version: 66.03
glider: 139
mission: 3
dive: 86
start: 7 21 108 15 28 17
data:
$ID,139
$MISSION,3
$DIVE,86
$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,-1272119
$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,38
$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,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
$GPS1,152038,2106.123,-15751.385,37,1.4,37,9.8
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,1
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-70.7
$GPS2,152728,2106.126,-15751.491,9,2.2,28,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.241,-0.083
$KALMAN_X,-15914.2,-792.6,237.8,18745.7,-1329.0
$KALMAN_Y,-8422.8,-86.2,-102.3,-10925.3,-488.3
$MHEAD_RNG_PITCHd_Wd,99.3,10573,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.96,-175.2,0.0,0.0,0,83,0.00,0.00,-60.50,0.000,2,0.000,0.000,426,2088,3036
$GC,85,-0.96,-175.2,4.1,-7.7,11,110,12.18,2.40,-5.53,0.000,4,0.156,0.050,2575,677,3381
$GC,138,-0.96,-175.2,24.7,-33.0,20,145,0.00,2.22,0.00,0.000,6,0.000,0.018,2575,2081,3382
$GC,258,-0.96,-175.2,40.7,-11.9,34,262,0.00,2.38,0.00,0.000,4,0.000,0.035,2575,679,3383
$GC,314,-0.96,-175.2,46.9,-10.1,39,318,0.00,1.70,0.00,0.000,6,0.000,0.064,2575,1785,3383
$GC,644,-0.96,-175.2,76.3,-8.9,70,648,0.00,2.80,0.00,0.000,4,0.000,0.029,2575,3464,3384
$GC,788,-0.96,-175.2,88.5,-7.6,82,795,0.00,2.30,0.00,0.000,6,0.000,0.020,2574,2071,3384
$GC,1113,-0.96,-175.2,113.1,-7.7,113,1114,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2069,3385
$GC,1432,-0.96,-175.2,139.2,-7.7,143,1433,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2069,3386
$GC,1750,-0.96,-175.2,164.7,-8.6,173,1754,0.00,2.33,0.00,0.000,4,0.000,0.031,2575,3459,3386
$GC,1789,-0.96,-175.2,168.0,-8.2,176,1793,0.00,2.25,0.00,0.000,6,0.000,0.052,2575,2077,3386
$GC,2114,-0.96,-175.2,191.9,-7.8,206,2118,0.00,2.35,0.00,0.000,4,0.000,0.067,2575,686,3386
$GC,2180,-0.96,-175.2,196.9,-7.5,211,2187,0.00,2.25,0.00,0.000,6,0.000,0.019,2575,2071,3386
$GC,2498,-0.96,-175.2,219.8,-7.2,229,2499,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2074,3386
$GC,2807,-0.96,-175.2,241.6,-6.6,244,2808,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2074,3386
$GC,3116,-0.96,-175.2,262.4,-7.2,259,3121,0.00,2.35,0.00,0.000,4,0.000,0.038,2575,689,3385
$GC,3178,-0.96,-175.2,267.1,-7.4,262,3182,0.00,2.25,0.00,0.000,6,0.000,0.040,2575,2073,3385
$GC,3510,-0.96,-175.2,289.8,-6.4,278,3514,0.00,2.35,0.00,0.000,4,0.000,0.037,2575,3467,3384
$GC,3542,-0.96,-175.2,292.0,-6.6,279,3546,0.00,2.28,0.00,0.000,6,0.000,0.024,2575,2082,3384
$GC,3881,-0.96,-175.2,312.6,-6.2,291,3882,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2081,3382
$GC,4206,-0.96,-175.2,333.7,-6.5,299,4207,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2081,3381
$GC,4531,-0.96,-175.2,354.1,-6.1,307,4535,0.00,2.38,0.00,0.000,4,0.000,0.042,2575,682,3380
$GC,4563,-0.96,-175.2,356.2,-6.3,307,4569,0.00,2.30,0.00,0.000,6,0.000,0.061,2575,2081,3379
$GC,4894,-0.96,-175.2,373.1,-4.8,316,4898,0.00,2.38,0.00,0.000,4,0.000,0.041,2575,3479,3378
$GC,4922,-0.96,-175.2,374.3,-4.8,316,4926,0.00,2.33,0.00,0.000,6,0.000,0.026,2575,2075,3377
$GC,5253,-0.96,-175.2,390.3,-5.1,324,5257,0.00,2.40,0.00,0.000,4,0.000,0.044,2575,676,3375
$GC,5286,-0.96,-175.2,392.2,-5.5,324,5290,0.00,2.33,0.00,0.000,6,0.000,0.028,2575,2082,3375
$GC,5617,-0.96,-175.2,411.3,-5.9,332,5621,0.00,2.40,0.00,0.000,4,0.000,0.043,2575,3480,3374
$GC,5683,-0.96,-175.2,415.6,-6.7,333,5687,0.00,2.35,0.00,0.000,6,0.000,0.028,2575,2068,3373
$GC,6026,-0.96,-175.2,438.9,-6.9,342,6030,0.00,2.38,0.00,0.000,4,0.000,0.044,2575,681,3371
$GC,6075,-0.96,-175.2,442.3,-6.9,343,6079,0.00,2.33,0.00,0.000,6,0.000,0.028,2575,2078,3371
$STATE,6230,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6230,begin apogee
$GC,6235,-0.31,0.0,452.3,6.5,347,6380,0.68,0.00,142.18,0.898,6,0.167,0.000,2729,2082,2664
$STATE,6381,end apogee,CONTROL_FINISHED_OK
$STATE,6381,begin climb
$GC,6383,0.96,175.2,459.7,0.0,350,6539,1.17,2.47,145.15,0.872,4,0.130,0.077,3008,3472,1948
$GC,6792,0.96,175.2,437.0,8.8,359,6796,0.00,2.38,0.00,0.000,6,0.000,0.031,3008,2077,1942
$GC,7139,0.96,175.2,406.6,9.1,368,7140,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2076,1936
$GC,7464,0.96,175.2,377.9,8.4,376,7468,0.00,2.45,0.00,0.000,4,0.000,0.044,3008,3475,1934
$GC,7519,0.96,175.2,373.3,8.4,377,7523,0.00,2.40,0.00,0.000,6,0.000,0.037,3008,2087,1934
$GC,7832,0.96,175.2,347.4,8.5,385,7833,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2085,1932
$GC,8157,0.96,175.2,321.3,7.6,393,8161,0.00,2.47,0.00,0.000,4,0.000,0.064,3008,671,1930
$GC,8184,0.96,175.2,319.2,8.1,393,8188,0.00,2.35,0.00,0.000,6,0.000,0.029,3008,2078,1929
$GC,8495,0.96,175.2,294.6,7.8,402,8499,0.00,2.42,0.00,0.000,4,0.000,0.075,3008,3478,1928
$GC,8619,0.96,175.2,284.7,7.7,407,8625,0.00,2.38,0.00,0.000,6,0.000,0.033,3008,2068,1928
$GC,8934,1.02,223.8,264.0,5.8,423,8976,0.00,0.00,39.88,0.785,6,0.000,0.000,3008,2066,1751
$GC,9283,1.02,223.8,235.3,9.6,440,9287,0.00,2.42,0.00,0.000,4,0.000,0.045,3008,674,1744
$GC,9382,1.02,223.8,225.2,9.5,444,9389,0.00,2.35,0.00,0.000,6,0.000,0.068,3008,2080,1740
$GC,9698,1.02,223.8,200.6,7.7,460,9702,0.00,2.40,0.00,0.000,4,0.000,0.038,3008,3481,1740
$GC,9748,1.02,223.8,196.5,8.1,464,9752,0.00,2.35,0.00,0.000,6,0.000,0.059,3008,2076,1740
$GC,10072,1.07,264.0,173.9,6.0,494,10115,0.00,2.47,34.67,0.690,4,0.000,0.074,3008,684,1585
$GC,10172,1.07,264.0,166.7,8.6,503,10176,0.00,2.33,0.00,0.000,6,0.000,0.023,3008,2088,1582
$GC,10496,1.08,272.2,140.7,6.9,533,10507,0.00,0.00,7.62,0.568,6,0.000,0.000,3008,2092,1554
$GC,10827,1.08,272.2,116.9,8.5,564,10828,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2092,1552
$GC,11142,1.08,272.2,91.3,7.4,594,11146,0.00,2.40,0.00,0.000,4,0.000,0.038,3008,677,1552
$GC,11199,1.08,272.2,86.7,8.5,599,11203,0.00,2.30,0.00,0.000,6,0.000,0.020,3008,2095,1551
$GC,11525,1.08,272.2,61.9,8.6,629,11526,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2101,1551
$GC,11843,1.15,325.6,42.5,5.7,659,11897,0.15,2.45,47.25,0.557,4,0.042,0.054,3063,676,1334
$GC,12038,1.15,325.6,24.0,10.4,681,12044,0.00,2.30,0.00,0.000,6,0.000,0.054,3063,2080,1328
$GC,12158,1.15,325.6,12.9,8.7,702,12163,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2085,1328
$STATE,12252,end climb,SURFACE_DEPTH_REACHED
$STATE,12252,begin surface coast
$FINISH,0.1,1.022897
$STATE,12281,end surface coast,CONTROL_FINISHED_OK
$STATE,12281,begin surface
$SM_CCo,12361,0.00,0.000,0,0,1324,328.70
$SM_GC,0.82,11.45,0.00,0.00,0.039,0.000,0.000,431,2084,1324,-10.81,0.17,328.70
$IRIDIUM_FIX,2057.14,-15756.04,151097,121255
$TT8_MAMPS,0.029146
$HUMID,1859
$INTERNAL_PRESSURE,8.64886
$TCM_TEMP,23.10
$XPDR_PINGS,689
$24V_AH,23.3,41.960
$10V_AH,10.2,24.383
$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,25.625,98.850,416.750,0.000,0.000,31.245,24.443,223.012,172.250,0.000,0.000,30.757,1277.237,8897.431,486.564,1637.386,459.188,33.370,1290.013,0.000,1618.633,0.000,0.470
$DEVICE_MAMPS,167.206,76.700,898.157,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,486.585,479.943,812.566,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37947,724
$CAP_FILE_SIZE,98234,10
$CFSIZE,260165632,253317120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210708,185532,2105.325,-15750.455,39,1.6,39,9.8