version: 66.03
glider: 114
mission: 3
dive: 120
start: 10 8 108 3 54 28
data:
$ID,114
$MISSION,3
$DIVE,120
$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,-593909.56
$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,34
$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
$GPS1,034438,2105.732,-15748.338,30,1.1,30,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-64.9
$GPS2,035333,2105.707,-15748.309,13,1.2,13,9.8
$SPEED_LIMITS,0.060,0.226
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.143,-0.175
$KALMAN_X,-38853.2,15.3,457.0,47470.9,-844.5
$KALMAN_Y,-25029.3,-9.7,42.6,4864.0,-367.3
$MHEAD_RNG_PITCHd_Wd,130.9,6725,-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,-146.0,0.0,0.0,0,94,0.00,0.00,-64.38,0.000,2,0.000,0.000,411,2074,2951
$GC,98,-1.13,-146.0,3.8,-5.0,12,123,12.00,2.47,-5.70,0.000,4,0.162,0.041,2524,631,3329
$GC,198,-1.28,-146.0,23.4,-8.9,29,204,0.00,2.33,0.00,0.000,6,0.000,0.022,2524,2023,3329
$GC,468,-1.36,-146.0,48.7,-10.0,60,473,0.15,2.45,0.00,0.000,4,0.058,0.036,2483,3447,3329
$GC,624,-1.42,-146.0,66.8,-10.5,73,628,0.00,2.38,0.00,0.000,6,0.000,0.023,2483,2029,3330
$GC,886,-1.47,-146.0,93.4,-8.5,97,891,0.12,2.45,0.00,0.000,4,0.060,0.034,2452,3446,3330
$GC,933,-1.51,-146.0,97.6,-9.9,100,939,0.00,2.35,0.00,0.000,6,0.000,0.023,2452,2043,3330
$GC,1259,-1.51,-146.0,128.6,-9.3,131,1260,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2042,3331
$GC,1580,-1.55,-146.0,158.8,-8.7,161,1584,0.00,2.40,0.00,0.000,4,0.000,0.035,2452,3440,3331
$GC,1615,-1.60,-146.0,162.3,-9.2,164,1619,0.00,2.38,0.00,0.000,6,0.000,0.024,2452,2026,3331
$GC,1941,-1.64,-146.0,193.5,-9.0,194,1945,0.12,2.45,0.00,0.000,4,0.061,0.035,2419,3443,3331
$GC,2004,-1.64,-146.0,199.5,-9.5,199,2009,0.00,2.38,0.00,0.000,6,0.000,0.025,2419,2033,3331
$GC,2325,-1.64,-146.0,225.4,-8.0,215,2329,0.00,2.40,0.00,0.000,4,0.000,0.040,2419,640,3331
$GC,2376,-1.68,-146.0,229.7,-8.1,217,2381,0.00,2.35,0.00,0.000,6,0.000,0.025,2419,2033,3331
$GC,2704,-1.68,-146.0,257.4,-8.5,233,2708,0.00,2.45,0.00,0.000,4,0.000,0.039,2419,3454,3330
$GC,2771,-1.72,-146.0,263.7,-8.3,236,2775,0.00,2.40,0.00,0.000,6,0.000,0.027,2418,2036,3330
$GC,3099,-1.76,-146.0,291.3,-7.6,252,3103,0.00,2.42,0.00,0.000,4,0.000,0.038,2419,3443,3330
$GC,3145,-1.82,-146.0,295.1,-8.2,254,3150,0.15,2.40,0.00,0.000,6,0.067,0.027,2384,2031,3329
$GC,3488,-1.82,-146.0,328.1,-10.0,264,3492,0.00,2.42,0.00,0.000,4,0.000,0.044,2384,638,3328
$GC,3510,-1.82,-146.0,330.7,-11.2,264,3515,0.00,2.40,0.00,0.000,6,0.000,0.028,2384,2046,3327
$GC,3848,-1.82,-146.0,362.5,-8.6,273,3852,0.00,2.45,0.00,0.000,4,0.000,0.045,2384,3444,3325
$GC,3888,-1.82,-146.0,366.1,-8.7,274,3892,0.00,2.42,0.00,0.000,6,0.000,0.031,2384,2032,3325
$GC,4212,-1.82,-146.0,396.7,-9.8,282,4213,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2031,3323
$GC,4537,-1.82,-146.0,426.3,-9.0,290,4538,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2031,3320
$STATE,4819,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4819,begin apogee
$GC,4827,-0.33,0.0,452.1,9.0,297,4944,1.58,0.00,113.35,0.921,6,0.097,0.000,2705,1939,2733
$STATE,4945,end apogee,CONTROL_FINISHED_OK
$STATE,4945,begin climb
$GC,4949,1.13,146.0,457.9,0.0,300,5072,1.45,2.58,114.55,0.897,4,0.052,0.043,3025,3352,2136
$GC,5157,0.62,146.0,451.1,11.2,304,5164,0.60,2.45,0.00,0.000,6,0.133,0.034,2919,1965,2135
$GC,5489,0.34,146.0,424.5,7.8,313,5491,0.32,0.00,0.00,0.000,6,0.124,0.000,2859,1965,2133
$GC,5814,0.32,228.4,407.7,4.3,321,5884,0.00,2.67,62.72,0.897,4,0.000,0.054,2859,540,1802
$GC,5925,0.15,228.4,400.8,8.0,323,5930,0.25,2.47,0.00,0.000,6,0.127,0.031,2814,1956,1802
$GC,6263,0.09,228.4,377.7,7.6,332,6267,0.00,2.50,0.00,0.000,4,0.000,0.048,2814,3354,1800
$GC,6291,0.03,228.4,375.2,8.4,332,6296,0.12,2.47,0.00,0.000,6,0.124,0.033,2791,1941,1800
$GC,6623,0.12,275.4,355.4,5.5,340,6665,0.00,2.62,37.05,0.887,4,0.000,0.041,2792,3352,1610
$GC,6722,0.14,290.5,349.8,6.6,342,6741,0.00,2.45,12.90,0.866,6,0.000,0.033,2792,1948,1548
$GC,7080,0.19,320.2,328.2,6.1,351,7110,0.15,2.60,23.23,0.867,4,0.081,0.043,2827,3352,1427
$GC,7150,0.14,320.2,322.9,8.0,352,7155,0.00,2.47,0.00,0.000,6,0.000,0.032,2827,1943,1427
$GC,7469,0.07,320.2,298.1,7.5,361,7473,0.15,2.50,0.00,0.000,4,0.114,0.041,2796,3352,1426
$GC,7502,0.09,327.2,295.6,6.9,362,7513,0.00,2.45,5.95,0.840,6,0.000,0.031,2796,1939,1399
$GC,7835,0.09,327.2,269.6,7.3,379,7839,0.00,2.50,0.00,0.000,4,0.000,0.040,2797,3352,1399
$GC,7875,0.10,335.4,266.9,6.9,380,7889,0.00,2.45,7.28,0.831,6,0.000,0.031,2796,1938,1365
$GC,8212,0.17,373.8,248.7,5.8,397,8248,0.00,2.55,30.17,0.817,4,0.000,0.038,2796,3356,1208
$GC,8288,0.25,390.2,243.8,6.6,399,8308,0.17,2.47,13.55,0.798,6,0.072,0.031,2835,1938,1142
$GC,8627,0.19,390.2,213.2,9.3,416,8628,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1938,1142
$GC,8940,0.16,390.2,182.5,10.1,439,8944,0.00,2.50,0.00,0.000,4,0.000,0.037,2834,3364,1142
$GC,9014,0.16,390.2,174.8,9.4,445,9018,0.00,2.45,0.00,0.000,6,0.000,0.028,2834,1944,1142
$GC,9343,0.16,390.2,146.5,8.7,475,9348,0.00,2.47,0.00,0.000,4,0.000,0.035,2834,3366,1142
$GC,9396,0.16,390.2,141.9,7.5,479,9400,0.00,2.45,0.00,0.000,6,0.000,0.028,2834,1938,1143
$GC,9724,0.16,390.2,116.7,8.4,509,9728,0.00,2.47,0.00,0.000,4,0.000,0.035,2834,3363,1143
$GC,9765,0.16,390.2,112.8,8.7,512,9769,0.00,2.42,0.00,0.000,6,0.000,0.027,2834,1944,1144
$GC,10093,0.16,390.2,85.9,7.9,542,10098,0.00,2.45,0.00,0.000,4,0.000,0.035,2834,3360,1144
$GC,10146,0.25,414.3,82.1,6.3,546,10172,0.00,2.40,19.30,0.638,6,0.000,0.025,2834,1943,1043
$GC,10499,0.34,419.2,59.9,7.0,579,10511,0.00,2.47,4.45,0.613,4,0.000,0.043,2834,3367,1024
$GC,10540,0.45,419.2,56.8,7.4,582,10547,0.20,2.40,0.00,0.000,6,0.059,0.025,2881,1952,1024
$GC,10805,0.47,429.3,37.8,6.8,607,10822,0.00,2.50,8.30,0.594,4,0.000,0.033,2881,3361,982
$GC,10839,0.47,429.3,35.2,7.5,610,10846,0.00,2.40,0.00,0.000,6,0.000,0.025,2881,1949,983
$GC,11112,0.47,429.3,15.1,7.5,652,11119,0.00,2.45,0.00,0.000,4,0.000,0.044,2881,543,983
$GC,11160,0.47,429.3,11.1,8.5,660,11166,0.00,2.38,0.00,0.000,6,0.000,0.022,2881,1966,983
$STATE,11244,end climb,SURFACE_DEPTH_REACHED
$STATE,11244,begin surface coast
$FINISH,0.8,1.023060
$STATE,11326,end surface coast,CONTROL_FINISHED_OK
$STATE,11326,begin surface
$SM_CCo,11409,0.00,0.000,0,0,984,429.03
$SM_GC,1.57,10.90,0.00,0.00,0.042,0.000,0.000,409,2077,984,-10.86,1.05,429.03
$IRIDIUM_FIX,2059.45,-15748.75,020198,030326
$TT8_MAMPS,0.027612
$HUMID,1706
$INTERNAL_PRESSURE,7.97882
$TCM_TEMP,25.00
$XPDR_PINGS,10
$24V_AH,23.8,17.733
$10V_AH,10.2,10.514
$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,28.450,122.825,452.800,0.000,0.000,48.729,60.944,223.517,11.500,0.000,0.000,14.602,1268.722,7903.367,503.432,1603.101,665.967,33.366,1312.147,0.000,1579.687,0.000,57.458
$DEVICE_MAMPS,161.837,55.991,921.167,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,459.937,450.816,821.905,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34864,689
$CAP_FILE_SIZE,105928,0
$CFSIZE,260165632,251727872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081008,070538,2104.205,-15747.653,22,1.7,22,9.8