version: 66.03
glider: 114
mission: 3
dive: 47
start: 9 28 108 8 1 32
data:
$ID,114
$MISSION,3
$DIVE,47
$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,210
$T_MISSION,240
$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,150
$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,-592843.12
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,410
$PITCH_MAX,3699
$C_PITCH,2750
$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,1
$ROLL_MIN,160
$ROLL_MAX,3940
$ROLL_DEG,40
$C_ROLL_DIVE,2040
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,48
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0.029999999
$ROLL_ADJ_DBAND,1
$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
$GPS1,075448,2108.694,-15748.945,12,6.2,31,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-64.6
$GPS2,080038,2108.697,-15748.949,36,1.1,36,9.8
$SPEED_LIMITS,0.060,0.226
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,0.005,0.226
$KALMAN_X,-9746.9,104.5,617.5,16996.5,-1486.3
$KALMAN_Y,-5556.9,223.5,249.9,-9503.9,-948.1
$MHEAD_RNG_PITCHd_Wd,351.4,3019,-13.1,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-1.13,-146.0,0.0,0.0,0,94,0.00,0.00,-64.93,0.000,2,0.000,0.000,412,2064,2971
$GC,98,-1.13,-146.0,3.9,-5.6,12,122,11.90,2.38,-5.45,0.000,4,0.166,0.050,2494,3427,3329
$GC,169,-1.10,-146.0,21.8,-13.1,24,176,0.00,2.38,0.00,0.000,6,0.000,0.024,2494,2023,3329
$GC,442,-1.10,-146.0,51.1,-10.8,56,443,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2023,3329
$GC,697,-1.17,-146.0,74.8,-8.4,80,702,0.00,2.42,0.00,0.000,4,0.000,0.035,2494,3429,3330
$GC,739,-1.28,-146.0,78.3,-8.6,83,742,0.00,2.33,0.00,0.000,6,0.000,0.023,2494,2037,3330
$GC,1007,-1.37,-146.0,100.1,-8.1,108,1012,0.15,2.42,0.00,0.000,4,0.056,0.035,2452,3438,3331
$GC,1048,-1.37,-146.0,104.2,-11.2,111,1052,0.00,2.35,0.00,0.000,6,0.000,0.024,2452,2038,3331
$GC,1374,-1.37,-146.0,134.3,-8.4,141,1378,0.00,2.40,0.00,0.000,4,0.000,0.035,2452,3429,3331
$GC,1419,-1.42,-146.0,137.9,-7.4,144,1425,0.00,2.33,0.00,0.000,6,0.000,0.025,2452,2037,3332
$GC,1745,-1.46,-146.0,162.6,-8.4,175,1749,0.00,2.40,0.00,0.000,4,0.000,0.035,2452,3429,3332
$GC,1773,-1.51,-146.0,165.3,-9.0,177,1779,0.15,2.33,0.00,0.000,6,0.058,0.025,2414,2043,3332
$GC,2108,-1.51,-146.0,203.3,-11.6,208,2112,0.00,2.40,0.00,0.000,4,0.000,0.036,2414,3434,3331
$GC,2135,-1.51,-146.0,206.7,-11.8,209,2139,0.00,2.35,0.00,0.000,6,0.000,0.025,2414,2036,3332
$GC,2457,-1.51,-146.0,239.3,-10.0,225,2462,0.00,2.42,0.00,0.000,4,0.000,0.041,2414,633,3331
$GC,2498,-1.55,-146.0,243.0,-8.6,227,2502,0.00,2.35,0.00,0.000,6,0.000,0.026,2414,2023,3331
$GC,2825,-1.55,-146.0,273.3,-9.2,243,2826,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,2025,3331
$GC,3135,-1.58,-146.0,300.2,-8.6,258,3139,0.00,2.42,0.00,0.000,4,0.000,0.045,2414,644,3330
$GC,3176,-1.64,-146.0,303.9,-9.4,259,3180,0.00,2.40,0.00,0.000,6,0.000,0.028,2414,2052,3330
$GC,3502,-1.68,-146.0,329.3,-7.5,267,3507,0.12,2.45,0.00,0.000,4,0.070,0.043,2383,3453,3329
$GC,3536,-1.68,-146.0,332.2,-8.5,267,3542,0.00,2.42,0.00,0.000,6,0.000,0.030,2384,2035,3329
$GC,3867,-1.68,-146.0,358.5,-8.0,276,3871,0.00,2.47,0.00,0.000,4,0.000,0.042,2384,3444,3326
$GC,3895,-1.68,-146.0,361.1,-9.4,276,3899,0.00,2.40,0.00,0.000,6,0.000,0.030,2383,2040,3326
$GC,4228,-1.68,-146.0,390.8,-8.7,284,4229,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,2039,3324
$GC,4552,-1.68,-146.0,417.0,-8.1,292,4553,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,2039,3321
$GC,4877,-1.68,-146.0,445.6,-9.2,300,4881,0.00,2.50,0.00,0.000,4,0.000,0.046,2383,3446,3319
$GC,4904,-1.68,-146.0,448.3,-9.0,300,4909,0.00,2.42,0.00,0.000,6,0.000,0.031,2383,2039,3318
$STATE,4951,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4951,begin apogee
$GC,4959,-0.33,0.0,452.5,9.2,301,5076,1.45,0.00,113.28,0.929,6,0.106,0.000,2673,1841,2733
$STATE,5076,end apogee,CONTROL_FINISHED_OK
$STATE,5077,begin climb
$GC,5080,1.13,146.0,457.3,0.0,304,5203,1.48,2.60,114.07,0.900,4,0.061,0.056,2993,444,2136
$GC,5372,0.64,146.0,437.7,13.1,310,5377,0.57,2.45,0.00,0.000,6,0.152,0.028,2894,1851,2135
$GC,5704,0.40,146.0,408.5,8.3,318,5706,0.30,0.00,0.00,0.000,6,0.129,0.000,2839,1852,2134
$GC,6029,0.39,215.2,391.6,4.7,326,6084,0.00,0.00,53.42,0.901,6,0.000,0.000,2839,1852,1856
$GC,6394,0.30,223.5,368.4,6.9,335,6409,0.12,2.60,7.05,0.874,4,0.138,0.048,2819,3260,1821
$GC,6460,0.25,233.7,363.7,6.8,336,6475,0.00,2.47,8.68,0.879,6,0.000,0.036,2819,1857,1780
$GC,6808,0.22,245.4,339.5,6.7,345,6824,0.12,2.55,9.82,0.880,4,0.133,0.042,2798,3264,1732
$GC,6875,0.31,300.6,335.7,5.2,346,6924,0.00,2.50,43.60,0.874,6,0.000,0.035,2798,1844,1506
$GC,7258,0.31,300.6,309.6,7.5,356,7262,0.00,2.53,0.00,0.000,4,0.000,0.042,2798,3262,1506
$GC,7336,0.31,300.6,303.1,8.5,357,7341,0.00,2.47,0.00,0.000,6,0.000,0.035,2798,1850,1505
$GC,7651,0.35,325.0,279.7,6.3,372,7676,0.12,2.58,19.02,0.848,4,0.084,0.041,2825,3255,1408
$GC,7718,0.32,325.0,274.9,8.1,375,7723,0.00,2.47,0.00,0.000,6,0.000,0.034,2825,1844,1408
$GC,8047,0.31,338.6,250.7,6.7,391,8067,0.00,2.53,11.40,0.825,4,0.000,0.038,2825,3255,1352
$GC,8129,0.31,338.6,244.6,7.4,394,8135,0.00,2.47,0.00,0.000,6,0.000,0.033,2825,1840,1352
$GC,8445,0.31,338.6,220.9,8.3,410,8449,0.00,2.50,0.00,0.000,4,0.000,0.038,2825,3263,1351
$GC,8495,0.31,338.6,216.5,9.0,412,8499,0.00,2.45,0.00,0.000,6,0.000,0.033,2825,1846,1352
$GC,8820,0.31,340.9,192.0,7.1,433,8831,0.00,2.53,2.65,0.743,4,0.000,0.036,2825,3259,1343
$GC,8912,0.37,374.9,186.3,6.0,441,8945,0.00,2.45,26.75,0.759,6,0.000,0.031,2825,1846,1204
$GC,9263,0.38,382.4,162.7,6.9,474,9276,0.00,2.50,6.70,0.725,4,0.000,0.035,2825,3267,1174
$GC,9356,0.41,382.4,156.0,7.7,482,9360,0.00,2.45,0.00,0.000,6,0.000,0.029,2824,1846,1173
$GC,9684,0.41,382.4,128.5,9.1,512,9688,0.00,2.47,0.00,0.000,4,0.000,0.035,2825,3268,1174
$GC,9729,0.41,382.4,124.7,7.9,515,9735,0.00,2.42,0.00,0.000,6,0.000,0.027,2825,1846,1174
$GC,10058,0.50,409.7,102.8,6.2,546,10085,0.15,2.50,21.40,0.660,4,0.065,0.034,2865,3262,1061
$GC,10149,0.50,409.7,94.6,9.5,553,10155,0.00,2.42,0.00,0.000,6,0.000,0.028,2865,1848,1061
$GC,10477,0.50,409.7,65.7,9.3,584,10481,0.00,2.45,0.00,0.000,4,0.000,0.035,2865,3259,1062
$GC,10586,0.52,423.9,56.5,6.7,593,10602,0.00,2.42,11.50,0.614,6,0.000,0.027,2865,1841,1004
$GC,10859,0.52,423.9,37.0,7.8,618,10863,0.00,2.45,0.00,0.000,4,0.000,0.032,2865,3260,1004
$GC,10926,0.56,423.9,31.8,7.3,623,10932,0.00,2.40,0.00,0.000,6,0.000,0.027,2865,1847,1004
$GC,11202,0.56,425.7,12.9,7.1,670,11208,0.00,2.42,0.00,0.000,4,0.000,0.032,2865,3260,1005
$GC,11256,0.59,425.7,9.0,7.4,679,11263,0.00,2.40,2.33,0.576,6,0.000,0.025,2865,1840,997
$STATE,11318,end climb,SURFACE_DEPTH_REACHED
$STATE,11318,begin surface coast
$FINISH,0.7,1.010713
$STATE,11410,end surface coast,CONTROL_FINISHED_OK
$STATE,11410,begin surface
$SM_CCo,11494,0.00,0.000,0,0,996,425.84
$SM_GC,1.40,10.93,0.00,0.00,0.046,0.000,0.000,409,2088,996,-10.72,1.36,425.84
$IRIDIUM_FIX,2059.45,-15747.88,231297,040404
$TT8_MAMPS,0.027612
$HUMID,1681
$INTERNAL_PRESSURE,7.96906
$TCM_TEMP,24.80
$XPDR_PINGS,10
$24V_AH,23.8,8.938
$10V_AH,10.2,4.801
$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,27.575,122.900,451.675,0.000,0.000,25.595,28.555,149.876,11.500,0.000,0.000,37.554,1285.342,7866.549,525.932,1662.178,504.447,33.356,1336.031,0.000,1609.622,0.000,59.948
$DEVICE_MAMPS,165.672,55.991,928.837,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,470.979,465.372,844.249,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38045,706
$CAP_FILE_SIZE,105142,0
$CFSIZE,260165632,255582208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280908,111426,2109.858,-15749.328,41,1.8,41,9.8