version: 66.03
glider: 114
mission: 3
dive: 152
start: 10 12 108 17 11 30
data:
$ID,114
$MISSION,3
$DIVE,152
$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,-594537.81
$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,37
$R_STBD_OVSHOOT,75
$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
$GPS1,170456,2109.537,-15750.327,41,1.4,41,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-65.7
$GPS2,171033,2109.508,-15750.290,12,1.4,12,9.8
$SPEED_LIMITS,0.057,0.221
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.022,-0.220
$KALMAN_X,-27190.2,-172.5,-208.4,33240.8,1463.0
$KALMAN_Y,-33144.6,-158.6,-99.9,20319.5,208.2
$MHEAD_RNG_PITCHd_Wd,176.0,14537,-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,-146.0,0.0,0.0,0,89,0.00,0.00,-59.00,0.000,2,0.000,0.000,411,2083,2853
$GC,93,-1.09,-146.0,3.7,-5.1,11,118,11.90,2.58,-7.60,0.000,4,0.157,0.047,2534,638,3331
$GC,182,-1.23,-146.0,20.3,-8.5,26,189,0.00,2.33,0.00,0.000,6,0.000,0.033,2534,2000,3331
$GC,454,-1.31,-146.0,41.3,-7.2,61,459,0.15,2.50,0.00,0.000,4,0.056,0.035,2492,3450,3331
$GC,529,-1.40,-146.0,48.1,-8.3,67,534,0.00,2.38,0.00,0.000,6,0.000,0.024,2492,2039,3331
$GC,791,-1.40,-146.0,75.3,-10.7,91,796,0.00,2.42,0.00,0.000,4,0.000,0.035,2492,3444,3331
$GC,821,-1.43,-146.0,78.1,-10.2,93,826,0.12,2.38,0.00,0.000,6,0.061,0.023,2461,2025,3332
$GC,1088,-1.43,-146.0,105.4,-10.0,117,1092,0.00,2.45,0.00,0.000,4,0.000,0.035,2461,3443,3333
$GC,1110,-1.43,-146.0,108.4,-10.5,118,1116,0.00,2.35,0.00,0.000,6,0.000,0.023,2461,2034,3333
$GC,1435,-1.43,-146.0,136.4,-7.6,149,1437,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2034,3334
$GC,1759,-1.47,-146.0,166.2,-9.2,179,1763,0.00,2.42,0.00,0.000,4,0.000,0.035,2461,3443,3334
$GC,1844,-1.52,-146.0,174.7,-9.8,186,1848,0.00,2.38,0.00,0.000,6,0.000,0.024,2461,2031,3333
$GC,2169,-1.57,-146.0,204.2,-8.4,214,2173,0.10,2.45,0.00,0.000,4,0.065,0.034,2434,3449,3334
$GC,2196,-1.57,-146.0,206.7,-8.9,215,2200,0.00,2.38,0.00,0.000,6,0.000,0.024,2434,2033,3334
$GC,2513,-1.57,-146.0,231.5,-7.9,230,2517,0.00,2.45,0.00,0.000,4,0.000,0.035,2434,3451,3334
$GC,2531,-1.57,-146.0,233.0,-7.9,231,2535,0.00,2.38,0.00,0.000,6,0.000,0.025,2433,2043,3334
$GC,2862,-1.61,-146.0,260.7,-7.0,247,2866,0.00,2.42,0.00,0.000,4,0.000,0.037,2434,3443,3333
$GC,2918,-1.67,-146.0,265.0,-6.8,249,2924,0.00,2.38,0.00,0.000,6,0.000,0.026,2434,2037,3334
$GC,3235,-1.72,-146.0,286.5,-7.4,265,3240,0.12,2.45,0.00,0.000,4,0.064,0.038,2402,3443,3333
$GC,3252,-1.72,-146.0,288.1,-8.1,266,3257,0.00,2.40,0.00,0.000,6,0.000,0.027,2403,2031,3332
$GC,3597,-1.72,-146.0,318.9,-8.5,278,3601,0.00,2.47,0.00,0.000,4,0.000,0.039,2402,3446,3331
$GC,3615,-1.72,-146.0,320.4,-8.3,278,3619,0.00,2.40,0.00,0.000,6,0.000,0.028,2402,2037,3330
$GC,3958,-1.72,-146.0,344.6,-6.6,287,3962,0.00,2.47,0.00,0.000,4,0.000,0.041,2403,3443,3328
$GC,3979,-1.72,-146.0,346.4,-7.9,287,3984,0.00,2.40,0.00,0.000,6,0.000,0.029,2403,2040,3327
$GC,4317,-1.72,-146.0,374.3,-8.8,296,4321,0.00,2.47,0.00,0.000,4,0.000,0.048,2402,634,3326
$GC,4339,-1.72,-146.0,376.4,-9.4,296,4343,0.00,2.40,0.00,0.000,6,0.000,0.029,2402,2034,3325
$GC,4675,-1.72,-146.0,406.2,-8.5,305,4680,0.00,2.50,0.00,0.000,4,0.000,0.047,2402,3451,3323
$GC,4703,-1.72,-146.0,408.5,-8.5,305,4708,0.00,2.42,0.00,0.000,6,0.000,0.031,2402,2043,3322
$GC,5035,-1.72,-146.0,435.4,-8.3,313,5039,0.00,2.50,0.00,0.000,4,0.000,0.044,2402,3451,3320
$GC,5058,-1.72,-146.0,437.5,-9.4,313,5062,0.00,2.45,0.00,0.000,6,0.000,0.032,2402,2032,3320
$STATE,5230,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5230,begin apogee
$GC,5238,-0.33,0.0,452.3,8.5,318,5355,1.48,0.00,113.50,0.927,6,0.097,0.000,2705,1929,2733
$STATE,5356,end apogee,CONTROL_FINISHED_OK
$STATE,5356,begin climb
$GC,5360,1.09,146.0,457.3,0.0,321,5483,1.40,2.60,114.15,0.899,4,0.051,0.041,3015,3357,2136
$GC,5665,0.59,146.0,437.9,12.2,328,5670,0.57,2.47,0.00,0.000,6,0.176,0.034,2912,1960,2135
$GC,5990,0.31,146.0,410.7,8.1,336,5992,0.32,0.00,0.00,0.000,6,0.118,0.000,2851,1960,2134
$GC,6315,0.15,148.6,389.3,6.7,344,6320,0.15,2.55,0.00,0.000,4,0.126,0.054,2819,543,2132
$GC,6338,0.06,171.2,387.9,6.1,344,6363,0.12,2.45,19.12,0.904,6,0.125,0.029,2797,1958,2034
$GC,6686,0.09,213.2,369.0,5.4,353,6722,0.00,0.00,32.90,0.891,6,0.000,0.000,2798,1958,1863
$GC,7048,0.15,270.0,348.7,4.9,362,7095,0.00,0.00,44.95,0.878,6,0.000,0.000,2798,1958,1631
$GC,7413,0.22,305.9,329.8,5.6,371,7448,0.12,2.58,28.00,0.868,4,0.081,0.048,2825,3349,1486
$GC,7501,0.16,305.9,323.4,8.0,373,7505,0.00,2.47,0.00,0.000,6,0.000,0.034,2825,1946,1486
$GC,7826,0.09,305.9,297.5,7.9,381,7831,0.12,2.53,0.00,0.000,4,0.117,0.042,2804,3354,1486
$GC,7854,0.06,305.9,295.1,8.4,382,7858,0.00,2.47,0.00,0.000,6,0.000,0.031,2803,1939,1486
$GC,8175,0.06,305.9,269.9,7.7,398,8179,0.00,2.53,0.00,0.000,4,0.000,0.041,2804,3360,1485
$GC,8231,0.06,305.9,265.3,7.9,400,8237,0.00,2.45,0.00,0.000,6,0.000,0.032,2803,1951,1485
$GC,8548,0.07,311.2,243.4,6.6,416,8557,0.00,2.53,4.70,0.808,4,0.000,0.040,2804,3360,1464
$GC,8574,0.07,311.2,241.5,7.2,417,8579,0.00,2.47,0.00,0.000,6,0.000,0.031,2804,1940,1464
$GC,8897,0.11,337.2,222.2,6.0,433,8923,0.00,2.55,20.73,0.795,4,0.000,0.038,2803,3359,1357
$GC,8958,0.11,337.2,218.3,7.2,436,8962,0.00,2.47,0.00,0.000,6,0.000,0.030,2804,1946,1357
$GC,9285,0.14,352.8,199.6,6.3,452,9307,0.00,2.58,12.68,0.767,4,0.000,0.036,2803,3356,1294
$GC,9345,0.18,352.9,196.0,6.8,457,9349,0.00,2.45,0.00,0.000,6,0.000,0.028,2804,1948,1294
$GC,9674,0.23,362.1,173.6,6.5,487,9684,0.12,0.00,7.97,0.737,6,0.074,0.000,2832,1948,1256
$GC,10000,0.23,362.1,146.5,8.3,518,10004,0.00,2.47,0.00,0.000,4,0.000,0.036,2832,3363,1256
$GC,10056,0.23,362.1,141.4,9.0,522,10062,0.00,2.45,0.00,0.000,6,0.000,0.028,2832,1936,1257
$GC,10384,0.23,362.1,116.1,6.9,553,10388,0.00,2.47,0.00,0.000,4,0.000,0.035,2832,3358,1258
$GC,10430,0.26,362.1,112.5,7.8,557,10435,0.00,2.42,0.00,0.000,6,0.000,0.027,2832,1942,1259
$GC,10761,0.33,401.4,93.4,5.5,587,10796,0.00,2.53,30.55,0.637,4,0.000,0.035,2832,3363,1095
$GC,10855,0.39,401.4,87.0,6.8,595,10862,0.15,2.42,0.00,0.000,6,0.064,0.026,2868,1947,1096
$GC,11181,0.39,401.4,60.6,6.9,626,11185,0.00,2.45,0.00,0.000,4,0.000,0.033,2868,3361,1097
$GC,11236,0.39,401.4,56.6,6.9,630,11242,0.00,2.40,0.00,0.000,6,0.000,0.025,2868,1949,1097
$GC,11498,0.39,401.4,39.0,7.2,655,11502,0.00,2.45,0.00,0.000,4,0.000,0.043,2868,539,1098
$GC,11522,0.39,401.4,37.0,8.2,657,11526,0.00,2.38,0.00,0.000,6,0.000,0.023,2868,1964,1098
$GC,11793,0.39,401.4,17.6,7.5,696,11800,0.00,2.38,0.00,0.000,4,0.000,0.035,2868,3354,1098
$GC,11858,0.46,417.3,13.6,6.3,707,11877,0.00,2.40,12.73,0.552,6,0.000,0.025,2868,1935,1030
$STATE,11977,end climb,SURFACE_DEPTH_REACHED
$STATE,11977,begin surface coast
$FINISH,0.8,0.997995
$STATE,12052,end surface coast,CONTROL_FINISHED_OK
$STATE,12052,begin surface
$SM_CCo,12135,0.00,0.000,0,0,1031,417.50
$SM_GC,1.68,10.90,0.00,0.00,0.044,0.000,0.000,408,2083,1031,-10.86,1.22,417.50
$IRIDIUM_FIX,2059.45,-15750.89,060198,131342
$TT8_MAMPS,0.027612
$HUMID,1685
$INTERNAL_PRESSURE,7.97882
$TCM_TEMP,24.90
$XPDR_PINGS,9
$24V_AH,23.8,21.769
$10V_AH,10.2,13.177
$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,27.875,137.675,441.975,0.000,0.000,25.085,30.988,152.677,11.250,0.000,0.000,14.145,1357.180,8380.771,523.837,1666.130,546.489,33.364,1346.958,0.000,1643.695,0.000,57.439
$DEVICE_MAMPS,175.643,53.690,926.536,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,494.980,493.569,880.383,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37979,741
$CAP_FILE_SIZE,110897,0
$CFSIZE,260165632,249880576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,121008,203502,2107.994,-15749.795,38,1.3,38,9.8