version: 66.03
glider: 139
mission: 3
dive: 186
start: 8 5 108 9 0 13
data:
$ID,139
$MISSION,3
$DIVE,186
$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,-1274516
$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,60
$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
$GPS1,084908,2104.823,-15757.015,47,1.1,47,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-66.2
$GPS2,085923,2104.718,-15757.104,10,1.4,11,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.234,0.101
$KALMAN_X,-113040.9,116.4,-435.8,105946.4,-2635.3
$KALMAN_Y,-68998.9,-123.0,-284.3,47265.7,-1347.9
$MHEAD_RNG_PITCHd_Wd,56.9,18118,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.96,-175.2,0.0,0.0,0,77,0.00,0.00,-54.78,0.000,2,0.000,0.000,424,2085,2749
$GC,79,-0.96,-175.2,3.5,-4.1,10,109,12.12,1.73,-11.82,0.000,4,0.154,0.079,2574,3175,3380
$GC,155,-0.96,-175.2,19.5,-13.2,23,161,0.00,1.55,0.00,0.000,6,0.000,0.021,2574,2237,3381
$GC,278,-0.96,-175.2,32.7,-10.7,43,282,0.00,2.35,0.00,0.000,4,0.000,0.034,2574,836,3381
$GC,321,-0.96,-175.2,38.2,-12.9,46,328,0.00,2.00,0.00,0.000,6,0.000,0.018,2574,2070,3381
$GC,646,-0.96,-175.2,77.8,-12.3,77,649,0.00,2.08,0.00,0.000,4,0.000,0.034,2573,836,3382
$GC,673,-0.96,-175.2,81.0,-11.3,79,680,0.00,2.00,0.00,0.000,6,0.000,0.018,2574,2072,3382
$GC,998,-0.96,-175.2,116.5,-10.2,110,1002,0.00,2.08,0.00,0.000,4,0.000,0.034,2574,838,3383
$GC,1020,-0.96,-175.2,118.9,-10.7,112,1024,0.00,1.98,0.00,0.000,6,0.000,0.018,2574,2077,3383
$GC,1351,-0.96,-175.2,150.8,-8.6,143,1354,0.00,1.92,0.00,0.000,4,0.000,0.069,2574,3257,3383
$GC,1413,-0.96,-175.2,155.8,-7.6,148,1419,0.00,1.65,0.00,0.000,6,0.000,0.019,2574,2238,3383
$GC,1740,-0.96,-175.2,180.9,-8.1,179,1744,0.00,2.35,0.00,0.000,4,0.000,0.060,2574,839,3383
$GC,1812,-0.96,-175.2,186.7,-8.5,185,1816,0.00,1.80,0.00,0.000,6,0.000,0.062,2574,1989,3384
$GC,2137,-0.96,-175.2,214.9,-8.0,208,2141,0.00,2.45,0.00,0.000,4,0.000,0.031,2574,3458,3384
$GC,2175,-0.96,-175.2,217.6,-6.6,209,2181,0.00,2.03,0.00,0.000,6,0.000,0.049,2574,2235,3384
$GC,2491,-0.96,-175.2,239.0,-6.6,225,2495,0.00,2.35,0.00,0.000,4,0.000,0.069,2574,835,3384
$GC,2591,-0.96,-175.2,244.7,-5.0,229,2597,0.00,2.00,0.00,0.000,6,0.000,0.021,2574,2082,3384
$GC,2907,-0.96,-175.2,260.2,-5.3,245,2908,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2085,3383
$GC,3215,-0.96,-175.2,284.3,-7.9,260,3216,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2085,3382
$GC,3545,-0.96,-175.2,302.0,-4.0,275,3548,0.00,2.10,0.00,0.000,4,0.000,0.038,2573,842,3381
$GC,3572,-0.96,-175.2,303.1,-4.3,275,3576,0.00,2.00,0.00,0.000,6,0.000,0.024,2574,2074,3381
$GC,3914,-0.96,-175.2,318.6,-5.2,284,3918,0.00,2.38,0.00,0.000,4,0.000,0.038,2574,3473,3379
$GC,3935,-0.96,-175.2,319.9,-6.1,284,3939,0.00,2.03,0.00,0.000,6,0.000,0.063,2574,2243,3379
$GC,4277,-0.96,-175.2,341.9,-6.1,293,4281,0.00,2.38,0.00,0.000,4,0.000,0.039,2573,844,3377
$GC,4350,-0.96,-175.2,346.5,-6.8,294,4354,0.00,2.03,0.00,0.000,6,0.000,0.049,2573,2076,3377
$GC,4686,-0.96,-175.2,368.6,-6.5,303,4690,0.00,2.10,0.00,0.000,4,0.000,0.040,2573,848,3375
$GC,4724,-0.96,-175.2,371.3,-7.2,303,4731,0.00,2.05,0.00,0.000,6,0.000,0.064,2574,2069,3375
$GC,5056,-0.96,-175.2,390.4,-5.3,312,5057,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2072,3373
$GC,5381,-0.96,-175.2,405.0,-4.1,320,5382,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2073,3371
$GC,5706,-0.96,-175.2,418.5,-4.5,328,5710,0.00,2.10,0.00,0.000,4,0.000,0.042,2573,848,3368
$GC,5739,-0.96,-175.2,420.1,-5.4,328,5743,0.00,2.05,0.00,0.000,6,0.000,0.028,2574,2078,3368
$GC,6075,-0.96,-175.2,438.8,-6.1,337,6077,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2082,3366
$STATE,6236,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6236,begin apogee
$GC,6241,-0.31,0.0,450.0,6.9,341,6385,0.47,0.00,141.32,0.894,6,0.095,0.000,2683,2082,2664
$STATE,6386,end apogee,CONTROL_FINISHED_OK
$STATE,6386,begin climb
$GC,6388,0.96,175.2,456.8,0.0,344,6543,1.45,2.53,145.73,0.867,4,0.042,0.075,3008,3471,1949
$GC,6587,0.99,195.9,456.3,6.6,349,6612,0.00,2.10,18.77,0.807,6,0.000,0.028,3008,2255,1864
$GC,6931,0.99,195.9,427.6,9.1,358,6935,0.00,2.45,0.00,0.000,4,0.000,0.045,3007,851,1855
$GC,7059,0.99,195.9,414.3,10.7,360,7066,0.00,2.10,0.00,0.000,6,0.000,0.063,3008,2072,1851
$GC,7391,0.99,195.9,384.0,8.4,369,7395,0.00,2.45,0.00,0.000,4,0.000,0.043,3008,3478,1851
$GC,7422,0.99,195.9,381.1,8.8,369,7429,0.00,2.10,0.00,0.000,6,0.000,0.062,3007,2255,1851
$GC,7754,0.99,202.3,358.0,7.0,378,7763,0.00,2.47,4.28,0.571,4,0.000,0.044,3008,845,1839
$GC,7881,0.99,202.3,347.6,8.7,380,7887,0.00,2.10,0.00,0.000,6,0.000,0.029,3008,2076,1836
$GC,8212,0.99,202.3,317.2,10.1,389,8216,0.00,2.42,0.00,0.000,4,0.000,0.042,3007,3477,1836
$GC,8261,0.99,202.3,311.6,11.5,390,8265,0.00,2.10,0.00,0.000,6,0.000,0.028,3008,2251,1836
$GC,8583,0.99,202.3,279.1,8.7,403,8587,0.00,2.42,0.00,0.000,4,0.000,0.044,3008,849,1835
$GC,8734,0.99,202.3,265.8,8.9,410,8737,0.00,2.05,0.00,0.000,6,0.000,0.028,3008,2079,1832
$GC,9066,1.01,216.0,240.5,6.8,426,9087,0.00,0.00,14.90,0.640,6,0.000,0.000,3008,2083,1783
$GC,9395,1.04,237.2,216.8,6.6,442,9420,0.00,2.45,20.15,0.713,4,0.000,0.053,3008,3476,1696
$GC,9447,1.04,237.2,212.7,8.2,444,9454,0.00,2.08,0.00,0.000,6,0.000,0.025,3008,2254,1695
$GC,9768,1.04,237.2,183.5,9.6,468,9772,0.00,2.42,0.00,0.000,4,0.000,0.041,3008,844,1692
$GC,10024,1.04,237.2,161.6,7.5,490,10031,0.00,2.08,0.00,0.000,6,0.000,0.065,3008,2080,1688
$GC,10352,1.04,237.2,137.9,8.8,521,10356,0.00,1.73,0.00,0.000,4,0.000,0.077,3008,3129,1688
$GC,10434,1.04,237.2,130.1,8.5,528,10441,0.00,1.48,0.00,0.000,6,0.000,0.022,3008,2241,1688
$GC,10761,1.06,260.0,108.6,6.5,559,10794,0.00,2.47,22.38,0.565,4,0.000,0.045,3008,838,1602
$GC,10857,1.06,260.0,101.2,8.2,567,10863,0.00,2.03,0.00,0.000,6,0.000,0.021,3008,2092,1599
$GC,11183,1.12,304.6,79.7,5.9,598,11230,0.12,2.38,39.47,0.583,4,0.048,0.064,3052,3456,1421
$GC,11251,1.12,304.6,74.1,9.5,604,11259,0.00,2.03,0.00,0.000,6,0.000,0.021,3052,2244,1421
$GC,11580,1.12,304.6,43.3,9.6,635,11584,0.00,2.38,0.00,0.000,4,0.000,0.064,3051,840,1418
$GC,11737,1.12,304.6,28.0,9.1,650,11744,0.00,2.00,0.00,0.000,6,0.000,0.019,3052,2093,1415
$GC,11857,1.12,304.6,17.8,9.2,671,11862,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2098,1415
$GC,11975,1.12,304.6,7.2,7.8,692,11981,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2098,1415
$STATE,12024,end climb,SURFACE_DEPTH_REACHED
$STATE,12024,begin surface coast
$FINISH,1.2,1.023159
$STATE,12065,end surface coast,CONTROL_FINISHED_OK
$STATE,12065,begin surface
$SM_CCo,12084,12.93,0.490,0,0,1359,320.12
$SM_GC,2.17,0.00,0.00,12.93,0.000,0.000,0.490,427,2098,1359,-10.89,0.54,320.12
$IRIDIUM_FIX,2054.83,-15756.91,301097,090946
$TT8_MAMPS,0.029146
$HUMID,1927
$INTERNAL_PRESSURE,8.65862
$TCM_TEMP,23.20
$XPDR_PINGS,680
$24V_AH,23.3,56.381
$10V_AH,10.2,32.481
$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,25.650,106.300,407.000,12.925,0.000,57.723,65.776,307.058,170.000,0.000,0.000,13.386,1264.585,8652.899,531.054,1629.633,626.045,33.373,1347.929,0.000,1625.117,0.000,0.470
$DEVICE_MAMPS,154.167,79.001,893.555,490.113,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,474.607,457.490,782.317,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34892,708
$CAP_FILE_SIZE,102662,14
$CFSIZE,260165632,248233984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,050808,122351,2104.718,-15757.011,62,2.9,81,9.8