version: 66.03
glider: 114
mission: 3
dive: 112
start: 10 7 108 0 29 59
data:
$ID,114
$MISSION,3
$DIVE,112
$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,-593740.06
$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,32
$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
$GPS1,001608,2109.097,-15747.908,27,1.4,27,9.8
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-63.7
$GPS2,002903,2108.946,-15747.776,13,1.5,13,9.8
$SPEED_LIMITS,0.060,0.226
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,-0.226,0.015
$KALMAN_X,-43011.8,-785.8,5192.3,48591.0,3376.9
$KALMAN_Y,-22279.1,-225.6,86.2,8281.2,-459.6
$MHEAD_RNG_PITCHd_Wd,263.9,4307,-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,-146.0,0.0,0.0,0,100,0.00,0.00,-70.22,0.000,2,0.000,0.000,408,2106,2954
$GC,104,-1.13,-146.0,3.7,-4.7,13,128,12.00,2.35,-5.85,0.000,4,0.161,0.048,2526,3452,3329
$GC,277,-1.26,-146.0,30.2,-9.5,43,281,0.00,2.40,0.00,0.000,6,0.000,0.023,2526,2027,3329
$GC,539,-1.35,-146.0,53.5,-7.9,67,544,0.15,2.45,0.00,0.000,4,0.058,0.034,2485,3446,3329
$GC,574,-1.39,-146.0,56.5,-9.4,69,580,0.00,2.38,0.00,0.000,6,0.000,0.023,2485,2028,3329
$GC,836,-1.44,-146.0,78.7,-8.0,94,840,0.00,2.45,0.00,0.000,4,0.000,0.035,2485,3448,3329
$GC,881,-1.54,-146.0,82.4,-8.3,97,887,0.17,2.38,0.00,0.000,6,0.055,0.023,2443,2027,3329
$GC,1207,-1.54,-146.0,114.9,-10.2,128,1211,0.00,2.47,0.00,0.000,4,0.000,0.035,2442,3455,3329
$GC,1236,-1.54,-146.0,118.0,-10.0,130,1240,0.00,2.38,0.00,0.000,6,0.000,0.024,2443,2040,3330
$GC,1561,-1.54,-146.0,152.0,-10.6,160,1565,0.00,2.42,0.00,0.000,4,0.000,0.038,2443,631,3330
$GC,1602,-1.60,-146.0,156.1,-10.4,163,1607,0.00,2.38,0.00,0.000,6,0.000,0.024,2443,2046,3330
$GC,1928,-1.60,-146.0,184.0,-8.3,193,1932,0.00,2.40,0.00,0.000,4,0.000,0.036,2443,3450,3330
$GC,1991,-1.66,-146.0,189.2,-8.0,198,1995,0.12,2.38,0.00,0.000,6,0.061,0.025,2412,2041,3330
$GC,2314,-1.66,-146.0,218.9,-9.8,218,2315,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,2040,3330
$GC,2619,-1.66,-146.0,248.2,-8.3,233,2624,0.00,2.42,0.00,0.000,4,0.000,0.037,2412,3442,3329
$GC,2653,-1.66,-146.0,251.1,-7.8,234,2660,0.00,2.38,0.00,0.000,6,0.000,0.025,2412,2031,3330
$GC,2969,-1.66,-146.0,276.1,-8.3,250,2970,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,2029,3329
$GC,3298,-1.66,-146.0,303.6,-8.0,265,3303,0.00,2.47,0.00,0.000,4,0.000,0.040,2412,3447,3327
$GC,3361,-1.71,-146.0,309.0,-8.6,266,3365,0.00,2.40,0.00,0.000,6,0.000,0.028,2412,2036,3327
$GC,3704,-1.71,-146.0,338.3,-8.7,275,3705,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,2034,3325
$GC,4030,-1.75,-146.0,364.2,-7.6,283,4034,0.00,2.47,0.00,0.000,4,0.000,0.042,2412,3444,3322
$GC,4073,-1.82,-146.0,367.5,-7.2,284,4078,0.12,2.42,0.00,0.000,6,0.074,0.031,2385,2033,3321
$GC,4399,-1.82,-146.0,397.2,-9.3,292,4403,0.00,2.47,0.00,0.000,4,0.000,0.049,2384,631,3319
$GC,4421,-1.82,-146.0,399.6,-10.1,292,4428,0.00,2.40,0.00,0.000,6,0.000,0.031,2384,2031,3319
$GC,4767,-1.82,-146.0,431.5,-9.5,301,4771,0.00,2.53,0.00,0.000,4,0.000,0.049,2385,3454,3316
$GC,4857,-1.82,-146.0,440.5,-9.4,303,4861,0.00,2.45,0.00,0.000,6,0.000,0.032,2385,2035,3315
$STATE,4970,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4970,begin apogee
$GC,4978,-0.33,0.0,451.4,9.5,306,5095,1.58,0.00,113.05,0.920,6,0.100,0.000,2704,1930,2733
$STATE,5096,end apogee,CONTROL_FINISHED_OK
$STATE,5096,begin climb
$GC,5099,1.13,146.0,456.9,0.0,309,5222,1.48,2.55,115.15,0.894,4,0.055,0.054,3024,551,2136
$GC,5234,0.62,148.2,458.3,7.1,312,5240,0.60,2.47,0.00,0.000,6,0.140,0.029,2920,1966,2136
$GC,5572,0.33,148.2,429.0,8.5,321,5577,0.32,2.58,0.00,0.000,4,0.129,0.052,2859,562,2134
$GC,5618,0.14,152.6,425.4,7.0,322,5629,0.25,2.42,5.47,0.871,6,0.126,0.030,2814,1956,2109
$GC,5938,0.17,211.3,408.3,5.1,330,5989,0.00,2.55,45.65,0.900,4,0.000,0.048,2814,3352,1870
$GC,6052,0.17,244.7,401.9,6.0,332,6086,0.00,2.45,26.65,0.882,6,0.000,0.035,2814,1965,1735
$GC,6430,0.11,244.7,374.0,8.0,342,6431,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1965,1734
$GC,6756,0.10,266.1,351.6,6.4,350,6780,0.00,2.58,17.10,0.887,4,0.000,0.043,2813,3351,1648
$GC,6816,0.13,300.2,348.2,6.0,351,6850,0.00,2.47,27.00,0.875,6,0.000,0.033,2813,1945,1509
$GC,7171,0.09,300.2,323.8,7.6,360,7175,0.00,2.50,0.00,0.000,4,0.000,0.043,2813,3356,1509
$GC,7227,0.09,300.2,319.1,7.9,361,7231,0.00,2.47,0.00,0.000,6,0.000,0.033,2813,1942,1509
$GC,7556,0.06,300.2,295.4,7.3,371,7560,0.00,2.50,0.00,0.000,4,0.000,0.042,2813,3351,1508
$GC,7624,0.06,300.2,290.4,7.6,374,7628,0.00,2.45,0.00,0.000,6,0.000,0.032,2813,1945,1508
$GC,7945,0.06,300.2,266.4,8.1,390,7950,0.00,2.50,0.00,0.000,4,0.000,0.041,2813,3356,1508
$GC,8009,0.06,300.2,260.8,8.8,393,8013,0.00,2.45,0.00,0.000,6,0.000,0.032,2813,1950,1508
$GC,8336,0.10,324.5,238.2,6.3,409,8357,0.00,0.00,19.12,0.821,6,0.000,0.000,2813,1950,1410
$GC,8666,0.15,350.4,214.8,6.2,425,8692,0.00,2.53,20.70,0.790,4,0.000,0.037,2813,3357,1304
$GC,8732,0.18,350.4,210.1,8.1,428,8736,0.00,2.45,0.00,0.000,6,0.000,0.029,2813,1945,1304
$GC,9054,0.25,389.1,189.4,5.8,451,9094,0.00,2.55,30.42,0.752,4,0.000,0.036,2813,3346,1146
$GC,9118,0.25,389.1,184.8,7.5,457,9123,0.00,2.45,0.00,0.000,6,0.000,0.028,2813,1940,1146
$GC,9448,0.27,401.5,163.0,6.7,487,9464,0.10,2.53,10.35,0.719,4,0.083,0.035,2837,3363,1095
$GC,9515,0.27,401.5,156.8,9.7,492,9522,0.00,2.45,0.00,0.000,6,0.000,0.028,2836,1940,1095
$GC,9844,0.27,401.5,131.8,7.6,523,9848,0.00,2.47,0.00,0.000,4,0.000,0.035,2836,3359,1096
$GC,9889,0.27,404.3,128.2,7.0,526,9898,0.00,2.42,3.45,0.681,6,0.000,0.027,2837,1939,1083
$GC,10225,0.27,404.3,102.8,7.4,558,10229,0.00,2.47,0.00,0.000,4,0.000,0.035,2837,3360,1084
$GC,10254,0.27,404.3,100.6,7.9,560,10258,0.00,2.42,0.00,0.000,6,0.000,0.025,2836,1940,1084
$GC,10582,0.27,404.3,74.8,7.5,590,10586,0.00,2.45,0.00,0.000,4,0.000,0.035,2837,3361,1085
$GC,10640,0.34,404.3,70.1,7.9,595,10644,0.00,2.40,0.00,0.000,6,0.000,0.025,2837,1946,1086
$GC,10905,0.38,404.3,48.3,8.5,619,10910,0.12,2.45,0.00,0.000,4,0.070,0.033,2867,3365,1087
$GC,10946,0.38,404.3,44.2,10.1,622,10950,0.00,2.40,0.00,0.000,6,0.000,0.024,2866,1940,1087
$GC,11213,0.47,433.9,24.6,6.1,653,11243,0.00,2.50,23.12,0.574,4,0.000,0.032,2866,3365,961
$GC,11285,0.54,435.7,19.9,7.1,665,11292,0.15,2.42,0.00,0.000,6,0.067,0.025,2901,1943,962
$STATE,11454,end climb,SURFACE_DEPTH_REACHED
$STATE,11454,begin surface coast
$FINISH,0.8,1.009894
$STATE,11506,end surface coast,CONTROL_FINISHED_OK
$STATE,11506,begin surface
$SM_CCo,11590,0.00,0.000,0,0,962,434.18
$SM_GC,1.50,11.15,0.00,0.00,0.048,0.000,0.000,410,2090,962,-10.86,1.41,434.18
$IRIDIUM_FIX,2059.45,-15745.74,010198,000025
$TT8_MAMPS,0.027612
$HUMID,1708
$INTERNAL_PRESSURE,7.96906
$TCM_TEMP,24.60
$XPDR_PINGS,10
$24V_AH,23.8,16.669
$10V_AH,10.2,9.849
$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,28.325,127.900,457.250,0.000,0.000,52.074,59.918,434.866,11.500,0.000,0.000,17.738,1287.080,8016.621,539.583,1613.482,911.448,33.356,1340.070,0.000,1593.510,0.000,57.790
$DEVICE_MAMPS,161.070,53.690,920.400,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,469.674,466.309,827.104,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37922,704
$CAP_FILE_SIZE,114297,0
$CFSIZE,260165632,252170240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071008,034417,2108.564,-15749.611,9,3.3,28,9.8