version: 66.03
glider: 114
mission: 3
dive: 73
start: 10 1 108 17 37 40
data:
$ID,114
$MISSION,3
$DIVE,73
$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,410
$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,-593386.56
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,410
$PITCH_MAX,3699
$C_PITCH,2780
$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,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,65
$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
$GPS1,173133,2102.702,-15746.423,9,1.5,9,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-62.9
$GPS2,173645,2102.682,-15746.461,12,1.6,12,9.8
$SPEED_LIMITS,0.060,0.226
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.104,-0.130
$KALMAN_X,-29746.0,534.2,-1011.9,42492.2,478.2
$KALMAN_Y,-6453.3,92.7,-339.8,-19031.9,942.0
$MHEAD_RNG_PITCHd_Wd,208.8,1089,-19.7,-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,-1.44,-70.2,0.0,0.0,0,99,0.00,0.00,-70.38,0.000,2,0.000,0.000,410,2089,3014
$GC,103,-1.48,-93.6,3.9,-5.5,13,123,11.65,2.53,-1.60,0.000,4,0.163,0.047,2451,628,3116
$GC,367,-1.63,-93.6,45.7,-12.4,48,371,0.12,2.33,0.00,0.000,6,0.062,0.023,2421,2015,3117
$GC,631,-1.73,-93.6,77.3,-10.1,72,636,0.00,2.45,0.00,0.000,4,0.000,0.036,2421,3443,3117
$GC,661,-1.83,-93.6,80.3,-10.3,74,666,0.17,2.38,0.00,0.000,6,0.058,0.024,2379,2028,3117
$GC,988,-1.89,-93.6,120.6,-12.8,104,990,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2027,3118
$GC,1308,-1.98,-93.6,155.7,-11.9,134,1314,0.12,0.00,0.00,0.000,6,0.060,0.000,2348,2027,3118
$GC,1634,-2.03,-93.6,195.6,-11.3,165,1638,0.00,2.40,0.00,0.000,4,0.000,0.040,2347,636,3118
$GC,1697,-2.10,-93.6,203.0,-11.8,169,1702,0.12,2.38,0.00,0.000,6,0.063,0.025,2317,2045,3118
$GC,2027,-2.10,-93.6,242.8,-10.7,185,2031,0.00,2.45,0.00,0.000,4,0.000,0.042,2317,643,3118
$GC,2168,-2.10,-93.6,259.6,-12.2,191,2173,0.00,2.38,0.00,0.000,6,0.000,0.026,2317,2049,3118
$GC,2490,-2.10,-93.6,292.6,-10.3,207,2494,0.00,2.47,0.00,0.000,4,0.000,0.044,2317,643,3117
$GC,2501,-2.10,-93.6,293.8,-10.4,207,2507,0.00,2.38,0.00,0.000,6,0.000,0.027,2317,2044,3117
$GC,2814,-2.13,-93.6,330.1,-12.2,217,2818,0.00,2.47,0.00,0.000,4,0.000,0.047,2317,644,3116
$GC,2985,-2.17,-93.6,348.4,-10.2,220,2991,0.00,2.40,0.00,0.000,6,0.000,0.030,2317,2050,3116
$GC,3318,-2.21,-93.6,383.3,-11.0,229,3322,0.00,2.50,0.00,0.000,4,0.000,0.048,2316,643,3113
$GC,3362,-2.26,-93.6,388.6,-11.2,230,3367,0.15,2.40,0.00,0.000,6,0.071,0.031,2285,2039,3113
$GC,3681,-2.26,-93.6,426.4,-12.0,238,3686,0.00,2.50,0.00,0.000,4,0.000,0.049,2284,634,3111
$GC,3817,-2.26,-93.6,443.0,-12.6,241,3821,0.00,2.42,0.00,0.000,6,0.000,0.032,2284,2040,3110
$STATE,3891,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3892,begin apogee
$GC,3900,-0.33,0.0,451.4,11.0,243,3977,2.12,0.00,73.12,0.920,6,0.112,0.000,2704,1952,2733
$STATE,3978,end apogee,CONTROL_FINISHED_OK
$STATE,3978,begin climb
$GC,3981,1.48,93.6,452.8,0.0,245,4063,1.80,0.00,73.10,0.895,6,0.055,0.000,3099,1952,2351
$GC,4389,1.06,93.6,425.8,9.5,255,4394,0.45,2.55,0.00,0.000,4,0.151,0.047,3018,3363,2349
$GC,4491,0.76,93.6,417.8,7.6,257,4496,0.40,2.47,0.00,0.000,6,0.136,0.034,2948,1953,2349
$GC,4840,0.67,129.0,400.6,4.7,266,4875,0.12,2.67,27.15,0.907,4,0.148,0.054,2929,529,2207
$GC,4927,0.51,129.0,394.9,8.5,268,4932,0.20,2.50,0.00,0.000,6,0.140,0.030,2896,1964,2207
$GC,5252,0.51,150.3,375.5,5.7,276,5272,0.00,0.00,17.25,0.902,6,0.000,0.000,2896,1965,2120
$GC,5577,0.51,150.3,352.4,7.3,284,5581,0.00,2.47,0.00,0.000,4,0.000,0.046,2896,3354,2119
$GC,5599,0.47,151.6,350.7,7.1,284,5604,0.00,2.47,0.00,0.000,6,0.000,0.033,2895,1940,2119
$GC,5937,0.47,151.6,326.0,7.3,293,5941,0.00,2.53,0.00,0.000,4,0.000,0.054,2895,540,2117
$GC,6004,0.41,151.6,321.0,7.8,294,6009,0.12,2.45,0.00,0.000,6,0.146,0.030,2876,1961,2116
$GC,6341,0.41,151.6,298.2,7.5,303,6345,0.00,2.58,0.00,0.000,4,0.000,0.054,2875,540,2115
$GC,6532,0.41,151.6,281.6,8.3,311,6538,0.00,2.42,0.00,0.000,6,0.000,0.030,2875,1954,2115
$GC,6849,0.44,169.1,262.1,5.9,327,6870,0.00,2.53,14.30,0.856,4,0.000,0.046,2875,3347,2043
$GC,6923,0.44,169.1,256.9,7.8,330,6927,0.00,2.45,0.00,0.000,6,0.000,0.032,2875,1946,2042
$GC,7245,0.50,176.0,235.3,6.7,346,7256,0.00,2.55,6.00,0.823,4,0.000,0.053,2875,541,2014
$GC,7295,0.50,176.0,231.6,7.3,348,7299,0.00,2.45,0.00,0.000,6,0.000,0.029,2875,1956,2015
$GC,7618,0.60,199.3,214.3,5.5,364,7643,0.15,2.67,18.10,0.811,4,0.084,0.051,2906,536,1920
$GC,7717,0.60,199.3,206.1,8.8,368,7721,0.00,2.45,0.00,0.000,6,0.000,0.028,2907,1955,1920
$GC,8040,0.61,203.8,181.4,6.8,394,8052,0.00,2.50,4.18,0.765,4,0.000,0.041,2907,3350,1902
$GC,8092,0.62,211.1,178.2,6.6,398,8103,0.00,2.42,6.43,0.765,6,0.000,0.030,2907,1949,1872
$GC,8423,0.64,222.6,157.6,6.3,429,8438,0.00,2.55,9.65,0.747,4,0.000,0.051,2906,544,1825
$GC,8479,0.64,222.6,153.0,9.1,433,8485,0.00,2.42,0.00,0.000,6,0.000,0.026,2907,1960,1825
$GC,8807,0.71,223.7,126.3,7.1,464,8812,0.12,2.55,0.00,0.000,4,0.079,0.047,2933,537,1825
$GC,8841,0.67,223.7,123.3,8.5,466,8848,0.00,2.40,0.00,0.000,6,0.000,0.025,2933,1955,1825
$GC,9170,0.68,225.1,100.9,7.0,497,9182,0.00,2.58,2.90,0.672,4,0.000,0.047,2933,540,1815
$GC,9199,0.69,233.0,98.7,6.6,499,9211,0.00,2.40,6.80,0.676,6,0.000,0.025,2933,1963,1781
$GC,9532,0.74,239.2,80.2,6.7,530,9540,0.00,0.00,5.50,0.649,6,0.000,0.000,2933,1964,1756
$GC,9862,0.82,250.4,58.5,6.4,561,9877,0.10,2.42,9.02,0.618,4,0.082,0.034,2956,3343,1712
$GC,9912,0.82,254.2,54.8,6.9,565,9921,0.00,2.40,3.75,0.609,6,0.000,0.026,2955,1934,1695
$GC,10187,0.84,264.1,38.6,6.4,591,10202,0.00,2.50,7.95,0.596,4,0.000,0.043,2955,552,1656
$GC,10261,0.84,264.1,32.6,8.9,597,10267,0.00,2.35,0.00,0.000,6,0.000,0.023,2956,1950,1655
$GC,10536,0.84,264.1,10.9,7.5,643,10542,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,1951,1656
$STATE,10625,end climb,SURFACE_DEPTH_REACHED
$STATE,10625,begin surface coast
$FINISH,0.6,1.009448
$STATE,10715,end surface coast,CONTROL_FINISHED_OK
$STATE,10715,begin surface
$SM_CCo,10739,65.43,0.538,0,0,1060,410.14
$SM_GC,1.60,0.00,0.00,65.43,0.000,0.000,0.538,408,2060,1060,-10.91,0.57,410.14
$IRIDIUM_FIX,2057.14,-15746.61,261297,141438
$TT8_MAMPS,0.027612
$HUMID,1651
$INTERNAL_PRESSURE,7.96906
$TCM_TEMP,25.00
$XPDR_PINGS,10
$ALTIM_BOTTOM_PING,451.4,62.5
$24V_AH,23.8,11.923
$10V_AH,10.2,6.812
$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,29.425,108.825,285.200,65.425,0.000,25.894,31.525,130.371,11.750,0.000,0.000,14.386,1258.655,7293.601,454.248,1628.868,486.841,33.363,1236.116,0.000,1600.467,0.000,60.479
$DEVICE_MAMPS,163.371,54.457,920.400,537.667,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,450.307,457.504,816.741,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34850,674
$CAP_FILE_SIZE,102708,0
$CFSIZE,260165632,254238720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011008,203928,2102.168,-15746.758,40,2.3,59,9.8