version: 66.03
glider: 114
mission: 3
dive: 125
start: 10 8 108 20 42 52
data:
$ID,114
$MISSION,3
$DIVE,125
$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,1
$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,-594015.31
$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,72
$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
$GPS1,203756,2106.065,-15748.019,40,0.8,40,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-65.2
$GPS2,204157,2106.061,-15747.982,14,1.8,14,9.8
$SPEED_LIMITS,0.060,0.226
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,-0.114,0.195
$KALMAN_X,-37672.1,423.8,-112.3,47001.0,458.4
$KALMAN_Y,-27417.4,158.0,24.4,7758.8,-408.7
$MHEAD_RNG_PITCHd_Wd,319.9,8084,-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,-146.0,0.0,0.0,0,88,0.00,0.00,-59.30,0.000,2,0.000,0.000,411,2091,2778
$GC,92,-1.13,-146.0,3.0,-3.2,11,122,11.90,2.30,-9.50,0.000,4,0.160,0.048,2526,3400,3331
$GC,209,-1.25,-146.0,20.9,-8.6,31,215,0.00,2.30,0.00,0.000,6,0.000,0.024,2526,2025,3331
$GC,481,-1.34,-146.0,45.9,-9.1,64,486,0.15,2.40,0.00,0.000,4,0.056,0.034,2485,3414,3331
$GC,511,-1.37,-146.0,49.4,-10.8,66,515,0.00,2.30,0.00,0.000,6,0.000,0.021,2485,2034,3331
$GC,773,-1.42,-146.0,73.8,-8.9,90,777,0.00,2.38,0.00,0.000,4,0.000,0.035,2485,3415,3332
$GC,802,-1.46,-146.0,76.5,-9.7,92,807,0.12,2.30,0.00,0.000,6,0.063,0.022,2454,2033,3332
$GC,1067,-1.46,-146.0,102.6,-10.0,116,1071,0.00,2.38,0.00,0.000,4,0.000,0.037,2454,645,3333
$GC,1112,-1.50,-146.0,107.5,-10.1,119,1118,0.00,2.28,0.00,0.000,6,0.000,0.022,2454,2016,3333
$GC,1438,-1.50,-146.0,136.0,-8.2,150,1442,0.00,2.42,0.00,0.000,4,0.000,0.035,2454,3440,3334
$GC,1491,-1.55,-146.0,140.4,-8.5,154,1495,0.00,2.35,0.00,0.000,6,0.000,0.024,2454,2041,3333
$GC,1817,-1.59,-146.0,167.8,-8.1,184,1821,0.00,2.42,0.00,0.000,4,0.000,0.035,2454,3449,3334
$GC,1847,-1.64,-146.0,170.3,-9.1,186,1852,0.15,2.38,0.00,0.000,6,0.058,0.025,2416,2038,3334
$GC,2173,-1.64,-146.0,200.6,-8.7,216,2177,0.00,2.40,0.00,0.000,4,0.000,0.038,2416,642,3334
$GC,2191,-1.64,-146.0,202.2,-8.4,217,2195,0.00,2.35,0.00,0.000,6,0.000,0.025,2416,2039,3334
$GC,2518,-1.64,-146.0,230.0,-9.0,233,2519,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,2039,3334
$GC,2827,-1.64,-146.0,256.1,-8.4,248,2831,0.00,2.42,0.00,0.000,4,0.000,0.039,2416,3447,3334
$GC,2873,-1.68,-146.0,260.2,-9.3,250,2877,0.00,2.38,0.00,0.000,6,0.000,0.027,2416,2043,3334
$GC,3195,-1.68,-146.0,290.7,-9.0,266,3196,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,2041,3333
$GC,3521,-1.72,-146.0,317.9,-7.9,277,3522,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,2041,3331
$GC,3846,-1.76,-146.0,344.7,-8.4,285,3848,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,2041,3329
$GC,4172,-1.80,-146.0,372.6,-8.5,293,4177,0.12,2.47,0.00,0.000,4,0.072,0.042,2388,3446,3326
$GC,4194,-1.80,-146.0,374.9,-9.2,293,4198,0.00,2.40,0.00,0.000,6,0.000,0.030,2388,2044,3326
$GC,4531,-1.80,-146.0,407.4,-9.7,302,4535,0.00,2.47,0.00,0.000,4,0.000,0.043,2388,3444,3323
$GC,4581,-1.80,-146.0,412.4,-9.5,303,4585,0.00,2.42,0.00,0.000,6,0.000,0.031,2388,2032,3323
$GC,4896,-1.80,-146.0,440.5,-8.7,311,4900,0.00,2.47,0.00,0.000,4,0.000,0.049,2388,631,3320
$GC,4924,-1.80,-146.0,443.2,-8.9,311,4929,0.00,2.42,0.00,0.000,6,0.000,0.031,2388,2043,3320
$STATE,5015,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5016,begin apogee
$GC,5023,-0.33,0.0,450.6,8.0,314,5141,1.55,0.00,113.90,0.922,6,0.093,0.000,2706,1934,2734
$STATE,5142,end apogee,CONTROL_FINISHED_OK
$STATE,5142,begin climb
$GC,5145,1.13,146.0,454.4,0.0,317,5269,1.42,2.55,114.60,0.894,4,0.052,0.052,3021,550,2137
$GC,5278,0.64,146.0,453.8,7.4,320,5284,0.57,2.47,0.00,0.000,6,0.140,0.031,2922,1961,2136
$GC,5598,0.35,146.0,425.9,8.5,328,5600,0.35,0.00,0.00,0.000,6,0.128,0.000,2858,1961,2135
$GC,5923,0.23,168.8,404.9,6.4,336,5948,0.15,2.65,17.33,0.891,4,0.134,0.053,2829,558,2045
$GC,6017,0.14,184.8,399.0,6.6,338,6036,0.00,2.45,13.30,0.883,6,0.000,0.032,2828,1959,1978
$GC,6381,0.14,236.1,378.9,5.4,347,6426,0.00,2.55,39.72,0.887,4,0.000,0.050,2829,3350,1770
$GC,6467,0.07,240.9,373.4,7.0,349,6477,0.17,2.45,4.53,0.840,6,0.120,0.035,2797,1963,1751
$GC,6785,0.12,266.9,353.4,6.2,357,6813,0.00,2.53,21.35,0.876,4,0.000,0.043,2798,3351,1643
$GC,6843,0.12,266.9,349.4,7.2,358,6848,0.00,2.47,0.00,0.000,6,0.000,0.032,2798,1942,1643
$GC,7192,0.14,278.9,325.9,6.7,367,7204,0.00,0.00,9.82,0.864,6,0.000,0.000,2798,1942,1595
$GC,7517,0.20,312.2,304.9,6.0,375,7549,0.12,2.55,26.05,0.855,4,0.082,0.041,2824,3350,1459
$GC,7578,0.16,312.2,300.3,7.9,376,7582,0.00,2.47,0.00,0.000,6,0.000,0.032,2824,1941,1459
$GC,7905,0.11,312.2,271.5,9.8,392,7909,0.00,2.53,0.00,0.000,4,0.000,0.051,2824,536,1459
$GC,7923,0.06,312.2,269.8,9.5,393,7928,0.15,2.45,0.00,0.000,6,0.117,0.029,2797,1952,1459
$GC,8251,0.08,326.2,245.7,6.7,409,8271,0.00,2.58,11.57,0.818,4,0.000,0.044,2797,3352,1402
$GC,8329,0.14,335.0,240.5,6.8,412,8341,0.00,2.45,7.40,0.802,6,0.000,0.032,2796,1951,1367
$GC,8651,0.24,371.1,220.9,5.9,428,8686,0.15,2.62,28.35,0.788,4,0.074,0.051,2834,540,1220
$GC,8709,0.19,371.1,216.3,8.6,430,8715,0.00,2.45,0.00,0.000,6,0.000,0.028,2834,1956,1220
$GC,9029,0.14,371.1,189.7,8.5,451,9034,0.12,2.45,0.00,0.000,4,0.115,0.041,2812,3356,1220
$GC,9104,0.21,384.2,184.2,6.7,457,9120,0.00,2.45,11.15,0.754,6,0.000,0.031,2811,1944,1165
$GC,9440,0.26,410.9,162.2,6.2,488,9463,0.12,0.00,20.92,0.730,6,0.077,0.000,2839,1944,1056
$GC,9778,0.26,410.9,132.4,7.9,520,9783,0.00,2.47,0.00,0.000,4,0.000,0.037,2840,3358,1057
$GC,9842,0.26,410.9,127.6,7.6,525,9846,0.00,2.42,0.00,0.000,6,0.000,0.028,2840,1949,1057
$GC,10172,0.27,418.2,104.2,6.9,555,10180,0.00,0.00,6.45,0.668,6,0.000,0.000,2839,1950,1027
$GC,10501,0.27,418.2,78.3,7.9,586,10506,0.00,2.45,0.00,0.000,4,0.000,0.035,2839,3359,1028
$GC,10565,0.33,418.2,73.3,7.4,591,10569,0.00,2.40,0.00,0.000,6,0.000,0.026,2839,1948,1028
$GC,10830,0.48,477.0,57.5,5.1,615,10884,0.15,2.55,44.78,0.600,4,0.065,0.044,2880,548,787
$GC,10908,0.48,477.0,51.9,8.3,622,10913,0.00,2.40,0.00,0.000,6,0.000,0.024,2880,1956,788
$GC,11170,0.48,477.0,29.4,9.1,646,11177,0.00,2.40,0.00,0.000,4,0.000,0.035,2880,3351,787
$GC,11218,0.48,477.0,24.9,9.6,654,11225,0.00,2.38,0.00,0.000,6,0.000,0.025,2880,1949,788
$STATE,11454,end climb,SURFACE_DEPTH_REACHED
$STATE,11454,begin surface coast
$FINISH,0.8,1.008971
$STATE,11528,end surface coast,CONTROL_FINISHED_OK
$STATE,11528,begin surface
$SM_CCo,11613,0.00,0.000,0,0,789,476.62
$SM_GC,1.55,10.98,0.00,0.00,0.044,0.000,0.000,408,2083,789,-10.87,1.24,476.62
$IRIDIUM_FIX,2059.45,-15748.75,020198,171739
$TT8_MAMPS,0.026845
$HUMID,1703
$INTERNAL_PRESSURE,7.96906
$TCM_TEMP,24.70
$XPDR_PINGS,9
$24V_AH,23.8,18.373
$10V_AH,10.2,10.924
$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,28.475,117.350,491.225,0.000,0.000,25.203,33.798,48.946,11.250,0.000,0.000,15.616,1287.329,8030.578,537.176,1586.654,412.053,33.371,1335.907,0.000,1553.362,0.000,57.442
$DEVICE_MAMPS,159.536,52.923,921.934,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,473.539,473.363,837.372,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37982,709
$CAP_FILE_SIZE,104078,0
$CFSIZE,260165632,251412480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081008,235735,2107.101,-15748.663,11,2.2,30,9.8