version: 66.03
glider: 139
mission: 2
dive: 76
start: 4 17 108 23 47 21
data:
$ID,139
$MISSION,2
$DIVE,76
$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,190
$T_MISSION,360
$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,200
$COURSE_BIAS,0
$GLIDE_SLOPE,38
$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,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,310
$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,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1253611.9
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,435
$PITCH_MAX,3724
$C_PITCH,2780
$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,2200
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,48
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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,-14.036633
$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,100
$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
$GPS1,234007,2107.332,-15752.697,32,0.8,38,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-65.3
$GPS2,234627,2107.354,-15752.638,11,1.5,11,9.8
$SPEED_LIMITS,0.101,0.276
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.276,0.005
$KALMAN_X,-66887.4,-467.4,242.9,66807.1,-2425.4
$KALMAN_Y,-12892.7,3.6,250.1,-1820.8,-742.3
$MHEAD_RNG_PITCHd_Wd,79.2,13573,-12.4,-7.895
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.02,-194.6,0.0,0.0,0,69,0.00,0.00,-50.10,0.000,2,0.000,0.000,426,2172,2876
$GC,71,-1.02,-194.6,3.6,-8.6,9,101,12.07,2.38,-10.80,0.000,4,0.160,0.044,2547,3594,3460
$GC,286,-1.02,-194.6,37.0,-13.1,43,290,0.00,2.28,0.00,0.000,6,0.000,0.054,2547,2193,3461
$GC,610,-1.02,-194.6,79.9,-12.8,73,614,0.00,2.35,0.00,0.000,4,0.000,0.032,2547,3593,3462
$GC,636,-1.02,-194.6,83.6,-13.0,75,643,0.00,2.30,0.00,0.000,6,0.000,0.020,2547,2199,3462
$GC,961,-1.02,-194.6,124.8,-11.0,106,965,0.00,2.33,0.00,0.000,4,0.000,0.032,2547,3591,3463
$GC,1015,-1.02,-194.6,130.5,-9.9,110,1022,0.00,2.28,0.00,0.000,6,0.000,0.020,2547,2195,3463
$GC,1340,-1.02,-194.6,157.5,-7.8,141,1344,0.00,2.35,0.00,0.000,4,0.000,0.033,2547,3595,3464
$GC,1383,-1.02,-194.6,161.3,-8.8,144,1391,0.00,2.28,0.00,0.000,6,0.000,0.019,2547,2204,3463
$GC,1708,-1.02,-194.6,187.7,-8.6,175,1712,0.00,2.35,0.00,0.000,4,0.000,0.034,2547,3600,3464
$GC,1737,-1.02,-194.6,190.0,-8.9,177,1741,0.00,2.28,0.00,0.000,6,0.000,0.020,2547,2194,3464
$GC,2055,-1.02,-194.6,215.9,-8.3,198,2059,0.00,2.33,0.00,0.000,4,0.000,0.035,2547,804,3465
$GC,2120,-1.02,-194.6,221.8,-8.7,201,2125,0.00,2.28,0.00,0.000,6,0.000,0.021,2547,2196,3465
$GC,2447,-1.02,-194.6,248.1,-7.6,217,2451,0.00,2.35,0.00,0.000,4,0.000,0.038,2547,3594,3465
$GC,2480,-1.02,-194.6,250.8,-7.2,218,2487,0.00,2.30,0.00,0.000,6,0.000,0.021,2547,2197,3464
$GC,2795,-1.02,-194.6,271.6,-7.2,234,2796,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2196,3463
$GC,3105,-1.02,-194.6,296.1,-7.6,249,3109,0.00,2.33,0.00,0.000,4,0.000,0.038,2547,807,3463
$GC,3171,-1.02,-194.6,301.4,-8.0,252,3176,0.00,2.28,0.00,0.000,6,0.000,0.031,2547,2192,3463
$GC,3514,-1.02,-194.6,321.6,-5.3,261,3518,0.00,2.40,0.00,0.000,4,0.000,0.041,2547,3601,3461
$GC,3546,-1.02,-194.6,323.7,-6.7,261,3553,0.00,2.33,0.00,0.000,6,0.000,0.024,2547,2204,3461
$GC,3877,-1.02,-194.6,346.2,-7.3,270,3881,0.00,2.38,0.00,0.000,4,0.000,0.038,2547,800,3459
$GC,3920,-1.02,-194.6,349.7,-7.9,271,3924,0.00,2.33,0.00,0.000,6,0.000,0.034,2547,2195,3459
$GC,4244,-1.02,-194.6,373.8,-7.2,279,4245,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2196,3457
$GC,4570,-1.02,-194.6,392.1,-5.4,287,4571,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2196,3456
$GC,4895,-1.02,-194.6,408.1,-5.1,295,4897,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2196,3453
$GC,5219,-1.02,-194.6,426.5,-5.9,303,5223,0.00,2.40,0.00,0.000,4,0.000,0.046,2547,3596,3451
$GC,5258,-1.02,-194.6,429.1,-6.7,304,5262,0.00,2.30,0.00,0.000,6,0.000,0.028,2547,2202,3451
$STATE,5586,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5586,begin apogee
$GC,5590,-0.31,0.0,450.5,6.4,312,5750,0.75,0.00,156.57,0.872,6,0.064,0.000,2710,2137,2663
$STATE,5750,end apogee,CONTROL_FINISHED_OK
$STATE,5751,begin climb
$GC,5752,1.02,194.6,457.7,0.0,316,5921,1.30,2.53,159.82,0.846,4,0.107,0.077,3004,3548,1869
$GC,5936,1.02,194.6,449.7,9.2,320,5941,0.00,2.40,0.00,0.000,6,0.000,0.061,3004,2164,1868
$GC,6279,1.02,194.6,418.2,9.1,329,6283,0.00,2.47,0.00,0.000,4,0.000,0.045,3004,744,1859
$GC,6311,1.02,194.6,414.9,10.1,329,6318,0.00,2.40,0.00,0.000,6,0.000,0.029,3004,2150,1857
$GC,6642,1.02,194.6,381.4,10.5,338,6646,0.00,2.45,0.00,0.000,4,0.000,0.045,3004,3556,1856
$GC,6674,1.02,194.6,378.1,10.5,338,6681,0.00,2.40,0.00,0.000,6,0.000,0.029,3004,2151,1856
$GC,7005,1.02,194.6,344.9,10.0,347,7009,0.00,2.42,0.00,0.000,4,0.000,0.077,3004,3549,1854
$GC,7059,1.02,194.6,339.1,10.0,348,7063,0.00,2.38,0.00,0.000,6,0.000,0.029,3004,2154,1854
$GC,7372,1.02,194.6,310.5,9.4,356,7376,0.00,2.42,0.00,0.000,4,0.000,0.044,3004,749,1852
$GC,7432,1.02,194.6,304.5,10.1,357,7436,0.00,2.38,0.00,0.000,6,0.000,0.051,3004,2150,1850
$GC,7764,1.02,194.6,275.9,8.8,372,7765,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2154,1850
$GC,8073,1.02,194.6,247.2,9.1,387,8077,0.00,2.42,0.00,0.000,4,0.000,0.042,3004,745,1850
$GC,8278,1.02,194.6,227.5,9.7,396,8283,0.00,2.35,0.00,0.000,6,0.000,0.027,3004,2146,1847
$GC,8600,1.02,194.6,201.4,8.0,412,8604,0.00,2.40,0.00,0.000,4,0.000,0.041,3004,744,1847
$GC,8676,1.02,194.6,193.8,9.7,418,8684,0.00,2.35,0.00,0.000,6,0.000,0.026,3004,2151,1846
$GC,9003,1.07,239.1,170.1,6.7,449,9045,0.00,2.40,35.25,0.678,4,0.000,0.077,3004,3547,1689
$GC,9139,1.07,239.1,157.5,9.1,461,9146,0.00,2.35,0.00,0.000,6,0.000,0.024,3004,2144,1688
$GC,9465,1.13,286.7,136.9,6.6,492,9509,0.00,0.00,41.55,0.634,6,0.000,0.000,3004,2143,1495
$GC,9825,1.13,286.7,110.8,8.0,526,9829,0.00,2.40,0.00,0.000,4,0.000,0.035,3004,3557,1489
$GC,9862,1.13,286.7,108.0,8.2,529,9869,0.00,2.35,0.00,0.000,6,0.000,0.021,3004,2145,1489
$GC,10189,1.13,286.7,79.6,8.3,560,10193,0.00,2.33,0.00,0.000,4,0.000,0.054,3004,756,1488
$GC,10228,1.13,286.7,76.0,8.9,563,10232,0.00,2.28,0.00,0.000,6,0.000,0.021,3004,2165,1485
$GC,10553,1.15,305.5,49.9,7.4,593,10576,0.12,2.40,16.77,0.525,4,0.051,0.067,3042,756,1416
$GC,10633,1.15,305.5,42.5,10.5,600,10637,0.00,2.25,0.00,0.000,6,0.000,0.020,3042,2153,1414
$GC,10967,1.15,305.5,11.8,9.3,648,10973,0.00,2.35,0.00,0.000,4,0.000,0.069,3042,756,1414
$GC,11018,1.15,305.5,6.7,10.5,657,11024,0.00,2.22,0.00,0.000,6,0.000,0.019,3042,2152,1412
$STATE,11056,end climb,SURFACE_DEPTH_REACHED
$STATE,11057,begin surface coast
$FINISH,-0.0,1.023209
$STATE,11091,end surface coast,CONTROL_FINISHED_OK
$STATE,11092,begin surface
$SM_CCo,11109,3.92,0.351,0,0,1400,310.06
$SM_GC,2.03,0.00,0.00,3.92,0.000,0.000,0.351,428,2155,1400,-10.82,-1.27,310.06
$IRIDIUM_FIX,2101.76,-15753.03,120797,202008
$TT8_MAMPS,0.029146
$HUMID,1789
$INTERNAL_PRESSURE,8.60003
$TCM_TEMP,22.90
$XPDR_PINGS,605
$24V_AH,23.6,13.317
$10V_AH,10.2,7.014
$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,25.500,108.275,409.975,3.925,0.000,31.481,29.406,213.417,160.250,0.000,0.000,12.716,1201.017,7872.893,498.049,1517.715,398.476,33.361,1249.156,0.000,1488.379,0.000,57.429
$DEVICE_MAMPS,160.303,101.244,872.079,351.286,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,450.438,434.241,748.579,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34833,670
$CAP_FILE_SIZE,97324,6
$CFSIZE,260165632,254459904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,180408,025338,2107.005,-15752.422,28,1.2,28,9.8