version: 66.03
glider: 139
mission: 3
dive: 199
start: 8 7 108 5 27 22
data:
$ID,139
$MISSION,3
$DIVE,199
$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,-1274760.1
$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,48
$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
$GPS1,051737,2109.121,-15800.166,29,1.5,29,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-68.4
$GPS2,052632,2109.158,-15800.444,9,1.6,9,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.244,0.072
$KALMAN_X,-155574.2,461.8,-381.7,142312.4,-3575.7
$KALMAN_Y,-79572.7,60.5,195.9,65397.5,-630.1
$MHEAD_RNG_PITCHd_Wd,63.9,26560,-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,-175.2,0.0,0.0,0,72,0.00,0.00,-49.10,0.000,2,0.000,0.000,433,2238,2597
$GC,75,-0.96,-175.2,3.2,-3.0,9,110,12.15,2.08,-16.23,0.000,4,0.156,0.062,2578,3476,3380
$GC,161,-0.96,-175.2,16.5,-10.6,24,167,0.00,2.00,0.00,0.000,6,0.000,0.021,2578,2237,3381
$GC,280,-0.96,-175.2,30.4,-13.1,45,284,0.00,2.35,0.00,0.000,4,0.000,0.034,2578,836,3382
$GC,308,-0.96,-175.2,33.9,-12.3,47,312,0.00,2.03,0.00,0.000,6,0.000,0.018,2578,2099,3382
$GC,638,-0.96,-175.2,76.2,-12.1,78,642,0.00,2.10,0.00,0.000,4,0.000,0.032,2577,842,3382
$GC,672,-0.96,-175.2,80.4,-12.4,81,676,0.00,1.98,0.00,0.000,6,0.000,0.018,2578,2081,3383
$GC,1003,-0.96,-175.2,118.0,-8.6,112,1004,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2085,3383
$GC,1321,-0.96,-175.2,143.4,-8.6,142,1325,0.00,2.30,0.00,0.000,4,0.000,0.031,2578,3460,3384
$GC,1349,-0.96,-175.2,145.8,-8.2,144,1352,0.00,1.98,0.00,0.000,6,0.000,0.020,2578,2236,3385
$GC,1680,-0.96,-175.2,174.9,-9.3,175,1684,0.00,2.35,0.00,0.000,4,0.000,0.048,2578,840,3385
$GC,1787,-0.96,-175.2,183.3,-6.9,184,1791,0.00,2.00,0.00,0.000,6,0.000,0.019,2578,2084,3385
$GC,2118,-0.96,-175.2,202.6,-5.2,213,2122,0.00,2.30,0.00,0.000,4,0.000,0.048,2578,3462,3384
$GC,2179,-0.96,-175.2,205.9,-5.0,216,2183,0.00,2.00,0.00,0.000,6,0.000,0.020,2578,2228,3384
$GC,2511,-0.96,-175.2,231.7,-9.8,232,2515,0.00,2.33,0.00,0.000,4,0.000,0.035,2577,840,3385
$GC,2582,-0.96,-175.2,238.3,-9.2,235,2586,0.00,2.00,0.00,0.000,6,0.000,0.020,2578,2074,3385
$GC,2904,-0.96,-175.2,268.6,-9.2,251,2907,0.00,2.08,0.00,0.000,4,0.000,0.035,2578,841,3385
$GC,2926,-0.96,-175.2,270.7,-9.1,252,2930,0.00,2.00,0.00,0.000,6,0.000,0.035,2578,2080,3385
$GC,3258,-0.96,-175.2,292.3,-6.1,268,3259,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2084,3384
$GC,3585,-0.96,-175.2,307.2,-4.4,280,3587,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2084,3383
$GC,3910,-0.96,-175.2,328.3,-7.2,288,3913,0.00,2.10,0.00,0.000,4,0.000,0.038,2577,842,3382
$GC,3936,-0.96,-175.2,330.7,-8.5,288,3941,0.00,2.05,0.00,0.000,6,0.000,0.031,2578,2075,3382
$GC,4279,-0.96,-175.2,360.9,-8.3,297,4283,0.00,2.38,0.00,0.000,4,0.000,0.040,2578,3470,3380
$GC,4318,-0.96,-175.2,363.9,-8.1,298,4322,0.00,2.03,0.00,0.000,6,0.000,0.063,2578,2242,3380
$GC,4647,-0.96,-175.2,385.7,-5.7,306,4651,0.00,2.35,0.00,0.000,4,0.000,0.040,2578,848,3378
$GC,4725,-0.96,-175.2,391.0,-6.9,307,4729,0.00,2.03,0.00,0.000,6,0.000,0.026,2578,2075,3378
$GC,5062,-0.96,-175.2,417.4,-8.0,316,5066,0.00,2.40,0.00,0.000,4,0.000,0.041,2578,3475,3376
$GC,5133,-0.96,-175.2,423.1,-7.6,317,5137,0.00,2.08,0.00,0.000,6,0.000,0.062,2578,2240,3376
$GC,5470,-0.96,-175.2,445.0,-6.2,326,5474,0.00,2.38,0.00,0.000,4,0.000,0.039,2578,843,3374
$GC,5480,-0.96,-175.2,445.5,-6.0,326,5484,0.00,2.05,0.00,0.000,6,0.000,0.065,2578,2081,3374
$STATE,5548,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5548,begin apogee
$GC,5552,-0.31,0.0,450.3,7.2,328,5699,0.68,0.00,143.23,0.872,6,0.161,0.000,2735,2082,2664
$STATE,5699,end apogee,CONTROL_FINISHED_OK
$STATE,5700,begin climb
$GC,5702,0.96,175.2,458.6,0.0,331,5856,1.17,2.25,145.27,0.848,4,0.103,0.077,3009,845,1948
$GC,5911,0.96,175.2,451.5,10.4,336,5916,0.00,2.10,0.00,0.000,6,0.000,0.027,3009,2076,1940
$GC,6235,0.96,175.2,425.8,7.6,344,6239,0.00,2.45,0.00,0.000,4,0.000,0.042,3009,3483,1937
$GC,6273,0.96,175.2,422.8,8.0,345,6277,0.00,2.08,0.00,0.000,6,0.000,0.028,3009,2245,1937
$GC,6603,0.99,198.1,399.2,6.5,353,6627,0.00,2.50,18.95,0.802,4,0.000,0.076,3009,852,1855
$GC,6763,1.00,205.4,389.9,6.9,356,6779,0.00,2.05,7.30,0.694,6,0.000,0.028,3009,2084,1826
$GC,7103,1.00,205.4,361.8,9.0,365,7107,0.00,2.40,0.00,0.000,4,0.000,0.042,3009,3472,1823
$GC,7202,1.00,205.4,352.4,9.0,367,7206,0.00,2.08,0.00,0.000,6,0.000,0.027,3009,2256,1823
$GC,7515,1.00,205.4,327.7,7.8,375,7519,0.00,2.42,0.00,0.000,4,0.000,0.043,3009,849,1821
$GC,7581,1.00,205.4,322.0,8.6,376,7585,0.00,2.08,0.00,0.000,6,0.000,0.065,3009,2071,1819
$GC,7903,1.00,205.4,294.8,8.8,385,7907,0.00,2.42,0.00,0.000,4,0.000,0.041,3009,3480,1819
$GC,7980,1.00,205.4,288.0,8.0,388,7987,0.00,2.10,0.00,0.000,6,0.000,0.031,3009,2252,1819
$GC,8296,1.02,221.6,265.4,6.7,404,8318,0.00,2.45,14.75,0.727,4,0.000,0.044,3009,849,1759
$GC,8440,1.02,221.6,253.8,8.6,410,8444,0.00,2.08,0.00,0.000,6,0.000,0.026,3009,2075,1754
$GC,8762,1.08,274.0,233.9,5.7,426,8816,0.00,2.50,46.95,0.725,4,0.000,0.048,3009,3474,1545
$GC,8855,1.09,283.3,228.0,6.9,430,8871,0.08,2.08,9.73,0.633,6,0.041,0.031,3042,2255,1507
$GC,9190,1.09,283.3,193.2,12.5,449,9194,0.00,2.42,0.00,0.000,4,0.000,0.073,3041,846,1502
$GC,9251,1.09,283.3,185.1,12.9,454,9255,0.00,2.05,0.00,0.000,6,0.000,0.029,3042,2088,1499
$GC,9582,1.09,283.3,149.2,9.1,485,9585,0.00,2.15,0.00,0.000,4,0.000,0.075,3041,838,1499
$GC,9650,1.09,283.3,142.3,10.5,491,9654,0.00,2.05,0.00,0.000,6,0.000,0.026,3042,2088,1498
$GC,9981,1.10,292.2,116.7,6.9,522,9991,0.00,0.00,7.70,0.528,6,0.000,0.000,3042,2093,1471
$GC,10312,1.10,292.2,87.7,10.8,553,10315,0.00,2.12,0.00,0.000,4,0.000,0.076,3041,845,1471
$GC,10447,1.10,292.2,75.4,7.3,565,10450,0.00,2.03,0.00,0.000,6,0.000,0.027,3042,2092,1469
$GC,10778,1.10,292.2,52.1,8.0,596,10782,0.00,2.30,0.00,0.000,4,0.000,0.035,3041,3467,1469
$GC,10840,1.10,292.2,46.5,9.3,601,10844,0.00,2.00,0.00,0.000,6,0.000,0.021,3042,2230,1469
$GC,11173,1.10,292.2,19.2,7.7,643,11179,0.00,2.33,0.00,0.000,4,0.000,0.035,3041,838,1470
$GC,11269,1.10,292.2,12.1,8.5,660,11275,0.00,1.98,0.00,0.000,6,0.000,0.018,3042,2086,1470
$STATE,11381,end climb,SURFACE_DEPTH_REACHED
$STATE,11381,begin surface coast
$FINISH,1.1,0.999807
$STATE,11418,end surface coast,CONTROL_FINISHED_OK
$STATE,11418,begin surface
$SM_CCo,11438,24.70,0.504,0,0,1358,320.12
$SM_GC,1.93,0.00,0.00,24.70,0.000,0.000,0.504,423,2091,1358,-10.91,0.31,320.12
$IRIDIUM_FIX,2059.45,-15803.33,011197,050516
$TT8_MAMPS,0.029146
$HUMID,1897
$INTERNAL_PRESSURE,8.68792
$TCM_TEMP,23.00
$XPDR_PINGS,694
$24V_AH,23.4,58.204
$10V_AH,10.2,33.504
$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,25.250,113.125,393.875,24.700,0.000,47.300,110.153,196.560,173.500,0.000,0.000,11.052,1254.525,8063.909,480.976,1639.932,548.083,33.382,1302.527,0.000,1635.566,0.000,0.472
$DEVICE_MAMPS,161.070,76.700,872.079,503.919,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,460.946,452.670,780.648,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34914,686
$CAP_FILE_SIZE,100007,14
$CFSIZE,260165632,247599104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070808,083938,2109.655,-15800.317,36,1.1,36,9.8