version: 66.03
glider: 114
mission: 3
dive: 96
start: 10 4 108 20 48 10
data:
$ID,114
$MISSION,3
$DIVE,96
$D_SURF,5
$D_FLARE,3
$D_TGT,450
$D_ABORT,600
$D_NO_BLEED,80
$D_FINISH,10
$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,2
$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,-593600.75
$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,33
$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
$GPS1,203837,2109.494,-15752.971,30,1.2,30,9.8
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-64.1
$GPS2,204715,2109.403,-15752.956,12,1.2,12,9.8
$SPEED_LIMITS,0.060,0.226
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,0.222,-0.042
$KALMAN_X,-38361.6,645.8,-4106.3,42892.2,-6435.7
$KALMAN_Y,-13939.1,88.8,20.2,543.8,-257.4
$MHEAD_RNG_PITCHd_Wd,91.0,5224,-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,-146.0,0.0,0.0,0,88,0.00,0.00,-59.35,0.000,2,0.000,0.000,411,2084,2799
$GC,92,-1.13,-146.0,3.1,-3.7,11,122,11.93,2.58,-9.02,0.000,4,0.159,0.051,2526,644,3331
$GC,164,-1.24,-146.0,16.9,-11.2,23,171,0.00,2.30,0.00,0.000,6,0.000,0.023,2526,2013,3330
$GC,440,-1.33,-146.0,43.2,-9.0,60,445,0.15,2.47,0.00,0.000,4,0.058,0.035,2486,3449,3330
$GC,509,-1.37,-146.0,51.1,-11.6,65,515,0.00,2.38,0.00,0.000,6,0.000,0.023,2486,2028,3330
$GC,771,-1.37,-146.0,79.5,-11.1,90,775,0.00,2.45,0.00,0.000,4,0.000,0.035,2487,3441,3331
$GC,800,-1.37,-146.0,82.9,-12.0,92,804,0.00,2.35,0.00,0.000,6,0.000,0.022,2486,2037,3331
$GC,1126,-1.44,-146.0,111.1,-8.6,122,1130,0.00,2.40,0.00,0.000,4,0.000,0.037,2486,639,3333
$GC,1159,-1.58,-146.0,114.1,-8.4,124,1166,0.22,2.35,0.00,0.000,6,0.048,0.022,2431,2055,3332
$GC,1485,-1.58,-146.0,146.0,-8.8,155,1489,0.00,2.38,0.00,0.000,4,0.000,0.035,2432,3445,3332
$GC,1542,-1.61,-146.0,151.3,-9.0,159,1548,0.00,2.38,0.00,0.000,6,0.000,0.024,2431,2029,3332
$GC,1867,-1.61,-146.0,181.8,-9.5,190,1868,0.00,0.00,0.00,0.000,6,0.000,0.000,2431,2028,3333
$GC,2195,-1.64,-146.0,213.8,-8.5,214,2196,0.00,0.00,0.00,0.000,6,0.000,0.000,2431,2028,3333
$GC,2502,-1.68,-146.0,237.6,-8.0,229,2503,0.00,0.00,0.00,0.000,6,0.000,0.000,2431,2028,3333
$GC,2813,-1.73,-146.0,261.2,-7.4,244,2818,0.12,2.47,0.00,0.000,4,0.066,0.038,2401,3446,3333
$GC,2853,-1.73,-146.0,264.7,-8.4,246,2858,0.00,2.40,0.00,0.000,6,0.000,0.027,2401,2033,3333
$GC,3181,-1.73,-146.0,294.9,-9.5,262,3185,0.00,2.45,0.00,0.000,4,0.000,0.039,2401,3437,3331
$GC,3214,-1.73,-146.0,298.3,-10.0,263,3220,0.00,2.38,0.00,0.000,6,0.000,0.027,2401,2038,3330
$GC,3526,-1.73,-146.0,327.2,-8.9,272,3530,0.00,2.45,0.00,0.000,4,0.000,0.040,2401,3437,3328
$GC,3571,-1.77,-146.0,331.5,-8.7,273,3575,0.00,2.40,0.00,0.000,6,0.000,0.028,2401,2031,3328
$GC,3889,-1.77,-146.0,366.3,-12.0,281,3893,0.00,2.45,0.00,0.000,4,0.000,0.047,2401,634,3326
$GC,3905,-1.77,-146.0,368.4,-11.5,281,3909,0.00,2.40,0.00,0.000,6,0.000,0.030,2401,2034,3326
$GC,4255,-1.77,-146.0,401.6,-8.4,290,4256,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2034,3324
$GC,4579,-1.77,-146.0,422.5,-6.0,298,4583,0.00,2.50,0.00,0.000,4,0.000,0.048,2401,3448,3321
$GC,4647,-1.83,-146.0,427.2,-7.0,299,4652,0.00,2.42,0.00,0.000,6,0.000,0.035,2401,2045,3320
$STATE,4984,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4984,begin apogee
$GC,4992,-0.33,0.0,450.7,6.8,308,5109,1.50,0.00,113.50,0.922,6,0.100,0.000,2704,1941,2733
$STATE,5110,end apogee,CONTROL_FINISHED_OK
$STATE,5110,begin climb
$GC,5114,1.13,146.0,454.8,0.0,311,5237,1.45,2.58,114.53,0.890,4,0.055,0.053,3022,547,2136
$GC,5362,0.59,146.0,439.3,13.4,316,5367,0.62,2.47,0.00,0.000,6,0.160,0.031,2914,1965,2136
$GC,5694,0.32,146.0,410.8,8.5,324,5699,0.30,2.58,0.00,0.000,4,0.131,0.052,2856,555,2133
$GC,5716,0.09,146.0,409.0,7.8,324,5721,0.30,2.42,0.00,0.000,6,0.124,0.032,2801,1956,2133
$GC,6054,0.22,244.9,394.5,3.7,333,6137,0.12,2.58,75.97,0.887,4,0.088,0.050,2826,3358,1734
$GC,6205,0.14,244.9,384.2,8.0,336,6209,0.00,2.47,0.00,0.000,6,0.000,0.035,2827,1960,1733
$GC,6548,0.08,254.2,359.6,6.8,345,6562,0.15,2.58,7.75,0.868,4,0.120,0.045,2797,3351,1696
$GC,6580,0.17,306.9,357.6,5.3,345,6631,0.00,2.47,41.60,0.872,6,0.000,0.034,2797,1946,1481
$GC,6956,0.17,306.9,329.9,8.2,355,6961,0.00,2.53,0.00,0.000,4,0.000,0.044,2796,3352,1481
$GC,6990,0.17,306.9,327.1,8.2,355,6996,0.00,2.47,0.00,0.000,6,0.000,0.033,2797,1940,1481
$GC,7322,0.22,333.3,304.4,6.2,364,7348,0.15,2.58,20.92,0.859,4,0.080,0.042,2828,3353,1373
$GC,7394,0.18,333.3,299.2,7.5,365,7399,0.00,2.47,0.00,0.000,6,0.000,0.034,2828,1946,1374
$GC,7711,0.12,333.3,273.2,8.3,380,7715,0.00,2.50,0.00,0.000,4,0.000,0.042,2828,3351,1373
$GC,7755,0.08,333.3,269.4,8.1,382,7760,0.15,2.45,0.00,0.000,6,0.112,0.032,2801,1941,1373
$GC,8077,0.11,349.9,247.7,6.6,398,8099,0.00,2.58,13.32,0.821,4,0.000,0.041,2801,3350,1306
$GC,8128,0.14,366.5,244.3,6.6,400,8147,0.00,2.45,13.82,0.808,6,0.000,0.031,2801,1948,1237
$GC,8477,0.19,393.8,222.1,6.2,417,8505,0.00,2.60,21.77,0.788,4,0.000,0.039,2801,3358,1126
$GC,8547,0.25,393.8,216.7,7.8,420,8551,0.15,2.47,0.00,0.000,6,0.078,0.031,2832,1940,1126
$GC,8872,0.25,393.8,187.8,9.0,442,8876,0.00,2.50,0.00,0.000,4,0.000,0.038,2832,3361,1127
$GC,8928,0.25,393.8,182.9,8.8,446,8934,0.00,2.45,0.00,0.000,6,0.000,0.029,2832,1941,1127
$GC,9256,0.25,393.8,157.5,8.8,477,9260,0.00,2.47,0.00,0.000,4,0.000,0.037,2833,3365,1127
$GC,9297,0.25,393.8,153.6,8.9,480,9303,0.00,2.42,0.00,0.000,6,0.000,0.028,2832,1950,1127
$GC,9625,0.25,393.8,129.0,8.3,511,9629,0.00,2.45,0.00,0.000,4,0.000,0.037,2832,3355,1127
$GC,9677,0.28,393.8,124.7,7.6,515,9682,0.00,2.42,0.00,0.000,6,0.000,0.027,2832,1939,1128
$GC,10005,0.28,393.8,102.0,7.2,545,10010,0.00,2.47,0.00,0.000,4,0.000,0.035,2832,3365,1128
$GC,10023,0.32,414.4,100.7,6.4,546,10046,0.00,2.42,16.62,0.657,6,0.000,0.026,2833,1941,1042
$GC,10365,0.37,414.4,76.4,7.5,578,10370,0.12,2.47,0.00,0.000,4,0.069,0.035,2862,3363,1043
$GC,10406,0.41,414.4,73.3,7.9,581,10410,0.00,2.40,0.00,0.000,6,0.000,0.026,2862,1953,1043
$GC,10668,0.41,414.4,54.0,7.4,605,10672,0.00,2.47,0.00,0.000,4,0.000,0.045,2862,544,1044
$GC,10690,0.41,414.4,52.1,8.4,606,10696,0.00,2.38,0.00,0.000,6,0.000,0.023,2862,1969,1044
$GC,10951,0.41,414.4,29.6,9.2,631,10958,0.00,2.35,0.00,0.000,4,0.000,0.035,2862,3341,1044
$GC,10989,0.41,414.4,26.5,8.6,637,10996,0.00,2.38,0.00,0.000,6,0.000,0.025,2862,1935,1045
$STATE,11208,end climb,FINISH_DEPTH_REACHED
$STATE,11208,begin subsurface finish
$FINISH1,9.8,1.022999,225
$GC,11217,0.39,224.6,9.8,-6.8,676,11240,0.00,2.45,-14.38,0.000,4,0.000,0.055,2862,551,1820
$FINISH2,7.5
$STATE,11241,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11241,begin surface
$IRIDIUM_FIX,2059.45,-15748.75,291297,141448
$TT8_MAMPS,0.027612
$HUMID,1719
$INTERNAL_PRESSURE,8.05695
$TCM_TEMP,24.70
$XPDR_PINGS,12
$24V_AH,23.8,14.784
$10V_AH,10.2,8.611
$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,17.450,130.275,439.825,0.000,0.000,27.458,31.706,282.967,12.000,0.000,0.000,14.207,1242.603,7736.864,511.208,1571.187,693.519,33.364,1311.260,0.000,1541.294,0.000,60.101
$DEVICE_MAMPS,160.303,55.224,921.934,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,453.227,450.622,803.518,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34798,680
$CAP_FILE_SIZE,106067,0
$CFSIZE,260165632,253014016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041008,204715,2109.403,-15752.956,12,1.2,12,9.8