version: 66.03
glider: 114
mission: 3
dive: 23
start: 9 25 108 10 20 40
data:
$ID,114
$MISSION,3
$DIVE,23
$D_SURF,5
$D_FLARE,3
$D_TGT,450
$D_ABORT,600
$D_NO_BLEED,80
$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,160
$T_MISSION,200
$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,95
$COURSE_BIAS,0
$GLIDE_SLOPE,50
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52448
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0034169999
$HD_B,0.0095870001
$HD_C,3.1312e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2110
$TGT_DEFAULT_LON,-15800
$TGT_AUTO_DEFAULT,0
$SM_CC,420
$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,-592381.12
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,410
$PITCH_MAX,3699
$C_PITCH,2710
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,0
$ROLL_MIN,160
$ROLL_MAX,3940
$ROLL_DEG,40
$C_ROLL_DIVE,2140
$C_ROLL_CLIMB,2090
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0.029999999
$ROLL_ADJ_DBAND,0
$VBD_MIN,420
$VBD_MAX,3949
$C_VBD,2733
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0017500001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-9.99016
$PRESSURE_SLOPE,0.000116376
$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,8
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,1
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$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,0.0044130804
$SEABIRD_T_H,0.00065298093
$SEABIRD_T_I,2.7242255e-05
$SEABIRD_T_J,2.9466562e-06
$SEABIRD_C_G,-10.002422
$SEABIRD_C_H,1.1227361
$SEABIRD_C_I,-0.0011729589
$SEABIRD_C_J,0.00016786551
$GPS1,101438,2109.927,-15750.858,35,1.2,35,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-64.5
$GPS2,101945,2109.893,-15750.893,12,1.2,12,9.8
$SPEED_LIMITS,0.079,0.207
$TGT_NAME,WPT1
$TGT_LATLONG,2109.529,-15754.647
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.198,-0.059
$KALMAN_X,4678.3,-85.2,339.9,-307.0,-246.9
$KALMAN_Y,4378.9,-385.9,-77.4,-16290.4,340.1
$MHEAD_RNG_PITCHd_Wd,243.7,6521,-21.5,-9.375
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-1.59,-92.5,0.0,0.0,0,93,0.00,0.00,-63.97,0.000,2,0.000,0.000,409,2115,2950
$GC,97,-1.59,-92.5,3.8,-6.7,12,116,11.25,2.55,-2.55,0.000,4,0.167,0.047,2357,3551,3111
$GC,337,-1.59,-92.5,56.5,-16.5,42,342,0.00,2.40,0.00,0.000,6,0.000,0.024,2357,2126,3113
$GC,599,-1.59,-92.5,99.3,-12.9,66,604,0.00,2.40,0.00,0.000,4,0.000,0.039,2357,731,3114
$GC,651,-1.59,-92.5,106.1,-12.1,70,657,0.00,2.35,0.00,0.000,6,0.000,0.024,2357,2135,3115
$GC,977,-1.59,-92.5,150.4,-12.8,101,978,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2136,3116
$GC,1298,-1.59,-92.5,190.2,-12.6,131,1302,0.00,2.45,0.00,0.000,4,0.000,0.041,2357,729,3116
$GC,1405,-1.59,-92.5,204.6,-13.1,139,1409,0.00,2.38,0.00,0.000,6,0.000,0.025,2357,2140,3116
$GC,1733,-1.59,-92.5,234.8,-8.5,155,1737,0.00,2.45,0.00,0.000,4,0.000,0.042,2357,737,3116
$GC,1930,-1.59,-92.5,255.1,-10.7,164,1934,0.00,2.38,0.00,0.000,6,0.000,0.027,2356,2140,3116
$GC,2257,-1.59,-92.5,286.8,-9.0,180,2261,0.00,2.45,0.00,0.000,4,0.000,0.044,2357,741,3116
$GC,2347,-1.59,-92.5,295.8,-9.8,184,2351,0.00,2.38,0.00,0.000,6,0.000,0.029,2357,2137,3116
$GC,2684,-1.59,-92.5,328.5,-9.9,194,2689,0.00,2.47,0.00,0.000,4,0.000,0.048,2357,738,3115
$GC,2753,-1.59,-92.5,335.6,-10.6,195,2757,0.00,2.40,0.00,0.000,6,0.000,0.031,2357,2141,3115
$GC,3090,-1.59,-92.5,367.3,-9.4,204,3094,0.00,2.50,0.00,0.000,4,0.000,0.049,2357,736,3114
$GC,3202,-1.59,-92.5,378.1,-9.0,206,3206,0.00,2.42,0.00,0.000,6,0.000,0.032,2357,2148,3113
$GC,3540,-1.59,-92.5,404.7,-7.6,215,3545,0.00,2.50,0.00,0.000,4,0.000,0.050,2357,745,3111
$GC,3626,-1.59,-92.5,411.7,-8.4,217,3630,0.00,2.40,0.00,0.000,6,0.000,0.033,2357,2140,3110
$GC,3956,-1.59,-92.5,439.4,-8.7,225,3960,0.00,2.50,0.00,0.000,4,0.000,0.051,2357,741,3108
$GC,3996,-1.59,-92.5,443.0,-8.7,226,4001,0.00,2.42,0.00,0.000,6,0.000,0.034,2357,2144,3107
$STATE,4075,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4075,begin apogee
$GC,4083,-0.33,0.0,450.3,8.6,228,4159,1.40,0.00,72.38,0.944,6,0.108,0.000,2635,2088,2733
$STATE,4159,end apogee,CONTROL_FINISHED_OK
$STATE,4160,begin climb
$GC,4163,1.59,92.5,452.1,0.0,230,4240,1.98,0.00,72.60,0.917,6,0.063,0.000,3054,2088,2356
$GC,4563,1.68,139.5,435.3,6.1,240,4605,0.00,2.62,37.08,0.918,4,0.000,0.054,3055,696,2164
$GC,4617,1.71,156.1,431.5,8.2,241,4636,0.12,2.47,13.52,0.900,6,0.096,0.032,3079,2100,2095
$GC,4974,1.71,156.1,389.3,11.8,250,4978,0.00,2.58,0.00,0.000,4,0.000,0.054,3079,687,2093
$GC,5231,1.71,156.1,354.2,14.1,255,5238,0.00,2.45,0.00,0.000,6,0.000,0.031,3079,2098,2092
$GC,5563,1.71,156.1,315.8,11.4,264,5567,0.00,2.55,0.00,0.000,4,0.000,0.053,3079,690,2091
$GC,5820,1.71,156.1,282.0,12.2,272,5827,0.00,2.42,0.00,0.000,6,0.000,0.030,3079,2101,2090
$GC,6136,1.71,156.1,249.3,9.7,288,6140,0.00,2.53,0.00,0.000,4,0.000,0.051,3079,696,2089
$GC,6394,1.71,156.1,222.8,9.9,299,6400,0.00,2.40,0.00,0.000,6,0.000,0.028,3078,2103,2088
$GC,6710,1.77,192.1,199.3,6.9,315,6743,0.00,2.58,26.12,0.808,4,0.000,0.048,3078,695,1949
$GC,6875,1.77,192.1,180.1,14.5,329,6881,0.00,2.40,0.00,0.000,6,0.000,0.033,3079,2095,1949
$GC,7203,1.77,192.1,147.0,9.4,360,7208,0.00,2.50,0.00,0.000,4,0.000,0.048,3079,696,1949
$GC,7429,1.79,204.6,125.0,8.5,379,7446,0.00,2.38,10.27,0.727,6,0.000,0.025,3079,2106,1897
$GC,7766,1.79,204.6,94.2,10.5,411,7770,0.00,2.50,0.00,0.000,4,0.000,0.045,3079,694,1898
$GC,8023,1.80,208.5,66.1,9.1,433,8034,0.10,2.35,3.67,0.665,6,0.087,0.023,3100,2106,1882
$GC,8296,1.80,208.5,45.9,9.5,459,8300,0.00,2.50,0.00,0.000,4,0.000,0.043,3100,687,1883
$GC,8399,1.83,227.9,37.8,8.0,467,8419,0.00,2.35,15.15,0.609,6,0.000,0.023,3100,2101,1803
$GC,8687,1.84,235.3,14.8,8.9,508,8700,0.00,2.40,6.22,0.586,4,0.000,0.035,3100,3490,1773
$GC,8713,1.88,254.3,12.8,8.1,512,8736,0.00,2.38,14.40,0.574,6,0.000,0.032,3100,2089,1695
$STATE,8797,end climb,SURFACE_DEPTH_REACHED
$STATE,8797,begin surface coast
$FINISH,0.6,1.009163
$STATE,8842,end surface coast,CONTROL_FINISHED_OK
$STATE,8842,begin surface
$SM_CCo,8866,76.28,0.542,0,0,1019,420.20
$SM_GC,1.51,0.00,0.00,76.28,0.000,0.000,0.542,412,2166,1019,-10.57,0.74,420.20
$IRIDIUM_FIX,2101.76,-15750.89,201297,070727
$TT8_MAMPS,0.027612
$HUMID,1689
$INTERNAL_PRESSURE,7.95929
$TCM_TEMP,24.60
$XPDR_PINGS,20
$24V_AH,23.7,6.446
$10V_AH,10.2,3.099
$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,27.000,88.300,271.425,76.275,0.000,26.056,29.367,138.636,14.000,0.000,0.000,13.687,1038.214,5873.701,438.302,1468.704,439.941,33.352,1130.200,0.000,1440.303,0.000,57.438
$DEVICE_MAMPS,167.206,77.467,944.177,542.269,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,355.659,353.580,627.573,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28597,534
$CAP_FILE_SIZE,84117,0
$CFSIZE,260165632,256729088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250908,125053,2109.655,-15751.939,7,2.9,26,9.8