version: 66.04
glider: 139
mission: 3
dive: 11
start: 2 4 109 11 25 47
data:
$ID,139
$MISSION,3
$DIVE,11
$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,148
$T_MISSION,150
$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,-1281344.9
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,435
$PITCH_MAX,3724
$C_PITCH,2860
$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,2150
$C_ROLL_CLIMB,2185
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,57
$R_STBD_OVSHOOT,44
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,450
$VBD_MAX,3860
$C_VBD,2450
$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
$GPS1,110636,2113.899,-15757.841,9,2.0,25,9.8
$_CALLS,5
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-69.9
$GPS2,112455,2113.833,-15757.719,11,1.5,11,9.8
$SPEED_LIMITS,0.156,0.234
$TGT_NAME,TRANSIT
$TGT_LATLONG,2109.000,-15800.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.226,-0.063
$KALMAN_X,5874.7,206.1,-80.7,-5157.2,2104.9
$KALMAN_Y,3481.0,128.3,-80.7,-8134.1,795.6
$MHEAD_RNG_PITCHd_Wd,244.5,9780,-18.2,-9.009
$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,14,-1.29,-121.7,0.0,0.0,0,80,0.00,0.00,-62.80,0.000,2,0.000,0.000,429,2107,2477
$GC,83,-1.29,-121.7,4.1,-8.8,11,109,11.90,2.40,-7.53,0.000,4,0.146,0.041,2575,3549,2947
$GC,227,-1.29,-121.7,40.4,-17.4,31,234,0.00,2.28,0.00,0.000,6,0.000,0.065,2575,2178,2948
$GC,488,-1.29,-121.7,90.5,-19.4,56,492,0.00,2.47,0.00,0.000,4,0.000,0.046,2575,741,2948
$GC,587,-1.29,-121.7,109.7,-17.7,64,594,0.00,2.33,0.00,0.000,6,0.000,0.058,2575,2152,2948
$GC,849,-1.29,-121.7,152.8,-14.7,89,853,0.00,2.42,0.00,0.000,4,0.000,0.044,2575,742,2948
$GC,950,-1.29,-121.7,170.0,-15.8,97,956,0.00,2.28,0.00,0.000,6,0.000,0.021,2574,2150,2949
$GC,1209,-1.29,-121.7,210.6,-16.0,119,1213,0.00,2.42,0.00,0.000,4,0.000,0.045,2575,742,2949
$GC,1325,-1.29,-121.7,228.0,-14.0,124,1330,0.00,2.30,0.00,0.000,6,0.000,0.021,2575,2158,2949
$GC,1647,-1.29,-121.7,269.1,-13.8,140,1651,0.00,2.45,0.00,0.000,4,0.000,0.051,2575,741,2949
$GC,1799,-1.29,-121.7,291.2,-14.5,147,1803,0.00,2.30,0.00,0.000,6,0.000,0.024,2575,2149,2950
$GC,2121,-1.29,-121.7,331.5,-12.0,157,2125,0.00,2.45,0.00,0.000,4,0.000,0.048,2575,738,2948
$GC,2282,-1.29,-121.7,351.4,-11.8,160,2287,0.00,2.33,0.00,0.000,6,0.000,0.027,2575,2144,2948
$GC,2619,-1.29,-121.7,395.7,-14.1,169,2623,0.00,2.45,0.00,0.000,4,0.000,0.051,2575,743,2946
$STATE,2644,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2644,begin apogee
$GC,2652,-0.31,0.0,400.2,17.0,169,2755,0.98,0.00,99.65,0.810,6,0.069,0.000,2788,2186,2450
$STATE,2756,end apogee,CONTROL_FINISHED_OK
$STATE,2756,begin climb
$GC,2758,1.29,121.7,407.7,0.0,172,2870,1.50,2.47,103.85,0.798,4,0.027,0.045,3150,3583,1953
$GC,2982,1.65,416.9,425.8,-5.6,177,3236,0.32,2.40,245.25,0.809,6,0.049,0.033,3223,2183,750
$GC,3572,1.65,416.9,336.2,18.6,192,3576,0.00,2.45,0.00,0.000,4,0.000,0.041,3222,3588,745
$GC,3740,1.65,416.9,307.4,20.2,195,3746,0.00,2.35,0.00,0.000,6,0.000,0.071,3223,2218,744
$GC,4055,1.65,416.9,250.5,17.5,210,4059,0.00,2.55,0.00,0.000,4,0.000,0.054,3223,775,742
$GC,4210,1.65,416.9,219.6,19.7,217,4215,0.00,2.38,0.00,0.000,6,0.000,0.031,3222,2182,740
$GC,4533,1.65,416.9,164.5,18.4,242,4537,0.00,2.47,0.00,0.000,4,0.000,0.050,3223,774,740
$GC,4639,1.65,416.9,143.8,18.4,251,4644,0.00,2.35,0.00,0.000,6,0.000,0.028,3223,2189,739
$GC,4901,1.65,416.9,104.6,15.2,275,4905,0.00,2.47,0.00,0.000,4,0.000,0.044,3223,765,739
$GC,4922,1.65,416.9,101.1,14.8,276,4929,0.00,2.38,0.00,0.000,6,0.000,0.025,3223,2186,739
$GC,5184,1.65,416.9,61.1,16.7,301,5188,0.00,2.45,0.00,0.000,4,0.000,0.044,3223,768,739
$GC,5216,1.65,416.9,55.5,16.1,303,5223,0.00,2.35,0.00,0.000,6,0.000,0.024,3223,2183,739
$GC,5485,1.65,416.9,10.7,17.3,338,5492,0.00,2.42,0.00,0.000,4,0.000,0.041,3223,771,740
$STATE,5513,end climb,SURFACE_DEPTH_REACHED
$STATE,5513,begin surface coast
$FINISH,1.4,1.023694
$STATE,5544,end surface coast,CONTROL_FINISHED_OK
$STATE,5544,begin surface
$SM_CCo,5628,0.00,0.000,0,0,738,420.20
$SM_GC,1.38,12.10,0.00,0.00,0.031,0.000,0.000,426,2155,738,-11.13,0.14,420.20
$IRIDIUM_FIX,2104.07,-15758.18,010598,111109
$TT8_MAMPS,0.029146
$HUMID,1671
$INTERNAL_PRESSURE,9.51839
$TCM_TEMP,21.70
$XPDR_PINGS,13
$24V_AH,23.4,4.461
$10V_AH,10.2,1.944
$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,26.800,67.125,448.750,0.000,0.000,141.553,133.718,456.802,3.250,0.000,0.000,13.020,661.792,3754.156,461.169,978.430,866.445,33.327,1002.507,0.000,965.105,0.000,0.540,0.000
$DEVICE_MAMPS,145.730,70.564,809.952,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,232.383,223.474,343.970,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19075,348
$CAP_FILE_SIZE,66881,0
$CFSIZE,260165632,257896448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040209,130036,2113.526,-15757.831,26,1.6,26,9.8