version: 66.03
glider: 139
mission: 3
dive: 235
start: 8 12 108 9 1 16
data:
$ID,139
$MISSION,3
$DIVE,235
$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,-1275540.5
$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,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
$GPS1,084932,2107.553,-15758.767,73,1.2,73,9.8
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-69.5
$GPS2,090027,2107.622,-15758.970,12,1.2,12,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT5
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.236,-0.095
$KALMAN_X,-3687.2,-1818.5,-767.8,3822.2,-566.4
$KALMAN_Y,188.0,80.5,87.7,-3513.8,55.5
$MHEAD_RNG_PITCHd_Wd,102.2,22999,-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,-175.2,0.0,0.0,0,70,0.00,0.00,-48.75,0.000,2,0.000,0.000,432,2084,2709
$GC,73,-0.96,-175.2,3.5,-2.8,9,103,11.95,2.17,-12.82,0.000,4,0.149,0.050,2577,836,3381
$GC,145,-0.96,-175.2,19.2,-15.7,21,151,0.00,1.98,0.00,0.000,6,0.000,0.018,2577,2076,3382
$GC,267,-0.96,-175.2,35.0,-11.5,39,271,0.00,2.30,0.00,0.000,4,0.000,0.030,2577,3463,3383
$GC,307,-0.96,-175.2,40.4,-13.9,42,310,0.00,1.98,0.00,0.000,6,0.000,0.019,2577,2238,3383
$GC,637,-0.96,-175.2,77.2,-10.2,73,641,0.00,2.33,0.00,0.000,4,0.000,0.033,2577,843,3383
$GC,733,-0.96,-175.2,86.6,-10.3,81,736,0.00,1.98,0.00,0.000,6,0.000,0.018,2577,2081,3384
$GC,1064,-0.96,-175.2,117.5,-7.6,112,1068,0.00,1.85,0.00,0.000,4,0.000,0.067,2577,3223,3385
$GC,1087,-0.96,-175.2,119.4,-8.0,114,1090,0.00,1.60,0.00,0.000,6,0.000,0.019,2577,2225,3385
$GC,1418,-0.96,-175.2,150.9,-9.6,145,1423,0.00,2.33,0.00,0.000,4,0.000,0.048,2577,838,3385
$GC,1537,-0.96,-175.2,161.1,-8.1,155,1540,0.00,2.00,0.00,0.000,6,0.000,0.019,2578,2088,3385
$GC,1870,-0.96,-175.2,184.6,-6.1,186,1873,0.00,2.10,0.00,0.000,4,0.000,0.073,2577,841,3385
$GC,1937,-0.96,-175.2,188.7,-5.8,192,1941,0.00,1.98,0.00,0.000,6,0.000,0.019,2578,2078,3385
$GC,2274,-0.96,-175.2,210.0,-7.5,218,2278,0.00,2.08,0.00,0.000,4,0.000,0.035,2577,843,3385
$GC,2297,-0.96,-175.2,211.8,-8.3,219,2301,0.00,2.00,0.00,0.000,6,0.000,0.021,2577,2094,3385
$GC,2628,-0.96,-175.2,243.0,-9.8,235,2632,0.00,2.28,0.00,0.000,4,0.000,0.033,2577,3461,3384
$GC,2649,-0.96,-175.2,245.1,-9.3,236,2654,0.00,2.00,0.00,0.000,6,0.000,0.021,2577,2245,3385
$GC,2977,-0.96,-175.2,272.1,-8.2,252,2981,0.00,2.38,0.00,0.000,4,0.000,0.036,2577,838,3384
$GC,3061,-0.96,-175.2,280.0,-9.7,256,3064,0.00,2.00,0.00,0.000,6,0.000,0.022,2578,2072,3384
$GC,3392,-0.96,-175.2,302.6,-5.4,271,3393,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2076,3382
$GC,3717,-0.96,-175.2,319.0,-5.1,279,3721,0.00,2.08,0.00,0.000,4,0.000,0.038,2577,846,3381
$GC,3766,-0.96,-175.2,321.6,-5.3,280,3770,0.00,2.03,0.00,0.000,6,0.000,0.066,2578,2085,3381
$GC,4091,-0.96,-175.2,337.3,-5.3,288,4092,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2088,3379
$GC,4416,-0.96,-175.2,357.9,-5.8,296,4419,0.00,2.12,0.00,0.000,4,0.000,0.039,2577,841,3378
$GC,4443,-0.96,-175.2,359.2,-4.9,296,4447,0.00,2.05,0.00,0.000,6,0.000,0.066,2578,2082,3378
$GC,4786,-0.96,-175.2,374.9,-4.8,305,4790,0.00,2.38,0.00,0.000,4,0.000,0.041,2578,3470,3375
$GC,4825,-0.96,-175.2,377.1,-5.9,306,4829,0.00,2.03,0.00,0.000,6,0.000,0.050,2577,2241,3375
$GC,5155,-0.96,-175.2,404.8,-9.3,314,5158,0.00,2.12,0.00,0.000,4,0.000,0.043,2577,3471,3373
$GC,5249,-0.96,-175.2,413.5,-8.7,316,5253,0.00,2.08,0.00,0.000,6,0.000,0.025,2577,2236,3372
$GC,5574,-0.96,-175.2,432.7,-4.7,324,5578,0.00,2.38,0.00,0.000,4,0.000,0.075,2577,848,3371
$GC,5679,-0.96,-175.2,438.2,-5.2,326,5683,0.00,2.05,0.00,0.000,6,0.000,0.028,2577,2064,3370
$STATE,5869,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5869,begin apogee
$GC,5874,-0.31,0.0,451.4,7.2,331,6019,0.68,0.00,142.05,0.890,6,0.048,0.000,2731,2066,2664
$STATE,6020,end apogee,CONTROL_FINISHED_OK
$STATE,6020,begin climb
$GC,6022,0.96,175.2,462.4,0.0,334,6178,1.20,2.58,145.65,0.865,4,0.104,0.044,3010,3477,1948
$GC,6247,1.02,221.4,461.8,5.9,339,6292,0.00,2.08,40.42,0.841,6,0.000,0.028,3010,2252,1761
$GC,6634,1.02,221.4,433.4,8.4,349,6638,0.00,2.45,0.00,0.000,4,0.000,0.045,3010,851,1751
$GC,6733,1.02,221.4,422.2,11.8,351,6737,0.00,2.10,0.00,0.000,6,0.000,0.028,3010,2078,1748
$GC,7046,1.02,221.4,387.5,11.4,359,7050,0.00,2.15,0.00,0.000,4,0.000,0.044,3010,851,1746
$GC,7091,1.02,221.4,382.4,11.3,360,7095,0.00,2.08,0.00,0.000,6,0.000,0.028,3010,2086,1746
$GC,7420,1.02,221.4,347.9,10.3,368,7424,0.00,2.15,0.00,0.000,4,0.000,0.044,3010,845,1745
$GC,7487,1.02,221.4,341.1,9.8,369,7491,0.00,2.10,0.00,0.000,6,0.000,0.028,3010,2079,1743
$GC,7829,1.02,221.4,310.7,9.2,378,7833,0.00,2.42,0.00,0.000,4,0.000,0.042,3010,3481,1743
$GC,7878,1.02,221.4,305.4,11.1,379,7882,0.00,2.10,0.00,0.000,6,0.000,0.035,3010,2254,1743
$GC,8207,1.02,221.4,272.2,8.0,393,8210,0.00,2.45,0.00,0.000,4,0.000,0.048,3010,842,1742
$GC,8319,1.02,222.5,264.5,7.1,398,8323,0.00,2.08,0.00,0.000,6,0.000,0.028,3010,2081,1740
$GC,8651,1.02,222.5,242.1,8.9,414,8655,0.00,2.40,0.00,0.000,4,0.000,0.041,3010,3475,1739
$GC,8722,1.02,222.5,235.3,10.1,417,8726,0.00,2.08,0.00,0.000,6,0.000,0.025,3010,2250,1739
$GC,9044,1.02,222.5,208.3,7.7,433,9048,0.00,2.40,0.00,0.000,4,0.000,0.040,3010,847,1739
$GC,9083,1.02,222.5,205.4,7.3,435,9086,0.00,2.05,0.00,0.000,6,0.000,0.025,3010,2084,1738
$GC,9411,1.02,222.5,184.6,7.5,461,9415,0.00,2.35,0.00,0.000,4,0.000,0.037,3010,3471,1738
$GC,9479,1.02,222.5,178.8,8.8,467,9483,0.00,2.03,0.00,0.000,6,0.000,0.024,3010,2237,1738
$GC,9811,1.02,222.5,148.5,8.4,498,9814,0.00,2.12,0.00,0.000,4,0.000,0.038,3010,3481,1738
$GC,9862,1.02,222.5,143.5,10.0,502,9868,0.00,2.03,0.00,0.000,6,0.000,0.023,3010,2241,1738
$GC,10188,1.11,296.9,120.3,5.1,533,10263,0.12,2.47,64.40,0.611,4,0.048,0.063,3053,843,1452
$GC,10354,1.11,296.9,103.7,12.2,548,10358,0.00,2.05,0.00,0.000,6,0.000,0.021,3053,2095,1446
$GC,10686,1.11,296.9,72.8,9.5,579,10687,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2099,1446
$GC,11003,1.11,296.9,44.3,7.3,609,11006,0.00,2.12,0.00,0.000,4,0.000,0.035,3052,842,1446
$GC,11104,1.11,296.9,38.6,7.7,618,11108,0.00,1.62,0.00,0.000,6,0.000,0.064,3053,1886,1443
$GC,11441,1.11,296.9,11.0,8.7,669,11447,0.00,2.65,0.00,0.000,4,0.000,0.030,3053,3476,1444
$STATE,11541,end climb,SURFACE_DEPTH_REACHED
$STATE,11542,begin surface coast
$FINISH,1.3,1.022858
$STATE,11584,end surface coast,CONTROL_FINISHED_OK
$STATE,11584,begin surface
$SM_CCo,11606,19.12,0.505,0,0,1358,320.12
$SM_GC,1.67,0.00,0.00,19.12,0.000,0.000,0.505,429,2230,1358,-10.88,4.30,320.12
$IRIDIUM_FIX,2059.45,-15756.04,061197,090918
$TT8_MAMPS,0.029146
$HUMID,1957
$INTERNAL_PRESSURE,8.67815
$TCM_TEMP,23.00
$XPDR_PINGS,707
$24V_AH,23.3,63.451
$10V_AH,10.2,36.420
$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,25.175,115.750,392.525,19.125,0.000,49.209,65.633,345.628,180.750,0.000,0.000,14.392,1276.793,8161.452,460.975,1701.132,670.407,31.425,1300.701,0.000,1671.850,0.000,29.243
$DEVICE_MAMPS,148.798,75.166,889.720,504.686,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,467.040,456.893,775.589,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34938,694
$CAP_FILE_SIZE,105134,6
$CFSIZE,260165632,245764096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,120808,121638,2107.023,-15759.732,59,1.1,59,9.8