version: 66.03
glider: 114
mission: 3
dive: 140
start: 10 10 108 23 4 54
data:
$ID,114
$MISSION,3
$DIVE,140
$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,220
$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,-594296.75
$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,36
$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
$GPS1,225821,2110.266,-15750.305,36,2.2,55,9.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-62.9
$GPS2,230357,2110.290,-15750.291,14,1.7,14,9.8
$SPEED_LIMITS,0.057,0.221
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.072,-0.210
$KALMAN_X,-32449.4,356.4,-320.7,38081.7,351.8
$KALMAN_Y,-32979.9,546.7,56.5,20730.8,-556.3
$MHEAD_RNG_PITCHd_Wd,151.3,15878,-12.5,-6.818
$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,-1.09,-146.0,0.0,0.0,0,88,0.00,0.00,-59.40,0.000,2,0.000,0.000,411,2034,2887
$GC,92,-1.09,-146.0,3.9,-5.6,11,117,11.95,2.45,-6.85,0.000,4,0.159,0.048,2533,628,3330
$GC,170,-1.20,-146.0,20.4,-9.4,24,177,0.00,2.38,0.00,0.000,6,0.000,0.030,2533,2043,3331
$GC,447,-1.28,-146.0,43.3,-7.9,59,452,0.15,2.40,0.00,0.000,4,0.057,0.035,2492,3437,3331
$GC,556,-1.35,-146.0,53.5,-9.6,68,560,0.00,2.38,0.00,0.000,6,0.000,0.024,2492,2027,3331
$GC,818,-1.39,-146.0,79.3,-9.2,92,819,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2026,3332
$GC,1073,-1.45,-146.0,101.0,-8.1,116,1075,0.12,0.00,0.00,0.000,6,0.060,0.000,2461,2027,3333
$GC,1391,-1.45,-146.0,129.9,-9.1,146,1398,0.00,2.45,0.00,0.000,4,0.000,0.035,2461,3444,3334
$GC,1440,-1.51,-146.0,134.6,-9.4,150,1444,0.00,2.38,0.00,0.000,6,0.000,0.024,2461,2029,3334
$GC,1765,-1.55,-146.0,162.7,-7.8,180,1766,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2028,3334
$GC,2087,-1.61,-146.0,186.0,-6.9,210,2091,0.15,2.45,0.00,0.000,4,0.057,0.035,2419,3446,3334
$GC,2109,-1.61,-146.0,188.1,-8.1,211,2115,0.00,2.38,0.00,0.000,6,0.000,0.025,2418,2032,3334
$GC,2441,-1.61,-146.0,216.9,-9.0,234,2446,0.00,2.45,0.00,0.000,4,0.000,0.036,2419,3446,3334
$GC,2505,-1.61,-146.0,222.8,-8.8,237,2509,0.00,2.38,0.00,0.000,6,0.000,0.025,2418,2043,3334
$GC,2832,-1.61,-146.0,248.8,-7.5,253,2833,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,2040,3334
$GC,3141,-1.61,-146.0,272.9,-8.4,268,3145,0.00,2.45,0.00,0.000,4,0.000,0.043,2418,633,3333
$GC,3174,-1.61,-146.0,276.0,-9.2,269,3180,0.00,2.40,0.00,0.000,6,0.000,0.028,2418,2044,3333
$GC,3489,-1.61,-146.0,303.5,-8.2,284,3493,0.00,2.42,0.00,0.000,4,0.000,0.041,2418,3447,3331
$GC,3529,-1.65,-146.0,306.7,-7.9,284,3535,0.00,2.40,0.00,0.000,6,0.000,0.029,2418,2039,3330
$GC,3862,-1.65,-146.0,333.0,-8.2,293,3863,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,2039,3329
$GC,4187,-1.65,-146.0,360.9,-8.6,301,4188,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,2039,3326
$GC,4511,-1.68,-146.0,387.3,-7.9,309,4516,0.00,2.50,0.00,0.000,4,0.000,0.044,2418,3451,3324
$GC,4557,-1.75,-146.0,391.1,-8.2,310,4561,0.00,2.42,0.00,0.000,6,0.000,0.031,2418,2039,3324
$GC,4876,-1.79,-146.0,418.3,-8.7,318,4880,0.12,2.47,0.00,0.000,4,0.074,0.042,2390,3443,3321
$GC,4899,-1.79,-146.0,420.5,-9.6,318,4903,0.00,2.40,0.00,0.000,6,0.000,0.030,2390,2031,3321
$STATE,5239,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5239,begin apogee
$GC,5247,-0.33,0.0,450.6,8.3,327,5365,1.52,0.00,113.85,0.920,6,0.094,0.000,2702,1937,2733
$STATE,5366,end apogee,CONTROL_FINISHED_OK
$STATE,5366,begin climb
$GC,5369,1.09,146.0,454.4,0.0,330,5492,1.40,2.55,114.53,0.894,4,0.053,0.052,3012,553,2137
$GC,5684,0.56,146.0,432.0,11.5,337,5689,0.60,2.45,0.00,0.000,6,0.146,0.031,2906,1956,2135
$GC,5998,0.28,146.0,408.7,7.2,345,6003,0.30,2.50,0.00,0.000,4,0.127,0.047,2848,3352,2134
$GC,6021,0.08,146.0,407.0,7.1,345,6026,0.28,2.45,0.00,0.000,6,0.121,0.034,2798,1957,2133
$GC,6359,0.15,213.0,391.6,4.6,354,6417,0.00,2.60,51.40,0.890,4,0.000,0.054,2798,543,1863
$GC,6458,0.14,237.5,386.6,6.0,356,6485,0.00,2.47,19.58,0.877,6,0.000,0.031,2798,1960,1764
$GC,6811,0.13,256.4,366.2,6.2,365,6831,0.00,2.55,15.38,0.877,4,0.000,0.048,2798,3358,1687
$GC,6882,0.13,256.4,361.3,7.4,366,6887,0.00,2.47,0.00,0.000,6,0.000,0.034,2798,1951,1687
$GC,7214,0.19,285.7,340.8,5.8,374,7244,0.10,2.60,23.33,0.873,4,0.088,0.043,2819,3354,1568
$GC,7279,0.13,285.7,336.5,7.6,375,7283,0.00,2.47,0.00,0.000,6,0.000,0.032,2819,1947,1568
$GC,7622,0.07,285.7,313.0,6.9,384,7627,0.12,2.50,0.00,0.000,4,0.114,0.041,2797,3351,1568
$GC,7645,0.03,285.7,311.3,7.2,384,7649,0.00,2.45,0.00,0.000,6,0.000,0.031,2797,1945,1568
$GC,7964,0.06,307.6,291.2,6.1,395,7988,0.00,2.60,17.27,0.852,4,0.000,0.041,2797,3351,1479
$GC,8017,0.06,307.6,287.6,7.1,397,8022,0.00,2.47,0.00,0.000,6,0.000,0.031,2797,1939,1479
$GC,8333,0.10,327.0,266.2,6.2,412,8356,0.00,2.55,16.05,0.832,4,0.000,0.040,2797,3352,1398
$GC,8390,0.15,357.4,263.0,5.8,414,8422,0.00,2.47,24.08,0.820,6,0.000,0.032,2797,1940,1275
$GC,8733,0.15,357.4,241.1,6.9,431,8736,0.00,2.50,0.00,0.000,4,0.000,0.040,2798,3352,1275
$GC,8760,0.15,357.4,239.0,7.6,432,8765,0.00,2.45,0.00,0.000,6,0.000,0.030,2797,1945,1275
$GC,9082,0.15,357.4,217.3,7.2,448,9086,0.00,2.47,0.00,0.000,4,0.000,0.038,2798,3354,1276
$GC,9128,0.19,357.4,214.2,7.1,450,9133,0.10,2.45,0.00,0.000,6,0.084,0.030,2819,1941,1276
$GC,9449,0.19,357.4,190.3,6.8,471,9453,0.00,2.47,0.00,0.000,4,0.000,0.037,2819,3354,1276
$GC,9512,0.19,357.4,185.5,8.2,476,9516,0.00,2.42,0.00,0.000,6,0.000,0.029,2818,1951,1276
$GC,9839,0.19,357.4,161.4,7.5,506,9843,0.00,2.45,0.00,0.000,4,0.000,0.036,2819,3354,1277
$GC,9862,0.19,357.4,159.5,7.5,507,9868,0.00,2.42,0.00,0.000,6,0.000,0.028,2819,1938,1277
$GC,10190,0.20,367.3,137.1,6.5,538,10201,0.00,0.00,8.43,0.706,6,0.000,0.000,2819,1937,1235
$GC,10521,0.33,441.0,117.4,4.4,569,10585,0.15,2.53,56.30,0.664,4,0.065,0.035,2855,3357,935
$GC,10646,0.33,441.0,109.1,8.6,580,10650,0.00,2.42,0.00,0.000,6,0.000,0.027,2854,1950,935
$GC,10980,0.30,441.0,80.9,8.5,611,10984,0.00,2.47,0.00,0.000,4,0.000,0.044,2854,547,936
$GC,11009,0.30,441.0,78.0,9.3,613,11013,0.00,2.40,0.00,0.000,6,0.000,0.023,2855,1962,936
$GC,11271,0.32,449.2,57.3,6.5,637,11284,0.00,2.47,7.28,0.605,4,0.000,0.045,2854,3353,901
$GC,11331,0.42,468.3,53.6,6.2,642,11353,0.00,2.40,14.88,0.596,6,0.000,0.025,2854,1945,822
$GC,11613,0.48,481.0,35.1,6.4,668,11629,0.12,2.47,9.85,0.574,4,0.064,0.034,2886,3349,772
$GC,11676,0.48,481.0,30.1,7.3,673,11680,0.00,2.40,0.00,0.000,6,0.000,0.025,2886,1939,772
$GC,11953,0.43,481.0,6.0,9.9,721,11960,0.00,2.42,0.00,0.000,4,0.000,0.041,2886,540,772
$STATE,11964,end climb,SURFACE_DEPTH_REACHED
$STATE,11964,begin surface coast
$FINISH,3.1,1.022711
$STATE,11977,end surface coast,CONTROL_FINISHED_OK
$STATE,11977,begin surface
$SM_CCo,12063,0.00,0.000,0,0,773,480.79
$SM_GC,1.56,11.32,0.00,0.00,0.060,0.000,0.000,412,2048,773,-10.85,0.23,480.79
$IRIDIUM_FIX,2059.45,-15748.75,040198,202037
$TT8_MAMPS,0.027612
$HUMID,1703
$INTERNAL_PRESSURE,7.96906
$TCM_TEMP,24.70
$XPDR_PINGS,22
$24V_AH,23.8,20.234
$10V_AH,10.2,12.151
$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,28.525,128.075,492.175,0.000,0.000,24.122,36.682,147.566,14.500,0.000,0.000,16.416,1322.787,8332.906,538.714,1673.503,534.553,33.368,1382.705,0.000,1646.432,0.000,57.447
$DEVICE_MAMPS,158.769,55.224,920.400,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,484.222,480.893,851.132,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38125,725
$CAP_FILE_SIZE,108835,0
$CFSIZE,260165632,250593280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111008,022738,2109.005,-15749.933,62,1.0,62,9.8