version: 66.04
glider: 139
mission: 3
dive: 27
start: 2 5 109 17 1 36
data:
$ID,139
$MISSION,3
$DIVE,27
$D_SURF,6
$D_FLARE,3
$D_TGT,400
$D_ABORT,500
$D_NO_BLEED,90
$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,166
$T_MISSION,190
$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,125
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51904
$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,400
$N_FILEKB,8
$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,1
$CAPMAXSIZE,50000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1281735.6
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,435
$PITCH_MAX,3724
$C_PITCH,2855
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,155
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,227
$ROLL_MAX,3931
$ROLL_DEG,40
$C_ROLL_DIVE,1925
$C_ROLL_CLIMB,1975
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,52
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,450
$VBD_MAX,3860
$C_VBD,2250
$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
$PHONE_SUPPLY,2
$PRESSURE_YINT,-14.263241
$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,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,1
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.4
$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
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043401681
$SEABIRD_T_H,0.00063043466
$SEABIRD_T_I,2.4021314e-05
$SEABIRD_T_J,2.5358199e-06
$SEABIRD_C_G,-9.8723097
$SEABIRD_C_H,1.0932546
$SEABIRD_C_I,-0.0012359815
$SEABIRD_C_J,0.00017717193
$GPS1,165437,2109.396,-15807.101,38,1.4,38,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-69.8
$GPS2,170044,2109.412,-15807.104,13,1.7,13,9.8
$SPEED_LIMITS,0.139,0.226
$TGT_NAME,SOUTH
$TGT_LATLONG,2105.463,-15858.408
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.218,-0.057
$KALMAN_X,15900.7,649.3,234.6,-32139.6,340.8
$KALMAN_Y,5831.6,-178.2,-102.9,-18345.2,420.1
$MHEAD_RNG_PITCHd_Wd,245.5,88950,-16.5,-8.032
$D_GRID,400
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.18,-121.7,0.0,0.0,0,75,0.00,0.00,-58.40,0.000,2,0.000,0.000,425,1901,2280
$GC,78,-1.18,-121.7,3.3,-5.3,10,105,12.00,2.35,-8.20,0.000,4,0.146,0.054,2593,535,2747
$GC,244,-1.18,-121.7,43.9,-15.3,32,251,0.00,2.28,0.00,0.000,6,0.000,0.020,2594,1927,2748
$GC,505,-1.18,-121.7,89.1,-15.8,57,509,0.00,2.40,0.00,0.000,4,0.000,0.044,2594,530,2748
$GC,551,-1.18,-121.7,97.6,-20.7,61,555,0.00,2.25,0.00,0.000,6,0.000,0.020,2594,1933,2749
$GC,812,-1.18,-121.7,138.3,-14.7,85,816,0.00,2.25,0.00,0.000,4,0.000,0.028,2594,3314,2749
$GC,835,-1.18,-121.7,142.0,-16.3,87,839,0.00,2.30,0.00,0.000,6,0.000,0.030,2594,1941,2749
$GC,1096,-1.18,-121.7,178.5,-13.1,111,1100,0.00,2.42,0.00,0.000,4,0.000,0.044,2594,522,2750
$GC,1169,-1.18,-121.7,187.4,-11.7,117,1173,0.00,2.25,0.00,0.000,6,0.000,0.021,2594,1924,2750
$GC,1425,-1.18,-121.7,215.9,-11.0,134,1430,0.00,2.30,0.00,0.000,4,0.000,0.032,2594,3311,2750
$GC,1447,-1.18,-121.7,218.5,-11.5,135,1451,0.00,2.30,0.00,0.000,6,0.000,0.028,2594,1923,2750
$GC,1774,-1.18,-121.7,255.3,-12.1,151,1778,0.00,2.42,0.00,0.000,4,0.000,0.048,2593,517,2750
$GC,1806,-1.18,-121.7,259.8,-13.3,152,1813,0.00,2.30,0.00,0.000,6,0.000,0.024,2594,1911,2750
$GC,2122,-1.18,-121.7,297.5,-12.0,168,2123,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,1915,2749
$GC,2447,-1.18,-121.7,338.2,-12.5,177,2451,0.00,2.42,0.00,0.000,4,0.000,0.051,2593,525,2747
$GC,2468,-1.18,-121.7,341.0,-12.7,177,2472,0.00,2.30,0.00,0.000,6,0.000,0.027,2594,1926,2747
$GC,2810,-1.18,-121.7,378.9,-11.3,186,2815,0.00,2.47,0.00,0.000,4,0.000,0.053,2593,518,2746
$GC,2871,-1.18,-121.7,386.3,-11.9,187,2875,0.00,2.33,0.00,0.000,6,0.000,0.029,2594,1922,2746
$STATE,3014,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3014,begin apogee
$GC,3020,-0.31,0.0,402.1,10.9,191,3124,0.90,0.00,101.22,0.824,6,0.070,0.000,2786,1995,2250
$STATE,3125,end apogee,CONTROL_FINISHED_OK
$STATE,3125,begin climb
$GC,3128,1.18,121.7,406.2,0.0,193,3241,1.42,2.58,105.10,0.810,4,0.034,0.050,3117,566,1753
$GC,3493,1.42,319.9,420.0,-0.7,201,3668,0.22,2.35,166.25,0.825,6,0.045,0.031,3172,1961,945
$GC,3999,1.42,319.9,352.8,15.3,214,4003,0.00,2.47,0.00,0.000,4,0.000,0.055,3172,575,938
$GC,4084,1.42,319.9,337.2,18.5,216,4088,0.00,2.38,0.00,0.000,6,0.000,0.032,3172,1971,936
$GC,4408,1.42,319.9,284.4,15.3,226,4409,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,1975,936
$GC,4718,1.42,319.9,240.8,13.6,241,4719,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,1975,935
$GC,5027,1.42,319.9,202.3,12.0,256,5031,0.00,2.42,0.00,0.000,4,0.000,0.041,3172,3388,933
$GC,5066,1.42,319.9,197.2,13.1,258,5070,0.00,2.40,0.00,0.000,6,0.000,0.034,3172,1978,933
$GC,5326,1.42,319.9,164.3,12.7,282,5330,0.00,2.47,0.00,0.000,4,0.000,0.051,3172,566,933
$GC,5376,1.42,319.9,157.4,14.0,286,5380,0.00,2.35,0.00,0.000,6,0.000,0.028,3171,1984,931
$GC,5637,1.42,319.9,125.0,13.3,310,5641,0.00,2.47,0.00,0.000,4,0.000,0.047,3172,565,931
$GC,5699,1.42,319.9,117.0,12.5,315,5703,0.00,2.33,0.00,0.000,6,0.000,0.033,3172,1978,931
$GC,5960,1.42,319.9,89.0,9.1,339,5961,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,1983,930
$GC,6215,1.42,319.9,66.6,8.6,363,6219,0.00,2.45,0.00,0.000,4,0.000,0.044,3172,562,931
$GC,6326,1.42,319.9,54.4,11.3,372,6333,0.00,2.30,0.00,0.000,6,0.000,0.022,3172,1985,931
$GC,6587,1.42,319.9,30.6,9.0,397,6591,0.00,2.45,0.00,0.000,4,0.000,0.042,3172,564,932
$GC,6616,1.42,319.9,28.1,8.8,400,6622,0.00,2.28,0.00,0.000,6,0.000,0.021,3172,1976,932
$GC,6826,1.42,319.9,6.2,13.4,437,6832,0.00,2.40,0.00,0.000,4,0.000,0.041,3172,567,932
$STATE,6837,end climb,SURFACE_DEPTH_REACHED
$STATE,6837,begin surface coast
$FINISH,2.0,1.023703
$STATE,6854,end surface coast,CONTROL_FINISHED_OK
$STATE,6855,begin surface
$SM_CCo,6878,64.18,0.527,0,0,618,400.08
$SM_GC,1.04,0.00,0.00,64.18,0.000,0.000,0.527,430,1942,618,-11.15,0.45,400.08
$IRIDIUM_FIX,2101.76,-15808.48,020598,151512
$TT8_MAMPS,0.029146
$HUMID,1617
$INTERNAL_PRESSURE,9.50862
$TCM_TEMP,22.20
$XPDR_PINGS,15
$24V_AH,23.4,6.365
$10V_AH,10.2,2.719
$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,Compass2
$DEVICE_SECS,26.375,75.725,372.575,64.175,0.000,30.879,34.434,191.324,3.750,0.000,0.000,15.977,810.053,4561.572,476.785,1053.716,403.253,33.333,1036.832,0.000,1046.896,0.000,0.539,0.000
$DEVICE_MAMPS,145.730,93.574,824.525,526.929,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,297.222,297.637,448.238,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22276,442
$CAP_FILE_SIZE,66482,0
$CFSIZE,260165632,257343488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,050209,185825,2109.318,-15808.030,11,1.2,28,9.8