,0.867,4,0.037,0.043,3008,842,1946
$GC,6530,0.96,175.2,460.5,7.8,354,6534,0.00,2.10,0.00,0.000,6,0.000,0.069,3008,2083,1940
$GC,6842,0.96,175.2,435.7,8.0,362,6846,0.00,2.17,0.00,0.000,4,0.000,0.044,3008,841,1937
$GC,6881,0.96,175.2,432.2,9.0,363,6884,0.00,2.10,0.00,0.000,6,0.000,0.029,3008,2087,1935
$GC,7210,0.96,175.2,403.1,9.1,371,7214,0.00,2.42,0.00,0.000,4,0.000,0.044,3008,3480,1934
$GC,7298,0.96,175.2,393.3,10.7,373,7302,0.00,2.10,0.00,0.000,6,0.000,0.038,3008,2254,1934
$GC,7622,0.96,175.2,363.1,8.8,381,7626,0.00,2.45,0.00,0.000,4,0.000,0.073,3008,843,1932
$GC,7766,0.96,175.2,348.2,10.8,384,7770,0.00,2.08,0.00,0.000,6,0.000,0.039,3008,2078,1930
$GC,8085,0.96,175.2,319.5,8.9,392,8086,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2081,1929
$GC,8391,0.96,175.2,294.8,7.9,401,8395,0.00,2.42,0.00,0.000,4,0.000,0.075,3008,3480,1929
$GC,8502,0.96,175.2,285.5,8.2,406,8506,0.00,2.08,0.00,0.000,6,0.000,0.035,3008,2245,1929
$GC,8828,0.96,175.2,260.8,8.0,422,8832,0.00,2.12,0.00,0.000,4,0.000,0.041,3009,3477,1928
$GC,8973,0.97,180.2,249.7,7.0,428,8977,0.00,2.08,0.00,0.000,6,0.000,0.026,3008,2252,1928
$GC,9294,1.06,257.2,231.9,5.0,444,9370,0.00,2.50,68.43,0.741,4,0.000,0.045,3008,854,1613
$GC,9415,1.08,270.4,225.1,6.8,449,9432,0.00,2.08,12.43,0.667,6,0.000,0.026,3008,2086,1561
$GC,9747,1.08,270.4,199.6,8.2,466,9751,0.00,2.38,0.00,0.000,4,0.000,0.037,3008,3472,1555
$GC,9836,1.08,270.4,192.0,8.0,474,9840,0.00,2.05,0.00,0.000,6,0.000,0.063,3008,2247,1555
$GC,10167,1.08,270.4,170.7,8.4,505,10171,0.00,2.40,0.00,0.000,4,0.000,0.067,3008,847,1553
$GC,10285,1.08,270.4,160.0,8.7,515,10289,0.00,2.03,0.00,0.000,6,0.000,0.062,3008,2090,1550
$GC,10617,1.08,270.4,131.5,7.8,546,10621,0.00,2.35,0.00,0.000,4,0.000,0.039,3008,3475,1550
$GC,10672,1.08,270.4,127.6,7.3,550,10679,0.00,2.03,0.00,0.000,6,0.000,0.022,3008,2234,1550
$GC,10998,1.15,326.1,110.9,5.6,581,11053,0.15,2.40,48.00,0.607,4,0.042,0.071,3063,837,1332
$GC,11199,1.15,326.1,89.5,12.8,599,11203,0.00,2.03,0.00,0.000,6,0.000,0.020,3063,2085,1327
$GC,11531,1.15,326.1,54.2,8.7,630,11534,0.00,1.60,0.00,0.000,4,0.000,0.076,3064,3070,1327
$GC,11565,1.15,326.1,51.0,9.0,633,11568,0.00,1.38,0.00,0.000,6,0.000,0.021,3063,2237,1327
$GC,11895,1.15,326.1,20.2,9.7,672,11901,0.00,2.35,0.00,0.000,4,0.000,0.067,3063,839,1327
$STATE,12075,end climb,SURFACE_DEPTH_REACHED
$STATE,12076,begin surface coast
$FINISH,1.2,1.022891
$STATE,12086,end surface coast,CONTROL_FINISHED_OK
$STATE,12086,begin surface
$SM_CCo,12168,0.00,0.000,0,0,1322,329.19
$SM_GC,1.63,11.32,0.00,0.00,0.031,0.000,0.000,429,2111,1322,-10.82,0.90,329.19
$IRIDIUM_FIX,2057.14,-15756.91,291097,222234
$TT8_MAMPS,0.029146
$HUMID,1904
$INTERNAL_PRESSURE,8.65862
$TCM_TEMP,23.00
$XPDR_PINGS,730
$24V_AH,23.3,56.098
$10V_AH,10.2,32.325
$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,25.500,130.075,416.850,0.000,0.000,26.093,26.253,233.988,182.500,0.000,0.000,36.037,1302.850,8520.646,479.190,1808.332,474.225,33.373,1381.088,0.000,1765.020,0.000,0.470
$DEVICE_MAMPS,155.701,75.933,888.953,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,474.421,455.176,768.700,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37917,706
$CAP_FILE_SIZE,106948,18
$CFSIZE,260165632,248324096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,050808,053101,2104.667,-15756.348,57,1.0,57,9.8