version: 66.03
glider: 139
mission: 2
dive: 165
start: 4 30 108 19 23 6
data:
$ID,139
$MISSION,2
$DIVE,165
$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,220
$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,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,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,-1255135.5
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,435
$PITCH_MAX,3724
$C_PITCH,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,37
$R_STBD_OVSHOOT,50
$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
$GPS1,191608,2104.401,-15747.141,32,1.0,32,9.8
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-62.6
$GPS2,192214,2104.370,-15747.197,10,1.1,15,9.8
$SPEED_LIMITS,0.118,0.250
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.175,-0.179
$KALMAN_X,-182159.8,-107.3,311.3,191030.0,-1949.2
$KALMAN_Y,-77420.4,-87.7,226.7,57288.8,-774.3
$MHEAD_RNG_PITCHd_Wd,125.8,3847,-11.3,-6.818
$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,19,-0.92,-175.2,0.0,0.0,0,70,0.00,0.00,-49.30,0.000,2,0.000,0.000,424,2167,2843
$GC,72,-0.92,-175.2,3.5,-6.7,9,102,12.25,2.30,-10.20,0.000,4,0.163,0.045,2557,798,3380
$GC,164,-0.92,-175.2,19.3,-10.8,25,170,0.00,2.25,0.00,0.000,6,0.000,0.058,2558,2199,3381
$GC,500,-0.92,-175.2,56.4,-9.9,65,503,0.00,2.33,0.00,0.000,4,0.000,0.033,2558,3595,3381
$GC,549,-0.92,-175.2,61.8,-10.2,69,556,0.00,2.30,0.00,0.000,6,0.000,0.019,2558,2196,3382
$GC,874,-0.92,-175.2,91.5,-10.0,100,878,0.00,2.33,0.00,0.000,4,0.000,0.033,2557,803,3383
$GC,934,-0.92,-175.2,98.3,-11.3,105,941,0.00,2.28,0.00,0.000,6,0.000,0.054,2558,2201,3383
$GC,1260,-0.92,-175.2,128.4,-7.5,136,1264,0.00,2.25,0.00,0.000,4,0.000,0.053,2558,3580,3383
$GC,1310,-0.92,-175.2,132.4,-7.7,140,1314,0.00,2.22,0.00,0.000,6,0.000,0.019,2558,2196,3384
$GC,1635,-0.92,-175.2,158.8,-8.4,170,1639,0.00,2.33,0.00,0.000,4,0.000,0.034,2558,803,3385
$GC,1707,-0.92,-175.2,164.7,-8.2,176,1711,0.00,2.25,0.00,0.000,6,0.000,0.055,2558,2198,3385
$GC,2038,-0.92,-175.2,192.0,-7.4,207,2042,0.00,1.95,0.00,0.000,4,0.000,0.069,2558,3402,3385
$GC,2076,-0.92,-175.2,195.1,-7.9,210,2082,0.00,1.98,0.00,0.000,6,0.000,0.021,2558,2201,3385
$GC,2393,-0.92,-175.2,215.2,-6.8,229,2395,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2199,3385
$GC,2703,-0.92,-175.2,236.0,-6.0,244,2707,0.00,2.35,0.00,0.000,4,0.000,0.036,2558,3591,3385
$GC,2729,-0.92,-175.2,237.7,-6.4,245,2734,0.00,2.30,0.00,0.000,6,0.000,0.054,2557,2201,3385
$GC,3051,-0.92,-175.2,254.7,-6.1,261,3052,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2199,3384
$GC,3360,-0.92,-175.2,272.6,-5.4,276,3364,0.00,2.33,0.00,0.000,4,0.000,0.036,2558,810,3384
$GC,3399,-0.92,-175.2,274.9,-6.0,278,3403,0.00,2.28,0.00,0.000,6,0.000,0.032,2558,2204,3384
$GC,3724,-0.92,-175.2,296.7,-6.6,294,3728,0.00,2.35,0.00,0.000,4,0.000,0.040,2558,3591,3382
$GC,3756,-0.92,-175.2,299.0,-7.2,295,3761,0.00,2.30,0.00,0.000,6,0.000,0.023,2558,2204,3382
$GC,4073,-0.92,-175.2,314.3,-4.5,304,4078,0.00,2.38,0.00,0.000,4,0.000,0.038,2558,803,3381
$GC,4106,-0.92,-175.2,316.5,-6.5,304,4112,0.00,2.30,0.00,0.000,6,0.000,0.025,2558,2200,3381
$GC,4437,-0.92,-175.2,340.8,-7.8,313,4441,0.00,2.40,0.00,0.000,4,0.000,0.042,2558,3600,3380
$GC,4480,-0.92,-175.2,344.3,-8.0,314,4484,0.00,2.33,0.00,0.000,6,0.000,0.025,2558,2209,3380
$GC,4805,-0.92,-175.2,365.2,-6.2,322,4809,0.00,2.40,0.00,0.000,4,0.000,0.040,2557,800,3378
$GC,4826,-0.92,-175.2,366.8,-7.0,322,4830,0.00,2.33,0.00,0.000,6,0.000,0.027,2558,2201,3377
$GC,5168,-0.92,-175.2,386.8,-5.4,331,5169,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2201,3376
$GC,5493,-0.92,-175.2,408.1,-7.2,339,5497,0.00,2.40,0.00,0.000,4,0.000,0.041,2557,804,3373
$GC,5531,-0.92,-175.2,411.0,-7.9,340,5535,0.00,2.33,0.00,0.000,6,0.000,0.028,2558,2199,3373
$GC,5854,-0.92,-175.2,430.5,-5.6,348,5855,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2199,3371
$GC,6179,-0.92,-175.2,446.9,-4.7,356,6183,0.00,2.40,0.00,0.000,4,0.000,0.042,2557,807,3369
$GC,6199,-0.92,-175.2,447.9,-4.8,356,6204,0.00,2.35,0.00,0.000,6,0.000,0.046,2558,2192,3369
$STATE,6255,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6256,begin apogee
$GC,6260,-0.31,0.0,450.3,4.3,358,6404,0.68,0.00,140.88,0.890,6,0.064,0.000,2705,2193,2664
$STATE,6405,end apogee,CONTROL_FINISHED_OK
$STATE,6405,begin climb
$GC,6406,0.92,175.2,453.7,0.0,361,6555,1.20,0.00,144.45,0.861,6,0.044,0.000,2973,2193,1949
$GC,6863,0.92,175.2,422.5,8.0,373,6867,0.00,2.53,0.00,0.000,4,0.000,0.076,2974,755,1939
$GC,6979,0.92,175.2,412.5,8.5,375,6983,0.00,2.40,0.00,0.000,6,0.000,0.031,2973,2154,1936
$GC,7315,0.92,175.2,383.8,8.3,384,7319,0.00,2.45,0.00,0.000,4,0.000,0.044,2973,753,1935
$GC,7399,0.92,175.2,376.8,8.1,386,7403,0.00,2.35,0.00,0.000,6,0.000,0.030,2974,2153,1933
$GC,7722,0.92,175.2,352.9,7.3,394,7723,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2154,1933
$GC,8047,0.92,175.2,325.5,8.5,402,8051,0.00,2.42,0.00,0.000,4,0.000,0.077,2974,3549,1932
$GC,8090,0.92,175.2,321.2,10.3,403,8094,0.00,2.35,0.00,0.000,6,0.000,0.028,2973,2165,1932
$GC,8416,0.92,175.2,291.9,8.4,413,8420,0.00,2.45,0.00,0.000,4,0.000,0.044,2974,749,1930
$GC,8571,0.92,175.2,278.5,8.3,420,8575,0.00,2.35,0.00,0.000,6,0.000,0.028,2973,2144,1929
$GC,8898,0.92,175.2,253.9,7.2,436,8902,0.00,2.42,0.00,0.000,4,0.000,0.053,2973,3551,1929
$GC,9008,0.92,175.2,245.4,7.7,441,9013,0.00,2.38,0.00,0.000,6,0.000,0.027,2973,2147,1929
$GC,9335,0.92,175.2,221.1,7.6,457,9339,0.00,2.42,0.00,0.000,4,0.000,0.041,2974,3553,1929
$GC,9361,0.92,175.2,219.0,8.0,458,9365,0.00,2.35,0.00,0.000,6,0.000,0.026,2973,2156,1928
$GC,9683,0.97,216.1,198.3,5.8,475,9725,0.00,2.50,32.25,0.719,4,0.000,0.040,2973,3550,1783
$GC,9758,0.97,216.1,193.2,7.2,482,9763,0.00,2.35,0.00,0.000,6,0.000,0.025,2973,2144,1782
$GC,10084,0.98,218.7,170.2,6.8,512,10085,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2143,1778
$GC,10402,1.04,267.0,148.6,5.6,542,10455,0.00,2.47,44.42,0.664,4,0.000,0.049,2974,748,1572
$GC,10505,1.06,282.6,142.3,6.4,551,10526,0.05,2.35,14.32,0.623,6,0.048,0.024,3011,2158,1510
$GC,10851,1.06,282.6,113.2,9.2,584,10855,0.00,2.42,0.00,0.000,4,0.000,0.038,3010,743,1505
$GC,10924,1.06,282.6,106.0,10.1,590,10928,0.00,2.30,0.00,0.000,6,0.000,0.038,3011,2153,1502
$GC,11253,1.06,282.6,78.6,8.5,621,11258,0.00,2.40,0.00,0.000,4,0.000,0.037,3010,745,1503
$GC,11375,1.06,282.6,67.6,8.3,631,11382,0.00,2.33,0.00,0.000,6,0.000,0.021,3011,2155,1501
$GC,11703,1.18,387.1,44.0,4.1,662,11798,0.00,2.35,87.38,0.555,4,0.000,0.067,3011,3542,1084
$GC,11821,1.18,387.1,34.6,8.6,673,11825,0.00,2.30,0.00,0.000,6,0.000,0.021,3011,2143,1084
$GC,12160,1.23,424.3,7.2,5.8,728,12201,0.12,2.42,30.67,0.511,4,0.670,0.070,3061,757,933
$STATE,12227,end climb,SURFACE_DEPTH_REACHED
$STATE,12228,begin surface coast
$FINISH,0.2,1.022502
$STATE,12268,end surface coast,CONTROL_FINISHED_OK
$STATE,12268,begin surface
$SM_CCo,12350,0.00,0.000,0,0,925,426.33
$SM_GC,1.01,11.48,0.00,0.00,0.038,0.000,0.000,428,2207,925,-10.71,0.20,426.33
$IRIDIUM_FIX,2059.45,-15748.75,250797,151542
$TT8_MAMPS,0.028379
$HUMID,1802
$INTERNAL_PRESSURE,8.56096
$TCM_TEMP,22.80
$XPDR_PINGS,663
$24V_AH,23.4,25.180
$10V_AH,10.2,14.021
$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,25.775,121.725,494.375,0.000,0.000,27.617,30.224,194.387,165.750,0.000,0.000,16.529,1298.665,8761.979,566.055,1667.681,413.194,33.373,1403.749,0.000,1651.678,0.000,0.470
$DEVICE_MAMPS,670.358,76.700,890.487,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,501.704,489.952,841.045,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37996,747
$CAP_FILE_SIZE,103043,12
$CFSIZE,260165632,250007552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300408,225007,2103.287,-15746.980,36,1.1,36,9.8