version: 66.03
glider: 114
mission: 3
dive: 165
start: 10 14 108 13 49 0
data:
$ID,114
$MISSION,3
$DIVE,165
$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,-594795.38
$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,34
$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
$GPS1,134208,2108.754,-15749.310,34,1.0,34,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-63.7
$GPS2,134803,2108.776,-15749.337,13,1.2,13,9.8
$SPEED_LIMITS,0.057,0.221
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.065,-0.212
$KALMAN_X,-27371.8,217.6,-587.5,35058.4,221.9
$KALMAN_Y,-38279.8,136.2,-21.3,23710.1,-328.4
$MHEAD_RNG_PITCHd_Wd,153.2,12675,-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,-146.0,0.0,0.0,0,94,0.00,0.00,-64.97,0.000,2,0.000,0.000,409,2083,2869
$GC,98,-1.09,-146.0,3.7,-4.8,12,122,11.98,0.00,-7.38,0.000,6,0.159,0.000,2535,2083,3331
$GC,387,-1.17,-146.0,38.6,-7.9,54,391,0.00,2.28,0.00,0.000,4,0.000,0.035,2535,3405,3331
$GC,444,-1.31,-146.0,43.3,-7.8,58,451,0.17,2.30,0.00,0.000,6,0.054,0.022,2493,2030,3332
$GC,709,-1.34,-146.0,69.1,-11.2,83,713,0.00,2.35,0.00,0.000,4,0.000,0.034,2493,3402,3332
$GC,744,-1.39,-146.0,73.3,-11.1,86,748,0.00,2.28,0.00,0.000,6,0.000,0.022,2493,2041,3333
$GC,1007,-1.46,-146.0,99.6,-9.4,110,1015,0.15,2.35,0.00,0.000,4,0.055,0.033,2456,3404,3333
$GC,1034,-1.49,-146.0,102.6,-10.8,112,1038,0.00,2.30,0.00,0.000,6,0.000,0.023,2455,2034,3333
$GC,1365,-1.49,-146.0,135.6,-8.8,143,1369,0.00,2.35,0.00,0.000,4,0.000,0.034,2455,3400,3333
$GC,1406,-1.49,-146.0,139.1,-8.5,146,1410,0.00,2.30,0.00,0.000,6,0.000,0.023,2455,2030,3334
$GC,1732,-1.52,-146.0,167.4,-8.1,176,1736,0.00,2.38,0.00,0.000,4,0.000,0.035,2455,3411,3333
$GC,1761,-1.57,-146.0,169.9,-9.2,178,1766,0.00,2.33,0.00,0.000,6,0.000,0.024,2455,2027,3334
$GC,2093,-1.63,-146.0,193.7,-7.6,209,2095,0.15,0.00,0.00,0.000,6,0.056,0.000,2418,2027,3333
$GC,2414,-1.63,-146.0,226.8,-10.1,228,2418,0.00,2.38,0.00,0.000,4,0.000,0.036,2418,3401,3333
$GC,2436,-1.63,-146.0,229.0,-9.5,229,2440,0.00,2.30,0.00,0.000,6,0.000,0.025,2418,2034,3333
$GC,2757,-1.63,-146.0,256.8,-8.3,245,2761,0.00,2.38,0.00,0.000,4,0.000,0.038,2418,3401,3333
$GC,2775,-1.63,-146.0,258.4,-8.3,246,2779,0.00,2.30,0.00,0.000,6,0.000,0.026,2418,2043,3333
$GC,3108,-1.63,-146.0,282.4,-7.5,262,3112,0.00,2.38,0.00,0.000,4,0.000,0.039,2418,3406,3333
$GC,3182,-1.66,-146.0,288.4,-8.9,265,3186,0.00,2.33,0.00,0.000,6,0.000,0.028,2418,2039,3332
$GC,3495,-1.66,-146.0,314.0,-8.3,276,3496,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,2039,3330
$GC,3820,-1.66,-146.0,336.2,-6.2,284,3825,0.00,2.47,0.00,0.000,4,0.000,0.047,2417,631,3328
$GC,3849,-1.70,-146.0,338.0,-6.3,284,3854,0.00,2.33,0.00,0.000,6,0.000,0.028,2417,1993,3328
$GC,4182,-1.74,-146.0,359.1,-6.5,292,4186,0.00,2.55,0.00,0.000,4,0.000,0.045,2417,3446,3325
$GC,4243,-1.79,-146.0,363.6,-7.2,293,4248,0.12,2.42,0.00,0.000,6,0.072,0.031,2390,2035,3325
$GC,4587,-1.79,-146.0,393.1,-9.0,302,4588,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2034,3323
$GC,4912,-1.79,-146.0,422.7,-9.1,310,4916,0.00,2.50,0.00,0.000,4,0.000,0.044,2390,3448,3320
$GC,4933,-1.79,-146.0,425.0,-9.7,310,4937,0.00,2.42,0.00,0.000,6,0.000,0.031,2390,2036,3320
$STATE,5235,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5235,begin apogee
$GC,5243,-0.33,0.0,451.9,8.9,318,5360,1.52,0.00,113.12,0.921,6,0.096,0.000,2703,1933,2733
$STATE,5361,end apogee,CONTROL_FINISHED_OK
$STATE,5361,begin climb
$GC,5364,1.09,146.0,457.0,0.0,321,5487,1.40,2.55,114.25,0.894,4,0.051,0.052,3014,550,2136
$GC,5743,0.55,146.0,426.3,13.9,329,5749,0.62,2.45,0.00,0.000,6,0.150,0.030,2905,1956,2134
$GC,6081,0.29,146.0,393.3,9.5,338,6086,0.30,2.55,0.00,0.000,4,0.126,0.051,2847,558,2132
$GC,6149,0.11,146.0,387.5,8.2,339,6154,0.22,2.42,0.00,0.000,6,0.127,0.031,2807,1955,2131
$GC,6486,0.12,191.7,368.9,5.3,348,6528,0.00,2.55,34.47,0.887,4,0.000,0.048,2807,3350,1951
$GC,6557,0.09,203.4,364.8,6.4,349,6574,0.00,2.45,9.60,0.861,6,0.000,0.033,2806,1962,1902
$GC,6900,0.10,238.8,344.1,5.6,358,6934,0.00,2.65,27.80,0.868,4,0.000,0.053,2806,547,1759
$GC,6958,0.08,262.0,340.8,6.0,359,6984,0.00,2.45,18.90,0.854,6,0.000,0.030,2806,1948,1664
$GC,7311,0.10,301.5,320.5,5.5,368,7347,0.00,2.58,31.15,0.848,4,0.000,0.048,2806,3354,1503
$GC,7420,0.10,301.5,312.5,7.9,369,7425,0.00,2.47,0.00,0.000,6,0.000,0.033,2807,1949,1503
$GC,7741,0.06,301.5,287.8,7.6,381,7742,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1948,1503
$GC,8049,0.04,305.2,265.2,6.7,396,8058,0.00,2.58,3.58,0.798,4,0.000,0.043,2806,3357,1488
$GC,8095,0.04,305.2,262.0,7.3,398,8099,0.00,2.47,0.00,0.000,6,0.000,0.032,2806,1944,1488
$GC,8423,0.06,315.5,240.3,6.5,414,8437,0.00,2.58,8.52,0.807,4,0.000,0.041,2806,3354,1446
$GC,8495,0.07,324.7,235.4,6.5,417,8512,0.00,2.45,8.07,0.795,6,0.000,0.031,2807,1950,1408
$GC,8822,0.10,338.4,215.2,6.4,433,8838,0.00,2.53,11.25,0.784,4,0.000,0.038,2806,3357,1352
$GC,8901,0.10,338.4,209.4,7.4,435,8906,0.00,2.45,0.00,0.000,6,0.000,0.030,2806,1950,1352
$GC,9222,0.13,355.3,187.3,6.3,459,9244,0.00,2.55,13.73,0.760,4,0.000,0.038,2806,3357,1284
$GC,9280,0.13,355.3,183.0,8.1,464,9284,0.00,2.45,0.00,0.000,6,0.000,0.028,2806,1948,1283
$GC,9610,0.22,392.2,160.8,5.6,494,9645,0.10,2.58,28.52,0.722,4,0.077,0.048,2830,547,1134
$GC,9675,0.22,392.2,155.9,8.1,500,9679,0.00,2.42,0.00,0.000,6,0.000,0.025,2830,1958,1134
$GC,10005,0.22,392.2,133.1,7.1,530,10009,0.00,2.42,0.00,0.000,4,0.000,0.038,2830,3353,1134
$GC,10072,0.26,392.2,127.5,7.5,535,10079,0.00,2.42,0.00,0.000,6,0.000,0.028,2830,1937,1135
$GC,10402,0.29,392.2,107.8,7.0,566,10406,0.00,2.47,0.00,0.000,4,0.000,0.035,2830,3359,1135
$GC,10436,0.34,392.2,105.0,7.1,568,10443,0.10,2.42,0.00,0.000,6,0.077,0.027,2853,1939,1135
$GC,10762,0.34,392.2,82.4,7.4,599,10766,0.00,2.45,0.00,0.000,4,0.000,0.045,2853,545,1135
$GC,10792,0.34,392.2,80.0,8.2,601,10796,0.00,2.38,0.00,0.000,6,0.000,0.023,2854,1959,1135
$GC,11054,0.38,415.1,65.2,6.1,625,11080,0.00,2.47,18.38,0.605,4,0.000,0.035,2854,3344,1040
$GC,11133,0.44,415.1,59.6,7.8,632,11137,0.00,2.38,0.00,0.000,6,0.000,0.025,2854,1947,1040
$GC,11404,0.52,438.3,40.1,6.0,657,11428,0.15,2.53,17.90,0.570,4,0.060,0.032,2895,3355,945
$GC,11464,0.52,438.3,35.5,7.1,662,11469,0.00,2.42,0.00,0.000,6,0.000,0.024,2895,1935,945
$GC,11738,0.47,438.3,14.6,8.7,703,11744,0.00,2.45,0.00,0.000,4,0.000,0.032,2895,3354,947
$GC,11776,0.42,438.3,11.4,8.8,709,11783,0.12,2.38,0.00,0.000,6,0.097,0.023,2871,1941,947
$STATE,11854,end climb,SURFACE_DEPTH_REACHED
$STATE,11855,begin surface coast
$FINISH,0.9,1.013416
$STATE,11935,end surface coast,CONTROL_FINISHED_OK
$STATE,11935,begin surface
$SM_CCo,12019,0.00,0.000,0,0,947,438.11
$SM_GC,1.55,10.93,0.00,0.00,0.044,0.000,0.000,408,2088,947,-10.87,1.36,438.11
$IRIDIUM_FIX,2104.07,-15745.74,080198,101024
$TT8_MAMPS,0.027612
$HUMID,1675
$INTERNAL_PRESSURE,7.98859
$TCM_TEMP,25.00
$XPDR_PINGS,17
$24V_AH,23.8,23.421
$10V_AH,10.2,14.253
$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,28.050,131.650,459.250,0.000,0.000,28.607,35.872,154.771,13.250,0.000,0.000,14.818,1357.814,8227.002,522.745,1720.678,547.721,33.368,1385.634,0.000,1688.109,0.000,57.460
$DEVICE_MAMPS,158.769,52.923,921.167,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,492.375,497.930,878.611,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37947,737
$CAP_FILE_SIZE,112313,0
$CFSIZE,260165632,249131008
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,141008,171038,2107.524,-15748.988,40,0.8,40,9.8