version: 66.03
glider: 114
mission: 3
dive: 123
start: 10 8 108 13 53 31
data:
$ID,114
$MISSION,3
$DIVE,123
$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,-593967.38
$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,35
$R_STBD_OVSHOOT,56
$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
$GPS1,134637,2103.445,-15747.991,11,1.8,27,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-64.6
$GPS2,135237,2103.414,-15747.951,10,1.7,26,9.8
$SPEED_LIMITS,0.060,0.226
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,-0.076,0.213
$KALMAN_X,-38890.7,-228.6,244.5,48580.4,236.3
$KALMAN_Y,-26398.8,-229.6,-36.4,2292.3,-191.7
$MHEAD_RNG_PITCHd_Wd,330.5,12700,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,29,-1.13,-146.0,0.0,0.0,0,102,0.00,0.00,-69.85,0.000,2,0.000,0.000,411,2074,2926
$GC,106,-1.13,-146.0,3.7,-4.7,13,131,11.98,2.35,-6.22,0.000,4,0.161,0.048,2526,3429,3330
$GC,272,-1.24,-146.0,29.0,-8.6,41,278,0.00,2.35,0.00,0.000,6,0.000,0.023,2526,2030,3329
$GC,541,-1.33,-146.0,54.1,-8.4,67,545,0.15,2.40,0.00,0.000,4,0.056,0.034,2484,3421,3330
$GC,586,-1.37,-146.0,59.1,-10.7,70,592,0.00,2.33,0.00,0.000,6,0.000,0.023,2484,2029,3330
$GC,848,-1.41,-146.0,85.0,-9.5,95,849,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2029,3330
$GC,1170,-1.48,-146.0,118.1,-9.5,125,1174,0.12,2.40,0.00,0.000,4,0.060,0.034,2452,3423,3331
$GC,1248,-1.52,-146.0,126.4,-10.3,131,1255,0.00,2.33,0.00,0.000,6,0.000,0.023,2453,2026,3331
$GC,1573,-1.52,-146.0,156.6,-8.8,162,1578,0.00,2.38,0.00,0.000,4,0.000,0.038,2452,641,3331
$GC,1618,-1.61,-146.0,160.7,-8.4,165,1624,0.00,2.33,0.00,0.000,6,0.000,0.024,2452,2033,3332
$GC,1944,-1.66,-146.0,183.3,-5.6,196,1949,0.15,2.40,0.00,0.000,4,0.057,0.034,2415,3444,3332
$GC,2007,-1.66,-146.0,187.9,-7.6,201,2011,0.00,2.38,0.00,0.000,6,0.000,0.025,2415,2031,3331
$GC,2330,-1.66,-146.0,216.7,-9.9,223,2334,0.00,2.38,0.00,0.000,4,0.000,0.039,2414,638,3331
$GC,2358,-1.66,-146.0,220.1,-11.2,224,2363,0.00,2.38,0.00,0.000,6,0.000,0.025,2415,2052,3331
$GC,2680,-1.66,-146.0,252.0,-9.4,240,2684,0.00,2.40,0.00,0.000,4,0.000,0.038,2415,3448,3331
$GC,2730,-1.69,-146.0,256.6,-9.1,242,2735,0.00,2.38,0.00,0.000,6,0.000,0.026,2415,2042,3331
$GC,3048,-1.69,-146.0,280.7,-7.5,257,3049,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,2042,3331
$GC,3375,-1.73,-146.0,308.5,-8.4,271,3379,0.00,2.45,0.00,0.000,4,0.000,0.039,2415,3446,3330
$GC,3405,-1.77,-146.0,311.1,-8.9,271,3410,0.00,2.40,0.00,0.000,6,0.000,0.028,2415,2033,3330
$GC,3737,-1.80,-146.0,339.7,-8.5,279,3743,0.12,2.47,0.00,0.000,4,0.068,0.039,2385,3446,3327
$GC,3805,-1.80,-146.0,347.0,-10.9,280,3809,0.00,2.40,0.00,0.000,6,0.000,0.029,2385,2038,3327
$GC,4148,-1.80,-146.0,378.9,-9.0,289,4149,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2037,3325
$GC,4473,-1.80,-146.0,408.2,-9.2,297,4474,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2037,3322
$GC,4797,-1.80,-146.0,436.3,-8.7,305,4799,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2037,3320
$STATE,4957,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4958,begin apogee
$GC,4966,-0.33,0.0,450.4,8.6,309,5083,1.55,0.00,113.60,0.913,6,0.096,0.000,2702,1932,2733
$STATE,5084,end apogee,CONTROL_FINISHED_OK
$STATE,5084,begin climb
$GC,5087,1.13,146.0,455.1,0.0,312,5209,1.48,2.58,114.50,0.887,4,0.052,0.041,3024,3355,2136
$GC,5339,0.64,146.0,441.1,12.9,318,5344,0.57,2.45,0.00,0.000,6,0.133,0.033,2922,1963,2136
$GC,5653,0.36,146.0,414.9,8.3,326,5658,0.30,2.58,0.00,0.000,4,0.126,0.053,2864,540,2135
$GC,5721,0.21,181.6,410.3,5.9,327,5756,0.20,2.45,27.75,0.887,6,0.126,0.031,2828,1954,1991
$GC,6067,0.19,222.4,391.6,5.7,336,6108,0.00,2.60,31.40,0.887,4,0.000,0.046,2828,3354,1826
$GC,6165,0.12,222.4,384.1,8.5,338,6169,0.00,2.47,0.00,0.000,6,0.000,0.035,2828,1946,1826
$GC,6478,0.05,222.4,361.6,7.1,346,6483,0.15,2.53,0.00,0.000,4,0.120,0.052,2796,543,1825
$GC,6534,0.05,222.4,357.5,7.3,347,6539,0.00,2.45,0.00,0.000,6,0.000,0.030,2797,1959,1824
$GC,6883,0.10,253.2,336.9,6.1,356,6912,0.00,2.55,24.17,0.879,4,0.000,0.048,2796,3356,1700
$GC,6982,0.17,295.4,331.2,5.7,358,7021,0.00,2.47,33.67,0.860,6,0.000,0.032,2797,1940,1528
$GC,7342,0.24,331.1,309.9,5.9,367,7377,0.15,2.60,27.98,0.845,4,0.077,0.041,2828,3352,1383
$GC,7406,0.18,331.1,305.0,8.5,368,7410,0.00,2.47,0.00,0.000,6,0.000,0.032,2828,1941,1383
$GC,7733,0.13,331.1,275.4,9.4,382,7737,0.00,2.50,0.00,0.000,4,0.000,0.041,2829,3355,1382
$GC,7795,0.13,331.1,269.4,10.0,384,7801,0.00,2.45,0.00,0.000,6,0.000,0.032,2828,1944,1382
$GC,8111,0.08,331.1,242.3,7.8,400,8116,0.15,2.47,0.00,0.000,4,0.110,0.038,2797,3352,1382
$GC,8152,0.13,339.1,239.4,6.9,402,8165,0.00,2.45,6.85,0.797,6,0.000,0.031,2797,1939,1350
$GC,8483,0.27,400.1,221.0,5.0,418,8533,0.17,0.00,47.40,0.778,6,0.069,0.000,2839,1939,1102
$GC,8840,0.23,400.1,190.6,8.4,440,8844,0.00,2.47,0.00,0.000,4,0.000,0.037,2839,3353,1102
$GC,8898,0.23,400.1,185.3,8.9,445,8902,0.00,2.42,0.00,0.000,6,0.000,0.029,2839,1951,1103
$GC,9228,0.20,400.1,158.6,8.6,475,9232,0.00,2.45,0.00,0.000,4,0.000,0.037,2839,3353,1103
$GC,9291,0.20,400.1,152.0,9.1,480,9295,0.00,2.40,0.00,0.000,6,0.000,0.028,2839,1949,1103
$GC,9625,0.20,400.1,123.3,8.0,511,9629,0.00,2.45,0.00,0.000,4,0.000,0.036,2839,3359,1104
$GC,9654,0.20,400.1,120.9,7.2,513,9658,0.00,2.42,0.00,0.000,6,0.000,0.027,2839,1939,1104
$GC,9983,0.24,427.3,98.3,6.2,543,10010,0.00,2.50,21.88,0.649,4,0.000,0.035,2839,3358,990
$GC,10034,0.26,435.6,94.6,6.9,547,10046,0.00,2.42,6.90,0.640,6,0.000,0.025,2839,1947,957
$GC,10366,0.36,457.8,70.5,6.4,578,10385,0.00,0.00,17.45,0.617,6,0.000,0.000,2839,1947,866
$GC,10640,0.44,457.8,50.6,8.0,604,10645,0.15,2.42,0.00,0.000,4,0.063,0.032,2879,3356,866
$GC,10674,0.44,457.8,47.6,9.0,606,10680,0.00,2.40,0.00,0.000,6,0.000,0.025,2878,1939,866
$GC,10938,0.50,491.8,28.2,6.0,633,10973,0.00,2.53,26.10,0.566,4,0.000,0.032,2879,3354,728
$GC,10992,0.54,512.3,24.8,6.4,642,11015,0.00,2.40,15.80,0.560,6,0.000,0.025,2879,1945,644
$STATE,11233,end climb,SURFACE_DEPTH_REACHED
$STATE,11233,begin surface coast
$FINISH,0.8,1.003395
$STATE,11297,end surface coast,CONTROL_FINISHED_OK
$STATE,11297,begin surface
$SM_CCo,11381,0.00,0.000,0,0,645,511.94
$SM_GC,1.39,11.02,0.00,0.00,0.047,0.000,0.000,412,2084,645,-10.85,1.24,511.94
$IRIDIUM_FIX,2054.83,-15748.75,020198,101050
$TT8_MAMPS,0.027612
$HUMID,1680
$INTERNAL_PRESSURE,7.95929
$TCM_TEMP,24.90
$XPDR_PINGS,14
$24V_AH,23.8,18.120
$10V_AH,10.2,10.757
$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,28.425,112.575,515.450,0.000,0.000,23.809,33.623,153.813,12.500,0.000,0.000,27.703,1258.581,7775.619,560.491,1623.825,522.500,33.374,1372.690,0.000,1583.668,0.000,57.457
$DEVICE_MAMPS,161.070,52.923,912.730,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,463.339,463.878,828.742,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34898,696
$CAP_FILE_SIZE,103303,0
$CFSIZE,260165632,251555840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081008,170432,2104.625,-15748.080,41,1.7,41,9.8