version: 66.03
glider: 114
mission: 3
dive: 118
start: 10 7 108 21 3 47
data:
$ID,114
$MISSION,3
$DIVE,118
$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,-593882.12
$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,38
$R_STBD_OVSHOOT,30
$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
$GPS1,205628,2108.883,-15748.368,36,2.7,55,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-63.4
$GPS2,210253,2108.879,-15748.311,10,4.5,29,9.8
$SPEED_LIMITS,0.060,0.226
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.066,-0.216
$KALMAN_X,-38604.7,103.3,-643.1,48218.4,1461.6
$KALMAN_Y,-25084.8,328.7,49.2,10447.9,-504.2
$MHEAD_RNG_PITCHd_Wd,187.2,12400,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,29,-1.13,-146.0,0.0,0.0,0,95,0.00,0.00,-64.00,0.000,2,0.000,0.000,409,2025,2959
$GC,99,-1.13,-146.0,3.9,-4.9,12,124,12.05,2.40,-5.68,0.000,4,0.163,0.047,2526,639,3329
$GC,194,-1.32,-146.0,22.8,-8.5,28,201,0.15,2.35,0.00,0.000,6,0.055,0.022,2489,2053,3329
$GC,469,-1.32,-146.0,48.5,-9.0,60,473,0.00,2.38,0.00,0.000,4,0.000,0.037,2489,3440,3329
$GC,559,-1.42,-146.0,56.2,-7.8,67,565,0.00,2.38,0.00,0.000,6,0.000,0.024,2489,2022,3330
$GC,821,-1.47,-146.0,76.8,-7.5,92,826,0.15,2.45,0.00,0.000,4,0.055,0.034,2447,3443,3330
$GC,851,-1.47,-146.0,79.7,-10.6,94,855,0.00,2.35,0.00,0.000,6,0.000,0.023,2446,2037,3330
$GC,1113,-1.47,-146.0,107.9,-10.8,118,1117,0.00,2.42,0.00,0.000,4,0.000,0.035,2446,3444,3331
$GC,1142,-1.47,-146.0,111.1,-11.2,120,1146,0.00,2.35,0.00,0.000,6,0.000,0.024,2446,2035,3331
$GC,1475,-1.47,-146.0,141.6,-9.0,151,1476,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,2034,3331
$GC,1794,-1.51,-146.0,168.3,-8.3,181,1798,0.00,2.42,0.00,0.000,4,0.000,0.035,2446,3445,3331
$GC,1850,-1.57,-146.0,173.3,-8.5,185,1856,0.00,2.35,0.00,0.000,6,0.000,0.024,2446,2038,3331
$GC,2175,-1.62,-146.0,197.6,-7.2,216,2177,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,2039,3331
$GC,2489,-1.68,-146.0,220.2,-6.4,233,2494,0.15,2.42,0.00,0.000,4,0.058,0.036,2405,3442,3331
$GC,2575,-1.68,-146.0,227.3,-7.8,237,2579,0.00,2.38,0.00,0.000,6,0.000,0.026,2405,2035,3331
$GC,2903,-1.68,-146.0,254.2,-8.4,253,2907,0.00,2.42,0.00,0.000,4,0.000,0.042,2405,637,3331
$GC,2947,-1.68,-146.0,258.3,-8.5,255,2951,0.00,2.38,0.00,0.000,6,0.000,0.027,2405,2039,3331
$GC,3269,-1.68,-146.0,286.0,-8.5,271,3273,0.00,2.45,0.00,0.000,4,0.000,0.042,2405,3453,3330
$GC,3336,-1.68,-146.0,292.2,-8.8,274,3340,0.00,2.38,0.00,0.000,6,0.000,0.028,2405,2044,3329
$GC,3679,-1.68,-146.0,325.7,-10.0,285,3684,0.00,2.45,0.00,0.000,4,0.000,0.041,2405,3446,3327
$GC,3709,-1.68,-146.0,328.3,-9.6,285,3713,0.00,2.40,0.00,0.000,6,0.000,0.028,2405,2037,3327
$GC,4041,-1.68,-146.0,354.6,-7.7,293,4042,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,2034,3325
$GC,4366,-1.68,-146.0,382.1,-8.5,301,4370,0.00,2.47,0.00,0.000,4,0.000,0.043,2405,3444,3322
$GC,4412,-1.73,-146.0,385.9,-7.8,302,4416,0.00,2.40,0.00,0.000,6,0.000,0.031,2405,2040,3322
$GC,4733,-1.73,-146.0,410.1,-7.3,310,4737,0.00,2.47,0.00,0.000,4,0.000,0.049,2405,636,3320
$GC,4774,-1.79,-146.0,413.1,-6.9,311,4779,0.00,2.42,0.00,0.000,6,0.000,0.031,2405,2044,3319
$GC,5099,-1.79,-146.0,434.9,-6.6,319,5104,0.00,2.50,0.00,0.000,4,0.000,0.050,2405,3455,3318
$GC,5173,-1.85,-146.0,440.7,-8.0,320,5178,0.12,2.45,0.00,0.000,6,0.078,0.033,2378,2033,3317
$STATE,5299,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5299,begin apogee
$GC,5307,-0.33,0.0,452.0,8.8,323,5424,1.60,0.00,113.22,0.927,6,0.097,0.000,2704,1928,2733
$STATE,5425,end apogee,CONTROL_FINISHED_OK
$STATE,5425,begin climb
$GC,5429,1.13,146.0,456.4,0.0,326,5552,1.45,2.53,114.78,0.898,4,0.053,0.054,3023,558,2136
$GC,5760,0.60,146.0,430.9,12.9,333,5766,0.62,2.45,0.00,0.000,6,0.151,0.031,2914,1964,2135
$GC,6099,0.33,146.8,404.6,7.1,342,6101,0.32,0.00,0.00,0.000,6,0.133,0.000,2855,1964,2133
$GC,6424,0.24,181.7,385.7,5.9,350,6458,0.12,2.67,27.20,0.900,4,0.137,0.054,2835,547,1991
$GC,6499,0.12,185.8,381.0,7.0,351,6511,0.15,2.45,4.07,0.849,6,0.138,0.032,2810,1950,1975
$GC,6837,0.19,263.8,364.3,4.4,360,6903,0.00,2.55,60.95,0.889,4,0.000,0.048,2810,3350,1656
$GC,6943,0.21,292.4,359.2,6.2,362,6973,0.00,2.45,23.20,0.864,6,0.000,0.035,2810,1961,1541
$GC,7288,0.18,292.4,334.2,7.4,371,7292,0.00,2.50,0.00,0.000,4,0.000,0.044,2810,3356,1540
$GC,7305,0.14,292.4,332.9,7.2,371,7310,0.00,2.47,0.00,0.000,6,0.000,0.032,2810,1940,1540
$GC,7649,0.20,329.3,311.5,5.9,380,7683,0.00,2.58,28.83,0.861,4,0.000,0.043,2810,3351,1389
$GC,7723,0.20,329.3,306.2,8.3,381,7728,0.00,2.47,0.00,0.000,6,0.000,0.033,2810,1940,1389
$GC,8038,0.20,329.3,278.0,9.8,394,8042,0.00,2.50,0.00,0.000,4,0.000,0.043,2810,3352,1389
$GC,8094,0.20,329.3,272.1,10.6,396,8098,0.00,2.45,0.00,0.000,6,0.000,0.033,2810,1947,1389
$GC,8410,0.24,348.0,248.5,6.5,411,8432,0.00,2.55,14.77,0.826,4,0.000,0.042,2810,3355,1314
$GC,8444,0.26,360.7,246.0,6.7,412,8460,0.12,2.47,10.85,0.811,6,0.084,0.031,2835,1938,1262
$GC,8786,0.20,360.7,217.4,8.6,429,8791,0.00,2.50,0.00,0.000,4,0.000,0.041,2836,3353,1262
$GC,8842,0.20,360.7,212.0,9.0,431,8848,0.00,2.45,0.00,0.000,6,0.000,0.031,2836,1941,1262
$GC,9164,0.16,360.7,181.9,8.9,455,9169,0.00,2.50,0.00,0.000,4,0.000,0.040,2836,3362,1262
$GC,9205,0.16,360.7,178.2,9.0,458,9209,0.00,2.45,0.00,0.000,6,0.000,0.031,2836,1947,1262
$GC,9534,0.18,374.1,156.5,6.7,488,9550,0.00,2.50,11.05,0.737,4,0.000,0.037,2836,3356,1207
$GC,9598,0.18,374.1,151.5,7.7,493,9602,0.00,2.45,0.00,0.000,6,0.000,0.028,2835,1939,1207
$GC,9926,0.18,374.1,125.1,9.8,523,9930,0.00,2.47,0.00,0.000,4,0.000,0.037,2836,3359,1207
$GC,9994,0.22,374.1,118.5,8.6,528,10001,0.00,2.40,0.00,0.000,6,0.000,0.028,2836,1952,1208
$GC,10323,0.22,374.1,94.7,7.2,559,10327,0.00,2.45,0.00,0.000,4,0.000,0.036,2836,3361,1209
$GC,10345,0.22,374.1,92.8,7.4,560,10351,0.00,2.42,0.00,0.000,6,0.000,0.027,2836,1935,1209
$GC,10676,0.37,443.2,72.9,4.8,591,10734,0.10,2.50,52.80,0.621,4,0.075,0.035,2861,3356,925
$GC,10786,0.37,443.2,64.8,8.6,600,10792,0.00,2.40,0.00,0.000,6,0.000,0.026,2860,1953,925
$GC,11048,0.37,444.2,45.2,7.1,625,11052,0.00,2.42,0.00,0.000,4,0.000,0.034,2860,3358,925
$GC,11099,0.46,456.7,41.5,6.7,629,11116,0.00,2.40,10.75,0.593,6,0.000,0.025,2861,1941,871
$GC,11377,0.55,471.1,23.7,6.6,663,11396,0.15,2.47,11.27,0.570,4,0.063,0.033,2901,3365,812
$GC,11449,0.55,471.1,17.4,9.5,675,11455,0.00,2.42,0.00,0.000,6,0.000,0.025,2900,1943,812
$STATE,11583,end climb,SURFACE_DEPTH_REACHED
$STATE,11583,begin surface coast
$FINISH,0.8,1.008913
$STATE,11646,end surface coast,CONTROL_FINISHED_OK
$STATE,11647,begin surface
$SM_CCo,11731,0.00,0.000,0,0,813,470.98
$SM_GC,1.65,11.10,0.00,0.00,0.045,0.000,0.000,408,2083,813,-10.87,1.22,470.98
$IRIDIUM_FIX,2101.76,-15747.88,010198,171703
$TT8_MAMPS,0.027612
$HUMID,1697
$INTERNAL_PRESSURE,7.96906
$TCM_TEMP,24.80
$XPDR_PINGS,12
$24V_AH,23.8,17.481
$10V_AH,10.2,10.351
$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,28.375,132.500,483.750,0.000,0.000,30.538,59.540,144.764,12.000,0.000,0.000,32.037,1311.296,7996.151,533.768,1706.121,567.740,33.366,1388.984,0.000,1667.163,0.000,57.435
$DEVICE_MAMPS,162.604,53.690,926.536,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,474.009,475.650,844.238,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38027,710
$CAP_FILE_SIZE,110192,0
$CFSIZE,260165632,251834368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081008,002038,2107.405,-15748.485,41,0.9,41,9.8