version: 66.03
glider: 139
mission: 3
dive: 224
start: 8 10 108 18 55 35
data:
$ID,139
$MISSION,3
$DIVE,224
$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,-1275345.8
$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,54
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,300
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$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
$GPS1,184637,2108.971,-15800.015,56,1.8,56,9.8
$_CALLS,1
$_XMS_NAKs,16
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-68.4
$GPS2,185444,2108.978,-15800.104,14,1.8,14,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT3
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.232,0.104
$KALMAN_X,-230377.2,-242.0,17.1,218007.9,-3206.2
$KALMAN_Y,-97714.4,128.7,230.8,83098.4,-1159.3
$MHEAD_RNG_PITCHd_Wd,56.1,25884,-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,-49.60,0.000,2,0.000,0.000,429,2242,2624
$GC,75,-0.96,-175.2,3.1,-2.7,9,109,12.00,0.00,-15.60,0.000,6,0.151,0.000,2575,2244,3380
$GC,222,-0.96,-175.2,26.0,-13.1,35,229,0.00,2.35,0.00,0.000,4,0.000,0.035,2575,843,3381
$GC,251,-0.96,-175.2,29.6,-12.2,40,258,0.00,1.98,0.00,0.000,6,0.000,0.019,2575,2085,3382
$GC,363,-0.96,-175.2,43.4,-12.5,51,367,0.00,2.30,0.00,0.000,4,0.000,0.030,2575,3467,3381
$GC,430,-0.96,-175.2,51.2,-10.5,56,436,0.00,2.03,0.00,0.000,6,0.000,0.020,2575,2236,3381
$GC,755,-0.96,-175.2,87.7,-11.8,87,759,0.00,2.33,0.00,0.000,4,0.000,0.033,2575,842,3383
$GC,889,-0.96,-175.2,102.2,-8.9,99,893,0.00,1.98,0.00,0.000,6,0.000,0.018,2575,2082,3383
$GC,1220,-0.96,-175.2,128.4,-8.3,130,1224,0.00,2.08,0.00,0.000,4,0.000,0.055,2575,842,3383
$GC,1254,-0.96,-175.2,131.5,-8.8,133,1257,0.00,1.98,0.00,0.000,6,0.000,0.019,2575,2078,3384
$GC,1587,-0.96,-175.2,164.0,-10.3,164,1590,0.00,2.08,0.00,0.000,4,0.000,0.035,2574,843,3384
$GC,1609,-0.96,-175.2,166.3,-9.0,166,1613,0.00,2.00,0.00,0.000,6,0.000,0.058,2575,2074,3384
$GC,1942,-0.96,-175.2,188.1,-5.6,197,1946,0.00,2.08,0.00,0.000,4,0.000,0.058,2575,842,3384
$GC,1980,-0.96,-175.2,190.6,-5.8,200,1986,0.00,2.00,0.00,0.000,6,0.000,0.020,2575,2076,3384
$GC,2310,-0.96,-175.2,212.7,-8.0,224,2311,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2079,3385
$GC,2620,-0.96,-175.2,237.3,-7.6,239,2623,0.00,2.08,0.00,0.000,4,0.000,0.035,2575,844,3385
$GC,2665,-0.96,-175.2,240.7,-7.3,241,2669,0.00,2.00,0.00,0.000,6,0.000,0.021,2575,2085,3384
$GC,2998,-0.96,-175.2,260.0,-6.1,257,3002,0.00,2.33,0.00,0.000,4,0.000,0.035,2575,3467,3383
$GC,3038,-0.96,-175.2,262.7,-6.8,259,3041,0.00,2.00,0.00,0.000,6,0.000,0.021,2575,2238,3384
$GC,3370,-0.96,-175.2,287.1,-7.3,275,3374,0.00,2.35,0.00,0.000,4,0.000,0.036,2575,843,3383
$GC,3448,-0.96,-175.2,292.9,-6.9,278,3454,0.00,2.03,0.00,0.000,6,0.000,0.023,2575,2069,3383
$GC,3781,-0.96,-175.2,315.3,-7.0,290,3785,0.00,2.10,0.00,0.000,4,0.000,0.038,2574,836,3382
$GC,3804,-0.96,-175.2,316.8,-7.0,290,3808,0.00,2.03,0.00,0.000,6,0.000,0.023,2575,2079,3382
$GC,4153,-0.96,-175.2,340.9,-6.9,299,4154,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2082,3380
$GC,4477,-0.96,-175.2,364.6,-7.2,307,4481,0.00,2.38,0.00,0.000,4,0.000,0.038,2575,3474,3378
$GC,4497,-0.96,-175.2,366.3,-7.9,307,4501,0.00,2.05,0.00,0.000,6,0.000,0.031,2575,2252,3378
$GC,4840,-0.96,-175.2,383.2,-4.1,316,4844,0.00,2.40,0.00,0.000,4,0.000,0.039,2575,840,3376
$GC,4906,-0.96,-175.2,386.2,-4.5,317,4910,0.00,2.05,0.00,0.000,6,0.000,0.026,2575,2064,3376
$GC,5249,-0.96,-175.2,405.4,-6.1,326,5250,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2065,3374
$GC,5573,-0.96,-175.2,428.4,-7.4,334,5576,0.00,2.10,0.00,0.000,4,0.000,0.041,2574,839,3372
$GC,5645,-0.96,-175.2,433.4,-6.9,335,5649,0.00,2.05,0.00,0.000,6,0.000,0.068,2575,2076,3371
$STATE,5864,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5864,begin apogee
$GC,5869,-0.31,0.0,450.2,7.9,341,6015,0.68,0.00,142.15,0.885,6,0.051,0.000,2729,2076,2664
$STATE,6015,end apogee,CONTROL_FINISHED_OK
$STATE,6015,begin climb
$GC,6017,0.96,175.2,460.4,0.0,344,6172,1.20,2.17,144.90,0.864,4,0.035,0.048,3012,849,1948
$GC,6283,0.96,175.2,455.5,8.1,350,6287,0.00,2.10,0.00,0.000,6,0.000,0.027,3012,2080,1938
$GC,6596,0.96,175.2,431.8,7.6,358,6599,0.00,2.15,0.00,0.000,4,0.000,0.044,3012,849,1935
$GC,6641,0.96,175.2,428.1,8.6,359,6645,0.00,2.08,0.00,0.000,6,0.000,0.028,3012,2081,1934
$GC,6971,0.96,175.2,400.4,8.6,367,6972,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2085,1934
$GC,7295,0.96,175.2,369.8,9.3,375,7299,0.00,2.15,0.00,0.000,4,0.000,0.043,3012,845,1932
$GC,7385,0.96,175.2,362.1,8.9,377,7388,0.00,2.08,0.00,0.000,6,0.000,0.028,3012,2081,1930
$GC,7714,0.96,175.2,334.6,8.3,385,7718,0.00,2.42,0.00,0.000,4,0.000,0.042,3012,3480,1929
$GC,7881,0.96,175.2,322.3,7.4,388,7888,0.00,2.10,0.00,0.000,6,0.000,0.027,3012,2251,1929
$GC,8213,1.03,229.8,302.5,5.7,397,8263,0.00,2.45,45.17,0.798,4,0.000,0.074,3012,850,1726
$GC,8408,1.03,229.8,288.9,7.8,404,8412,0.00,2.10,0.00,0.000,6,0.000,0.067,3012,2079,1718
$GC,8735,1.03,229.8,265.0,8.2,420,8739,0.00,2.40,0.00,0.000,4,0.000,0.039,3012,3477,1717
$GC,8847,1.03,229.8,255.8,8.5,425,8851,0.00,2.08,0.00,0.000,6,0.000,0.026,3012,2240,1717
$GC,9179,1.03,229.8,230.1,7.5,441,9183,0.00,2.38,0.00,0.000,4,0.000,0.041,3012,848,1715
$GC,9284,1.03,229.8,221.9,8.3,445,9291,0.00,2.08,0.00,0.000,6,0.000,0.025,3012,2100,1713
$GC,9600,1.04,237.4,199.6,6.9,461,9612,0.00,2.35,5.82,0.558,4,0.000,0.069,3012,3474,1695
$GC,9691,1.04,237.4,193.1,7.4,469,9695,0.00,2.05,0.00,0.000,6,0.000,0.024,3012,2241,1695
$GC,10022,1.04,237.4,168.9,7.5,500,10027,0.00,2.38,0.00,0.000,4,0.000,0.073,3013,846,1695
$GC,10100,1.04,237.4,162.5,8.1,506,10107,0.00,2.05,0.00,0.000,6,0.000,0.054,3012,2080,1693
$GC,10428,1.04,237.4,137.4,8.3,537,10432,0.00,2.35,0.00,0.000,4,0.000,0.035,3012,3468,1693
$GC,10607,1.04,237.4,121.7,9.0,552,10613,0.00,2.00,0.00,0.000,6,0.000,0.021,3012,2237,1693
$GC,10935,1.08,271.2,98.5,6.2,583,10980,0.00,2.40,32.97,0.572,4,0.000,0.045,3012,843,1556
$GC,11115,1.11,299.1,87.9,6.4,599,11148,0.10,2.03,24.80,0.574,6,0.053,0.021,3051,2098,1443
$GC,11465,1.11,299.1,58.7,9.1,632,11469,0.00,2.12,0.00,0.000,4,0.000,0.035,3051,838,1440
$GC,11567,1.11,299.1,49.2,8.8,641,11570,0.00,2.00,0.00,0.000,6,0.000,0.019,3051,2084,1437
$GC,11895,1.11,299.1,24.1,7.6,678,11902,0.00,2.30,0.00,0.000,4,0.000,0.047,3051,3470,1437
$GC,11975,1.11,299.1,17.3,8.9,692,11982,0.00,1.98,0.00,0.000,6,0.000,0.020,3051,2237,1437
$GC,12094,1.11,299.1,7.5,8.2,713,12101,0.00,2.33,0.00,0.000,4,0.000,0.035,3052,844,1438
$STATE,12140,end climb,SURFACE_DEPTH_REACHED
$STATE,12140,begin surface coast
$FINISH,2.1,1.022902
$STATE,12145,end surface coast,CONTROL_FINISHED_OK
$STATE,12145,begin surface
$SM_CCo,12168,17.55,0.502,0,0,1359,320.12
$SM_GC,2.02,0.00,0.00,17.55,0.000,0.000,0.502,426,2115,1359,-10.90,1.02,320.12
$IRIDIUM_FIX,2059.45,-15801.19,041197,151538
$TT8_MAMPS,0.029146
$HUMID,1932
$INTERNAL_PRESSURE,8.68792
$TCM_TEMP,23.30
$XPDR_PINGS,731
$24V_AH,23.3,61.882
$10V_AH,10.2,35.529
$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,25.150,116.175,395.825,17.550,0.000,32.174,30.624,291.112,186.750,0.000,0.000,16.409,1323.336,8510.901,492.500,1774.408,558.494,33.363,1365.412,0.000,1741.185,0.000,29.241
$DEVICE_MAMPS,151.099,74.399,885.118,502.385,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,484.473,469.234,805.853,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38050,722
$CAP_FILE_SIZE,107264,10
$CFSIZE,260165632,246312960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,100808,222031,2109.461,-15759.683,72,1.2,72,9.8