version: 66.03
glider: 139
mission: 2
dive: 113
start: 4 23 108 3 26 58
data:
$ID,139
$MISSION,2
$DIVE,113
$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,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,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,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,50000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1254249.8
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,435
$PITCH_MAX,3724
$C_PITCH,2770
$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,36
$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,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,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
$GPS1,031838,2109.827,-15754.935,28,1.0,28,9.8
$_CALLS,1
$_XMS_NAKs,20
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-62.3
$GPS2,032609,2109.765,-15754.982,14,1.3,14,9.8
$SPEED_LIMITS,0.124,0.266
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.262,-0.047
$KALMAN_X,-103272.2,319.1,-241.9,98840.8,-672.3
$KALMAN_Y,-43961.7,598.8,-11.5,33368.8,-2027.8
$MHEAD_RNG_PITCHd_Wd,90.3,19591,-11.2,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.94,-194.6,0.0,0.0,0,70,0.00,0.00,-49.85,0.000,2,0.000,0.000,423,2145,2811
$GC,72,-0.94,-194.6,3.4,-6.7,9,102,12.27,2.35,-12.40,0.000,4,0.164,0.048,2558,792,3461
$GC,136,-0.94,-194.6,15.7,-13.0,20,143,0.00,2.30,0.00,0.000,6,0.000,0.020,2558,2215,3462
$GC,474,-0.94,-194.6,46.2,-7.6,64,475,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2218,3462
$GC,793,-0.94,-194.6,70.6,-9.1,94,797,0.00,2.38,0.00,0.000,4,0.000,0.034,2558,797,3463
$GC,813,-0.94,-194.6,72.5,-9.1,95,820,0.00,2.30,0.00,0.000,6,0.000,0.020,2558,2202,3463
$GC,1138,-0.94,-194.6,109.3,-12.6,126,1139,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2206,3464
$GC,1457,-0.94,-194.6,144.1,-9.8,156,1461,0.00,2.38,0.00,0.000,4,0.000,0.034,2558,789,3464
$GC,1555,-0.94,-194.6,153.0,-8.4,164,1563,0.00,2.30,0.00,0.000,6,0.000,0.020,2558,2199,3465
$GC,1881,-0.94,-194.6,177.6,-7.6,195,1885,0.00,2.33,0.00,0.000,4,0.000,0.036,2558,3589,3465
$GC,1932,-0.94,-194.6,182.0,-8.5,199,1936,0.00,2.28,0.00,0.000,6,0.000,0.021,2558,2187,3465
$GC,2268,-0.94,-194.6,211.7,-8.9,225,2272,0.00,2.30,0.00,0.000,4,0.000,0.034,2558,807,3466
$GC,2329,-0.94,-194.6,216.2,-7.0,228,2333,0.00,2.25,0.00,0.000,6,0.000,0.021,2558,2199,3466
$GC,2655,-0.94,-194.6,233.2,-6.0,244,2658,0.00,2.33,0.00,0.000,4,0.000,0.038,2558,3589,3465
$GC,2692,-0.94,-194.6,235.9,-7.1,245,2699,0.00,2.30,0.00,0.000,6,0.000,0.027,2558,2195,3465
$GC,3008,-0.94,-194.6,260.5,-8.3,261,3012,0.00,2.33,0.00,0.000,4,0.000,0.036,2558,807,3465
$GC,3029,-0.94,-194.6,262.2,-8.0,262,3034,0.00,2.28,0.00,0.000,6,0.000,0.022,2558,2190,3464
$GC,3356,-0.94,-194.6,284.4,-5.3,278,3357,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2190,3464
$GC,3665,-0.94,-194.6,302.9,-6.2,292,3669,0.00,2.38,0.00,0.000,4,0.000,0.041,2558,3589,3463
$GC,3691,-0.94,-194.6,304.9,-7.4,292,3696,0.00,2.30,0.00,0.000,6,0.000,0.023,2558,2204,3463
$GC,4028,-0.94,-194.6,326.2,-6.2,301,4032,0.00,2.38,0.00,0.000,4,0.000,0.038,2558,797,3462
$GC,4076,-0.94,-194.6,329.5,-6.5,302,4081,0.00,2.33,0.00,0.000,6,0.000,0.025,2558,2190,3462
$GC,4395,-0.94,-194.6,351.4,-6.9,310,4399,0.00,2.40,0.00,0.000,4,0.000,0.043,2558,3597,3460
$GC,4449,-0.94,-194.6,354.9,-6.1,311,4453,0.00,2.33,0.00,0.000,6,0.000,0.056,2558,2205,3460
$GC,4762,-0.94,-194.6,370.3,-4.6,319,4766,0.00,2.38,0.00,0.000,4,0.000,0.039,2558,804,3458
$GC,4783,-0.94,-194.6,371.5,-4.9,319,4788,0.00,2.30,0.00,0.000,6,0.000,0.027,2558,2201,3458
$GC,5125,-0.94,-194.6,388.3,-5.2,328,5127,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2201,3457
$GC,5450,-0.94,-194.6,403.4,-4.4,336,5455,0.00,2.40,0.00,0.000,4,0.000,0.041,2558,800,3454
$GC,5471,-0.94,-194.6,404.3,-4.2,336,5476,0.00,2.35,0.00,0.000,6,0.000,0.028,2558,2213,3454
$GC,5814,-0.94,-194.6,416.8,-3.5,345,5815,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2215,3453
$GC,6139,-0.94,-194.6,433.4,-5.3,353,6143,0.00,2.42,0.00,0.000,4,0.000,0.042,2558,804,3451
$GC,6159,-0.94,-194.6,434.6,-6.1,353,6163,0.00,2.35,0.00,0.000,6,0.000,0.029,2558,2193,3450
$GC,6501,-0.94,-194.6,449.8,-3.8,362,6506,0.00,2.17,0.00,0.000,3,0.000,0.054,2558,3453,3449
$STATE,6506,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6506,begin apogee
$GC,6512,-0.31,0.0,450.0,3.6,362,6671,0.12,0.00,156.18,0.887,6,0.255,0.000,2596,2157,2664
$STATE,6672,end apogee,CONTROL_FINISHED_OK
$STATE,6672,begin climb
$GC,6674,0.94,194.6,453.6,0.0,366,6843,1.77,2.55,159.57,0.854,4,0.110,0.081,2971,752,1868
$GC,6887,0.94,194.6,439.2,10.1,371,6892,0.00,2.40,0.00,0.000,6,0.000,0.029,2971,2151,1862
$GC,7200,0.94,194.6,409.4,9.6,379,7205,0.00,2.45,0.00,0.000,4,0.000,0.047,2971,3550,1859
$GC,7249,0.94,194.6,404.4,9.6,380,7254,0.00,2.40,0.00,0.000,6,0.000,0.029,2971,2151,1859
$GC,7568,0.94,194.6,379.4,7.2,388,7572,0.00,2.45,0.00,0.000,4,0.000,0.046,2971,3553,1857
$GC,7588,0.94,194.6,377.9,7.2,388,7593,0.00,2.40,0.00,0.000,6,0.000,0.035,2971,2150,1857
$GC,7931,0.94,194.6,351.5,8.7,397,7935,0.00,2.42,0.00,0.000,4,0.000,0.063,2971,750,1855
$GC,8029,0.94,194.6,341.4,9.8,399,8034,0.00,2.38,0.00,0.000,6,0.000,0.029,2971,2153,1852
$GC,8342,0.94,194.6,312.4,9.0,407,8347,0.00,2.42,0.00,0.000,4,0.000,0.044,2971,751,1852
$GC,8391,0.94,194.6,307.9,8.7,408,8396,0.00,2.35,0.00,0.000,6,0.000,0.028,2971,2144,1851
$GC,8713,0.94,194.6,280.8,9.3,421,8718,0.00,2.42,0.00,0.000,4,0.000,0.078,2971,3547,1851
$GC,8774,0.94,194.6,274.3,10.8,424,8778,0.00,2.33,0.00,0.000,6,0.000,0.028,2971,2150,1851
$GC,9100,0.94,194.6,244.9,8.1,440,9104,0.00,2.42,0.00,0.000,4,0.000,0.076,2971,3550,1851
$GC,9238,0.94,194.6,233.3,8.4,446,9243,0.00,2.38,0.00,0.000,6,0.000,0.046,2971,2146,1851
$GC,9559,0.94,194.6,208.5,7.2,462,9563,0.00,2.42,0.00,0.000,4,0.000,0.041,2971,3554,1850
$GC,9676,0.96,209.8,199.7,6.8,467,9691,0.00,2.35,10.88,0.669,6,0.000,0.025,2971,2156,1808
$GC,10011,0.97,220.6,175.3,6.9,498,10025,0.00,1.58,10.62,0.638,4,0.000,0.084,2971,3098,1764
$GC,10044,0.97,220.6,172.8,8.0,501,10048,0.00,1.60,0.03,0.260,6,0.000,0.025,2971,2129,1764
$GC,10373,1.03,266.4,151.1,6.0,532,10419,0.10,2.38,40.35,0.655,4,0.060,0.082,3000,753,1578
$GC,10470,1.03,266.4,143.3,9.1,541,10474,0.00,2.00,0.00,0.000,6,0.000,0.061,3001,2010,1571
$GC,10800,1.03,266.4,116.6,7.6,572,10804,0.00,2.58,0.00,0.000,4,0.000,0.063,3000,3553,1571
$GC,10832,1.03,266.4,113.9,8.5,574,10839,0.00,2.33,0.00,0.000,6,0.000,0.021,3001,2157,1571
$GC,11159,1.03,266.4,88.3,7.2,605,11163,0.00,2.38,0.00,0.000,4,0.000,0.071,3000,754,1571
$GC,11258,1.03,266.4,80.2,8.3,613,11265,0.00,2.33,0.00,0.000,6,0.000,0.020,3001,2169,1569
$GC,11585,1.03,266.4,55.5,7.2,644,11589,0.00,2.40,0.00,0.000,4,0.000,0.039,3000,751,1570
$GC,11657,1.03,266.4,49.4,9.4,650,11661,0.00,2.28,0.00,0.000,6,0.000,0.026,3001,2160,1570
$GC,11987,1.03,266.4,22.3,7.3,688,11994,0.00,2.38,0.00,0.000,4,0.000,0.035,3001,746,1571
$GC,12106,1.03,266.4,13.1,7.5,709,12113,0.00,2.25,0.00,0.000,6,0.000,0.056,3000,2155,1570
$STATE,12240,end climb,SURFACE_DEPTH_REACHED
$STATE,12240,begin surface coast
$FINISH,-0.0,1.012570
$STATE,12280,end surface coast,CONTROL_FINISHED_OK
$STATE,12281,begin surface
$SM_CCo,12299,36.15,0.512,0,0,1399,310.06
$SM_GC,1.21,0.00,0.00,36.15,0.000,0.000,0.512,422,2158,1399,-10.80,-1.19,310.06
$IRIDIUM_FIX,2101.76,-15753.03,180797,000034
$TT8_MAMPS,0.029146
$HUMID,1788
$INTERNAL_PRESSURE,8.59026
$TCM_TEMP,22.60
$XPDR_PINGS,682
$24V_AH,21.7,18.409
$10V_AH,10.2,9.901
$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,25.350,130.050,377.625,36.150,0.000,30.796,28.834,282.596,170.500,0.000,0.000,16.341,1319.656,8783.527,505.061,1684.587,485.041,33.368,1340.135,0.000,1670.288,0.000,0.471
$DEVICE_MAMPS,254.644,83.603,886.652,511.589,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,498.914,485.151,829.305,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37914,740
$CAP_FILE_SIZE,106836,11
$CFSIZE,260165632,252624896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230408,065337,2108.833,-15754.096,27,1.8,27,9.8