version: 66.03
glider: 114
mission: 3
dive: 51
start: 9 28 108 21 20 58
data:
$ID,114
$MISSION,3
$DIVE,51
$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,-592940.56
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,410
$PITCH_MAX,3699
$C_PITCH,2760
$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,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,66
$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
$GPS1,211438,2106.379,-15747.388,36,1.0,36,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-64.3
$GPS2,212003,2106.372,-15747.407,14,1.0,14,9.8
$SPEED_LIMITS,0.060,0.226
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.142,-0.176
$KALMAN_X,-11621.5,350.5,900.1,21004.6,-1507.7
$KALMAN_Y,-5258.7,139.4,283.9,-14068.6,-402.0
$MHEAD_RNG_PITCHd_Wd,131.3,7573,-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,27,-1.13,-146.0,0.0,0.0,0,94,0.00,0.00,-64.80,0.000,2,0.000,0.000,409,2074,2992
$GC,98,-1.13,-146.0,4.0,-5.7,12,122,11.98,2.53,-5.15,0.000,4,0.165,0.047,2503,620,3330
$GC,175,-1.22,-146.0,22.1,-10.8,25,181,0.00,2.33,0.00,0.000,6,0.000,0.023,2503,2011,3330
$GC,445,-1.27,-146.0,47.1,-8.7,57,449,0.00,2.47,0.00,0.000,4,0.000,0.037,2503,3449,3330
$GC,543,-1.40,-146.0,54.7,-6.4,65,548,0.22,2.40,0.00,0.000,6,0.052,0.024,2450,2021,3330
$GC,805,-1.40,-146.0,82.1,-10.8,89,809,0.00,2.38,0.00,0.000,4,0.000,0.038,2450,637,3331
$GC,839,-1.45,-146.0,86.1,-11.4,91,845,0.00,2.35,0.00,0.000,6,0.000,0.024,2450,2045,3331
$GC,1164,-1.45,-146.0,120.0,-11.0,122,1169,0.00,2.40,0.00,0.000,4,0.000,0.036,2450,3448,3332
$GC,1226,-1.50,-146.0,126.3,-9.7,127,1232,0.00,2.35,0.00,0.000,6,0.000,0.025,2450,2038,3332
$GC,1551,-1.50,-146.0,154.1,-8.7,158,1555,0.00,2.40,0.00,0.000,4,0.000,0.039,2450,640,3332
$GC,1573,-1.55,-146.0,156.0,-8.5,159,1580,0.12,2.35,0.00,0.000,6,0.063,0.025,2419,2046,3332
$GC,1899,-1.55,-146.0,183.7,-8.1,190,1903,0.00,2.40,0.00,0.000,4,0.000,0.038,2419,3449,3332
$GC,1973,-1.58,-146.0,189.6,-7.8,196,1978,0.00,2.38,0.00,0.000,6,0.000,0.025,2419,2042,3332
$GC,2310,-1.58,-146.0,219.4,-9.4,218,2318,0.00,2.42,0.00,0.000,4,0.000,0.037,2418,3446,3332
$GC,2329,-1.58,-146.0,221.6,-9.3,218,2336,0.00,2.38,0.00,0.000,6,0.000,0.025,2418,2029,3332
$GC,2647,-1.58,-146.0,250.0,-8.7,234,2649,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,2028,3331
$GC,2956,-1.58,-146.0,281.0,-10.2,249,2960,0.00,2.45,0.00,0.000,4,0.000,0.039,2419,3441,3331
$GC,2973,-1.58,-146.0,282.9,-9.7,250,2977,0.00,2.38,0.00,0.000,6,0.000,0.027,2419,2038,3330
$GC,3300,-1.62,-146.0,312.6,-8.9,263,3305,0.00,2.45,0.00,0.000,4,0.000,0.044,2418,632,3330
$GC,3343,-1.72,-146.0,316.5,-9.4,264,3348,0.15,2.40,0.00,0.000,6,0.061,0.028,2382,2043,3330
$GC,3667,-1.72,-146.0,345.8,-8.7,272,3671,0.00,2.45,0.00,0.000,4,0.000,0.044,2382,3448,3329
$GC,3730,-1.72,-146.0,351.5,-9.8,273,3734,0.00,2.40,0.00,0.000,6,0.000,0.029,2382,2039,3329
$GC,4073,-1.72,-146.0,381.6,-8.6,282,4077,0.00,2.47,0.00,0.000,4,0.000,0.048,2382,630,3326
$GC,4113,-1.72,-146.0,385.2,-8.9,283,4117,0.00,2.42,0.00,0.000,6,0.000,0.031,2382,2043,3327
$GC,4437,-1.72,-146.0,413.8,-9.3,291,4439,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2044,3324
$GC,4763,-1.72,-146.0,442.3,-8.6,299,4768,0.00,2.47,0.00,0.000,4,0.000,0.050,2381,3445,3321
$GC,4780,-1.72,-146.0,443.8,-8.6,299,4785,0.00,2.42,0.00,0.000,6,0.000,0.031,2382,2032,3321
$STATE,4879,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4879,begin apogee
$GC,4887,-0.33,0.0,452.7,8.8,302,5004,1.50,0.00,113.75,0.917,6,0.104,0.000,2684,1884,2733
$STATE,5005,end apogee,CONTROL_FINISHED_OK
$STATE,5005,begin climb
$GC,5009,1.13,146.0,457.9,0.0,305,5132,1.45,2.55,114.18,0.892,4,0.058,0.054,3000,501,2137
$GC,5329,0.64,146.0,436.6,13.3,312,5335,0.55,2.45,0.00,0.000,6,0.140,0.029,2905,1911,2135
$GC,5678,0.40,146.0,404.4,8.9,321,5683,0.28,2.58,0.00,0.000,4,0.135,0.052,2852,497,2133
$GC,5752,0.21,146.0,398.6,7.3,322,5757,0.25,2.42,0.00,0.000,6,0.127,0.030,2807,1899,2132
$GC,6084,0.31,232.1,383.2,4.2,330,6155,0.00,2.60,65.82,0.889,4,0.000,0.055,2807,506,1786
$GC,6168,0.30,262.7,379.0,6.1,332,6197,0.00,2.45,24.62,0.865,6,0.000,0.031,2807,1905,1661
$GC,6525,0.26,262.7,351.2,7.6,340,6529,0.00,2.50,0.00,0.000,4,0.000,0.050,2807,3300,1660
$GC,6586,0.28,271.2,346.9,6.8,341,6600,0.00,2.45,7.10,0.856,6,0.000,0.035,2807,1906,1627
$GC,6933,0.34,309.6,326.4,5.8,350,6969,0.12,2.55,30.10,0.867,4,0.086,0.043,2832,3307,1469
$GC,7026,0.29,309.6,319.7,7.7,351,7030,0.00,2.47,0.00,0.000,6,0.000,0.034,2833,1890,1469
$GC,7340,0.23,309.6,295.0,8.3,360,7344,0.00,2.53,0.00,0.000,4,0.000,0.042,2833,3309,1469
$GC,7380,0.18,309.6,291.0,10.2,362,7385,0.17,2.47,0.00,0.000,6,0.114,0.034,2801,1899,1468
$GC,7707,0.29,370.9,266.8,5.0,378,7762,0.10,2.65,47.35,0.828,4,0.089,0.053,2821,487,1220
$GC,7780,0.31,383.5,262.6,6.7,381,7795,0.00,2.47,10.43,0.802,6,0.000,0.028,2821,1912,1169
$GC,8117,0.31,383.5,236.1,8.3,398,8121,0.00,2.45,0.00,0.000,4,0.000,0.043,2822,3304,1169
$GC,8218,0.31,383.5,226.5,10.5,402,8223,0.00,2.45,0.00,0.000,6,0.000,0.031,2821,1895,1169
$GC,8536,0.31,383.5,196.1,9.1,419,8540,0.00,2.45,0.00,0.000,4,0.000,0.038,2822,3301,1170
$GC,8627,0.31,383.5,188.5,7.7,427,8632,0.00,2.42,0.00,0.000,6,0.000,0.030,2821,1899,1170
$GC,8956,0.31,383.5,164.8,7.3,457,8960,0.00,2.45,0.00,0.000,4,0.000,0.036,2821,3306,1170
$GC,9019,0.39,400.0,160.3,6.6,462,9041,0.10,2.42,13.90,0.727,6,0.083,0.028,2844,1896,1101
$GC,9360,0.39,400.0,134.3,8.6,494,9364,0.00,2.45,0.00,0.000,4,0.000,0.035,2843,3305,1102
$GC,9401,0.39,400.0,131.0,9.1,497,9406,0.00,2.42,0.00,0.000,6,0.000,0.028,2844,1892,1102
$GC,9730,0.39,400.0,105.7,8.6,527,9734,0.00,2.45,0.00,0.000,4,0.000,0.035,2844,3304,1101
$GC,9798,0.42,400.0,99.4,8.8,532,9805,0.00,2.40,0.00,0.000,6,0.000,0.028,2844,1893,1102
$GC,10127,0.47,428.3,74.9,6.2,563,10158,0.00,2.47,22.25,0.623,4,0.000,0.033,2844,3304,986
$GC,10206,0.55,428.3,69.1,7.7,570,10211,0.17,2.40,0.00,0.000,6,0.060,0.026,2884,1899,986
$GC,10471,0.51,428.3,48.2,8.3,594,10475,0.00,2.45,0.00,0.000,4,0.000,0.045,2884,494,986
$GC,10501,0.47,428.3,45.2,10.1,596,10508,0.12,2.38,0.00,0.000,6,0.100,0.022,2861,1917,987
$GC,10767,0.53,440.8,25.9,6.7,626,10785,0.00,2.42,10.25,0.574,4,0.000,0.034,2861,3300,935
$GC,10849,0.61,447.8,20.2,6.9,640,10863,0.15,2.40,5.70,0.574,6,0.063,0.025,2896,1885,907
$STATE,11014,end climb,SURFACE_DEPTH_REACHED
$STATE,11014,begin surface coast
$FINISH,0.6,0.997700
$STATE,11077,end surface coast,CONTROL_FINISHED_OK
$STATE,11077,begin surface
$SM_CCo,11161,0.00,0.000,0,0,907,447.92
$SM_GC,1.38,11.12,0.00,0.00,0.048,0.000,0.000,409,2082,907,-10.77,1.19,447.92
$IRIDIUM_FIX,2059.45,-15745.74,231297,181825
$TT8_MAMPS,0.027612
$HUMID,1685
$INTERNAL_PRESSURE,7.97882
$TCM_TEMP,24.80
$XPDR_PINGS,9
$24V_AH,23.8,9.432
$10V_AH,10.2,5.122
$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,28.575,132.400,465.450,0.000,0.000,23.318,36.107,140.257,11.250,0.000,0.000,15.503,1263.392,7546.167,523.579,1648.446,505.437,33.367,1359.169,0.000,1617.815,0.000,60.039
$DEVICE_MAMPS,164.905,55.224,917.332,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,453.322,448.513,808.110,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34815,680
$CAP_FILE_SIZE,106612,0
$CFSIZE,260165632,255365120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290908,002808,2104.887,-15747.429,30,1.0,30,9.8