version: 66.03
glider: 114
mission: 3
dive: 111
start: 10 6 108 21 4 16
data:
$ID,114
$MISSION,3
$DIVE,111
$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,-593721.69
$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,32
$R_STBD_OVSHOOT,31
$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
$GPS1,175209,2108.283,-15751.278,14,1.3,14,9.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,4.66
$_SM_ANGLEo,13.2
$GPS2,175209,2108.283,-15751.278,14,1.3,14,9.8
$SPEED_LIMITS,0.060,0.226
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,0.195,0.115
$KALMAN_X,-38166.1,-3.9,-4574.9,46705.6,-11945.7
$KALMAN_Y,-20544.1,45.6,-1873.8,7015.1,-5165.5
$MHEAD_RNG_PITCHd_Wd,49.7,3871,-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,-146.0,0.0,0.0,0,98,0.00,0.00,-66.88,0.000,6,0.000,0.000,2884,1928,3328
$GC,102,-1.13,-146.0,0.8,0.2,13,110,1.58,2.25,0.00,0.000,4,0.071,0.036,2539,624,3328
$GC,118,-1.67,-146.0,0.8,0.0,15,125,0.55,2.40,0.00,0.000,6,0.044,0.025,2411,2055,3328
$GC,393,-1.51,-146.0,42.5,-15.5,57,395,0.17,0.00,0.00,0.000,6,0.104,0.000,2445,2055,3328
$GC,648,-1.48,-146.0,74.3,-11.3,81,649,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,2055,3329
$GC,902,-1.48,-146.0,103.7,-11.0,105,903,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,2055,3330
$GC,1223,-1.48,-146.0,135.4,-10.8,135,1227,0.00,2.38,0.00,0.000,4,0.000,0.037,2445,3443,3331
$GC,1285,-1.53,-146.0,141.8,-9.3,140,1291,0.00,2.38,0.00,0.000,6,0.000,0.025,2445,2024,3331
$GC,1612,-1.57,-146.0,169.6,-7.2,171,1617,0.00,2.38,0.00,0.000,4,0.000,0.039,2445,642,3331
$GC,1686,-1.66,-146.0,175.9,-9.4,177,1692,0.12,2.35,0.00,0.000,6,0.061,0.025,2414,2043,3331
$GC,2010,-1.66,-146.0,206.0,-9.3,205,2014,0.00,2.40,0.00,0.000,4,0.000,0.038,2414,3444,3332
$GC,2043,-1.66,-146.0,209.0,-8.9,206,2050,0.00,2.38,0.00,0.000,6,0.000,0.025,2413,2031,3332
$GC,2359,-1.66,-146.0,235.4,-8.3,222,2363,0.00,2.42,0.00,0.000,4,0.000,0.041,2413,631,3332
$GC,2400,-1.72,-146.0,238.9,-8.7,224,2404,0.00,2.40,0.00,0.000,6,0.000,0.027,2413,2046,3332
$GC,2727,-1.76,-146.0,269.8,-9.5,240,2732,0.00,2.42,0.00,0.000,4,0.000,0.041,2413,3446,3332
$GC,2806,-1.82,-146.0,276.4,-8.0,243,2811,0.12,2.40,0.00,0.000,6,0.067,0.031,2383,2034,3332
$GC,3123,-1.82,-146.0,300.9,-7.8,258,3127,0.00,2.45,0.00,0.000,4,0.000,0.044,2383,631,3332
$GC,3167,-1.82,-146.0,305.0,-9.0,259,3172,0.00,2.40,0.00,0.000,6,0.000,0.029,2383,2034,3332
$GC,3489,-1.82,-146.0,331.1,-8.2,267,3493,0.00,2.47,0.00,0.000,4,0.000,0.045,2383,3447,3330
$GC,3516,-1.82,-146.0,333.8,-9.0,267,3521,0.00,2.40,0.00,0.000,6,0.000,0.030,2383,2035,3330
$GC,3848,-1.82,-146.0,365.8,-9.8,275,3852,0.00,2.50,0.00,0.000,4,0.000,0.044,2383,3450,3328
$GC,3877,-1.82,-146.0,368.7,-10.6,275,3881,0.00,2.42,0.00,0.000,6,0.000,0.030,2383,2034,3328
$GC,4209,-1.82,-146.0,398.5,-8.5,283,4213,0.00,2.50,0.00,0.000,4,0.000,0.044,2383,3446,3325
$GC,4236,-1.82,-146.0,401.0,-8.6,283,4240,0.00,2.42,0.00,0.000,6,0.000,0.030,2383,2032,3325
$GC,4568,-1.82,-146.0,427.4,-8.0,291,4572,0.00,2.50,0.00,0.000,4,0.000,0.044,2383,3445,3322
$GC,4601,-1.82,-146.0,430.5,-8.8,291,4607,0.00,2.42,0.00,0.000,6,0.000,0.031,2383,2035,3322
$STATE,4849,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4849,begin apogee
$GC,4857,-0.33,0.0,450.5,7.9,298,4975,1.60,0.00,114.03,0.927,6,0.104,0.000,2706,1930,2733
$STATE,4976,end apogee,CONTROL_FINISHED_OK
$STATE,4976,begin climb
$GC,4979,1.13,146.0,453.8,0.0,301,5103,1.45,2.53,114.97,0.896,4,0.054,0.052,3023,560,2136
$GC,5210,0.60,146.0,440.9,13.6,306,5216,0.62,2.45,0.00,0.000,6,0.149,0.028,2915,1966,2136
$GC,5559,0.33,146.0,412.9,7.8,315,5564,0.30,2.58,0.00,0.000,4,0.130,0.052,2858,559,2134
$GC,5616,0.19,175.8,409.0,6.1,316,5646,0.17,2.42,23.20,0.892,6,0.128,0.030,2826,1955,2015
$GC,5974,0.16,212.8,387.4,5.9,325,6009,0.00,2.60,28.92,0.892,4,0.000,0.049,2826,3350,1864
$GC,6067,0.12,231.7,381.7,6.5,327,6087,0.00,2.45,15.18,0.878,6,0.000,0.034,2826,1954,1788
$GC,6425,0.06,239.4,357.0,6.9,336,6435,0.17,0.00,6.68,0.871,6,0.120,0.000,2794,1954,1757
$GC,6750,0.14,285.6,339.2,5.5,344,6792,0.00,2.60,36.83,0.875,4,0.000,0.042,2795,3350,1568
$GC,6826,0.15,288.7,334.2,7.0,345,6838,0.00,2.47,3.45,0.808,6,0.000,0.032,2795,1945,1555
$GC,7163,0.17,303.6,313.2,6.6,354,7178,0.10,0.00,12.38,0.861,6,0.094,0.000,2815,1945,1495
$GC,7470,0.17,319.7,291.6,6.6,364,7492,0.00,2.60,13.10,0.848,4,0.000,0.042,2816,3353,1429
$GC,7545,0.18,326.6,286.6,6.9,367,7556,0.00,2.47,6.20,0.828,6,0.000,0.032,2815,1940,1401
$GC,7866,0.18,326.6,262.5,7.7,382,7870,0.00,2.53,0.00,0.000,4,0.000,0.041,2815,3359,1401
$GC,7911,0.18,326.6,259.0,7.6,384,7915,0.00,2.45,0.00,0.000,6,0.000,0.031,2815,1950,1401
$GC,8232,0.18,326.6,237.9,7.3,400,8236,0.00,2.47,0.00,0.000,4,0.000,0.041,2815,3352,1401
$GC,8272,0.18,326.6,234.7,7.9,402,8276,0.00,2.45,0.00,0.000,6,0.000,0.031,2815,1943,1401
$GC,8599,0.19,328.4,211.2,7.1,418,8603,0.00,2.47,0.00,0.000,4,0.000,0.038,2815,3353,1400
$GC,8632,0.19,328.4,208.7,7.9,419,8638,0.00,2.42,0.00,0.000,6,0.000,0.029,2815,1944,1401
$GC,8953,0.29,388.2,190.5,5.1,443,9007,0.12,2.60,47.45,0.759,4,0.078,0.038,2844,3360,1150
$GC,9065,0.29,388.2,181.8,9.8,453,9069,0.00,2.47,0.00,0.000,6,0.000,0.029,2843,1941,1150
$GC,9395,0.26,388.2,150.9,9.4,483,9399,0.00,2.47,0.00,0.000,4,0.000,0.036,2843,3354,1150
$GC,9418,0.22,388.2,148.2,9.6,484,9424,0.00,2.42,0.00,0.000,6,0.000,0.027,2844,1942,1151
$GC,9746,0.22,388.2,120.8,7.5,515,9750,0.00,2.47,0.00,0.000,4,0.000,0.035,2843,3361,1152
$GC,9801,0.22,388.2,116.4,7.3,519,9807,0.00,2.42,0.00,0.000,6,0.000,0.028,2843,1941,1152
$GC,10130,0.25,405.1,94.5,6.6,550,10152,0.00,2.53,14.00,0.653,4,0.000,0.035,2844,3348,1081
$GC,10181,0.27,417.0,91.1,6.7,554,10198,0.00,2.40,9.40,0.646,6,0.000,0.026,2843,1948,1033
$GC,10517,0.31,417.0,67.6,7.6,586,10518,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1948,1033
$GC,10772,0.48,474.8,52.3,5.1,610,10823,0.17,2.55,44.22,0.593,4,0.060,0.034,2886,3356,796
$GC,10836,0.48,474.8,47.8,7.5,616,10841,0.00,2.42,0.00,0.000,6,0.000,0.024,2886,1936,796
$GC,11105,0.48,474.8,25.1,8.9,644,11111,0.00,2.47,0.00,0.000,4,0.000,0.034,2886,3365,796
$GC,11141,0.48,474.8,21.2,9.4,650,11147,0.00,2.40,0.00,0.000,6,0.000,0.025,2885,1953,796
$STATE,11311,end climb,SURFACE_DEPTH_REACHED
$STATE,11312,begin surface coast
$FINISH,0.9,1.022771
$STATE,11362,end surface coast,CONTROL_FINISHED_OK
$STATE,11362,begin surface
$SM_CCo,11446,0.00,0.000,0,0,797,474.66
$SM_GC,1.45,11.05,0.00,0.00,0.046,0.000,0.000,408,2105,797,-10.87,1.84,474.66
$IRIDIUM_FIX,2101.76,-15743.60,311297,111159
$TT8_MAMPS,0.027612
$HUMID,1680
$INTERNAL_PRESSURE,7.96906
$TCM_TEMP,24.80
$XPDR_PINGS,12
$24V_AH,23.8,16.526
$10V_AH,10.2,9.764
$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,18.325,123.000,490.000,0.000,0.000,0.000,0.000,0.000,12.000,0.000,0.000,0.000,1246.146,7889.945,556.675,1557.449,251.000,33.326,1343.053,0.000,1544.764,0.000,57.443
$DEVICE_MAMPS,148.798,52.156,927.303,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,459.170,459.041,809.809,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34854,689
$CAP_FILE_SIZE,98209,0
$CFSIZE,260165632,252239872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071008,001608,2109.097,-15747.908,27,1.4,27,9.8