version: 66.03
glider: 114
mission: 3
dive: 177
start: 10 16 108 7 40 20
data:
$ID,114
$MISSION,3
$DIVE,177
$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,-595000
$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,57
$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
$GPS1,073323,2108.153,-15749.086,9,3.0,28,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-63.3
$GPS2,073925,2108.169,-15748.991,31,1.6,41,9.8
$SPEED_LIMITS,0.057,0.221
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.019,-0.221
$KALMAN_X,-27784.9,-514.8,74.1,36135.9,1093.2
$KALMAN_Y,-39991.0,-136.7,52.2,24505.7,339.0
$MHEAD_RNG_PITCHd_Wd,175.3,11420,-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,24,begin dive
$GC,27,-1.09,-146.0,0.0,0.0,0,110,0.00,0.00,-80.45,0.000,2,0.000,0.000,408,2071,2877
$GC,114,-1.09,-146.0,3.5,-4.2,15,139,11.95,2.55,-7.30,0.000,4,0.158,0.044,2535,630,3331
$GC,215,-1.25,-146.0,20.7,-8.2,32,222,0.12,2.33,0.00,0.000,6,0.058,0.022,2503,2024,3331
$GC,484,-1.25,-146.0,47.6,-9.4,65,488,0.00,2.45,0.00,0.000,4,0.000,0.036,2503,3447,3331
$GC,581,-1.30,-146.0,56.9,-9.0,73,586,0.00,2.38,0.00,0.000,6,0.000,0.022,2503,2030,3331
$GC,844,-1.35,-146.0,82.1,-9.1,97,848,0.00,2.45,0.00,0.000,4,0.000,0.034,2503,3448,3331
$GC,919,-1.46,-146.0,89.3,-9.0,103,923,0.20,2.38,0.00,0.000,6,0.052,0.022,2454,2027,3331
$GC,1244,-1.46,-146.0,123.8,-10.6,133,1248,0.00,2.45,0.00,0.000,4,0.000,0.035,2455,3444,3331
$GC,1284,-1.46,-146.0,128.0,-10.2,136,1288,0.00,2.35,0.00,0.000,6,0.000,0.023,2455,2039,3331
$GC,1618,-1.46,-146.0,160.0,-9.5,167,1622,0.00,2.42,0.00,0.000,4,0.000,0.035,2455,3444,3331
$GC,1674,-1.52,-146.0,166.0,-9.9,171,1680,0.00,2.38,0.00,0.000,6,0.000,0.023,2455,2027,3331
$GC,1999,-1.52,-146.0,195.1,-7.9,202,2000,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2025,3331
$GC,2311,-1.57,-146.0,219.0,-8.0,220,2315,0.00,2.45,0.00,0.000,4,0.000,0.035,2454,3445,3331
$GC,2375,-1.66,-146.0,224.5,-8.4,223,2379,0.17,2.38,0.00,0.000,6,0.056,0.025,2412,2038,3331
$GC,2702,-1.66,-146.0,254.4,-9.1,239,2706,0.00,2.42,0.00,0.000,4,0.000,0.040,2412,634,3331
$GC,2746,-1.66,-146.0,259.2,-10.0,241,2751,0.00,2.38,0.00,0.000,6,0.000,0.026,2412,2039,3331
$GC,3068,-1.66,-146.0,285.8,-7.3,257,3072,0.00,2.45,0.00,0.000,4,0.000,0.039,2412,3456,3330
$GC,3097,-1.66,-146.0,288.0,-7.9,258,3101,0.00,2.40,0.00,0.000,6,0.000,0.028,2412,2045,3329
$GC,3410,-1.66,-146.0,315.5,-9.0,269,3411,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2045,3328
$GC,3736,-1.66,-146.0,342.1,-8.2,277,3740,0.00,2.47,0.00,0.000,4,0.000,0.041,2412,3454,3326
$GC,3803,-1.71,-146.0,348.4,-9.3,278,3807,0.00,2.42,0.00,0.000,6,0.000,0.030,2412,2037,3326
$GC,4145,-1.71,-146.0,379.9,-9.3,287,4147,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,2037,3324
$GC,4470,-1.71,-146.0,404.8,-7.1,295,4474,0.00,2.50,0.00,0.000,4,0.000,0.043,2413,3452,3321
$GC,4504,-1.75,-146.0,407.3,-7.1,295,4510,0.00,2.45,0.00,0.000,6,0.000,0.031,2412,2033,3320
$GC,4837,-1.78,-146.0,431.7,-7.7,304,4838,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,2034,3318
$STATE,5076,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5077,begin apogee
$GC,5084,-0.33,0.0,450.3,7.6,310,5201,1.42,0.00,113.12,0.914,6,0.090,0.000,2706,1930,2732
$STATE,5202,end apogee,CONTROL_FINISHED_OK
$STATE,5202,begin climb
$GC,5206,1.09,146.0,455.1,0.0,313,5329,1.40,2.53,114.35,0.892,4,0.050,0.051,3016,558,2136
$GC,5380,0.55,146.0,449.8,12.8,317,5385,0.65,2.45,0.00,0.000,6,0.150,0.031,2901,1959,2135
$GC,5700,0.28,146.0,424.0,7.6,325,5705,0.28,2.58,0.00,0.000,4,0.121,0.052,2848,552,2133
$GC,5723,0.08,155.1,422.4,6.5,325,5740,0.25,2.42,7.15,0.877,6,0.117,0.031,2802,1950,2100
$GC,6065,0.13,217.8,405.6,4.7,334,6119,0.00,2.60,48.70,0.901,4,0.000,0.053,2802,555,1844
$GC,6137,0.11,248.1,401.5,5.8,335,6166,0.00,2.45,24.33,0.884,6,0.000,0.031,2802,1949,1721
$GC,6512,0.07,252.3,377.3,6.7,345,6521,0.00,2.58,4.03,0.841,4,0.000,0.048,2802,3353,1704
$GC,6584,0.08,256.7,372.3,6.7,346,6593,0.00,2.45,4.30,0.854,6,0.000,0.035,2802,1956,1686
$GC,6926,0.04,256.7,348.3,7.3,355,6927,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,1956,1685
$GC,7251,0.03,269.9,327.2,6.4,363,7267,0.00,2.55,10.90,0.890,4,0.000,0.044,2802,3361,1631
$GC,7301,0.03,269.9,323.6,6.9,364,7305,0.00,2.50,0.00,0.000,6,0.000,0.034,2801,1940,1631
$GC,7615,0.08,295.0,304.3,6.0,372,7637,0.00,0.00,20.23,0.866,6,0.000,0.000,2801,1940,1530
$GC,7923,0.08,295.0,283.0,7.6,385,7927,0.00,2.53,0.00,0.000,4,0.000,0.042,2801,3356,1529
$GC,7967,0.08,295.0,278.8,9.1,387,7971,0.00,2.47,0.00,0.000,6,0.000,0.032,2801,1939,1530
$GC,8289,0.08,295.0,252.6,7.9,403,8293,0.00,2.53,0.00,0.000,4,0.000,0.041,2802,3367,1529
$GC,8322,0.08,295.0,249.9,8.0,404,8328,0.00,2.47,0.00,0.000,6,0.000,0.032,2801,1939,1529
$GC,8638,0.18,355.0,230.7,4.8,420,8690,0.00,2.58,46.30,0.800,4,0.000,0.038,2801,3365,1284
$GC,8720,0.25,397.2,226.9,5.4,424,8762,0.15,2.50,33.12,0.780,6,0.074,0.031,2834,1941,1112
$GC,9075,0.20,397.2,201.1,8.4,441,9079,0.00,2.50,0.00,0.000,4,0.000,0.038,2834,3364,1112
$GC,9137,0.20,397.2,194.5,10.9,446,9141,0.00,2.47,0.00,0.000,6,0.000,0.031,2834,1944,1113
$GC,9467,0.16,397.2,163.2,9.7,476,9471,0.00,2.47,0.00,0.000,4,0.000,0.047,2833,546,1113
$GC,9489,0.12,397.2,160.5,9.8,477,9496,0.15,2.42,0.00,0.000,6,0.102,0.026,2806,1965,1113
$GC,9816,0.20,425.7,138.1,5.9,508,9848,0.00,2.50,22.33,0.695,4,0.000,0.037,2806,3351,997
$GC,9899,0.29,425.7,132.5,7.0,515,9906,0.17,2.42,0.00,0.000,6,0.061,0.028,2847,1944,996
$GC,10225,0.25,425.7,106.1,8.9,546,10229,0.00,2.45,0.00,0.000,4,0.000,0.035,2847,3352,997
$GC,10271,0.25,425.7,102.1,8.7,550,10275,0.00,2.42,0.00,0.000,6,0.000,0.027,2846,1939,998
$GC,10597,0.25,425.7,75.7,8.4,580,10601,0.00,2.45,0.00,0.000,4,0.000,0.044,2847,544,999
$GC,10615,0.25,425.7,74.2,8.8,581,10619,0.00,2.38,0.00,0.000,6,0.000,0.024,2847,1959,999
$GC,10886,0.32,446.0,55.2,6.1,606,10909,0.00,2.42,16.62,0.603,4,0.000,0.034,2847,3351,913
$GC,10949,0.41,454.2,50.9,6.5,611,10961,0.10,2.40,6.75,0.605,6,0.072,0.025,2871,1942,880
$GC,11217,0.41,458.5,31.5,6.7,636,11229,0.00,2.47,3.92,0.584,4,0.000,0.033,2870,3339,862
$GC,11276,0.41,458.5,27.4,6.9,644,11282,0.00,2.38,0.00,0.000,6,0.000,0.025,2870,1937,863
$GC,11554,0.41,458.5,7.4,8.7,693,11561,0.00,2.45,0.00,0.000,4,0.000,0.039,2870,3354,863
$GC,11574,0.41,458.5,6.0,8.1,696,11580,0.00,2.38,0.00,0.000,6,0.000,0.025,2871,1948,864
$STATE,11585,end climb,SURFACE_DEPTH_REACHED
$STATE,11585,begin surface coast
$FINISH,0.8,1.011833
$STATE,11659,end surface coast,CONTROL_FINISHED_OK
$STATE,11659,begin surface
$SM_CCo,11743,0.00,0.000,0,0,863,458.47
$SM_GC,1.59,10.88,0.00,0.00,0.043,0.000,0.000,411,2078,863,-10.85,1.07,458.47
$IRIDIUM_FIX,2104.07,-15747.88,100198,040432
$TT8_MAMPS,0.026845
$HUMID,1708
$INTERNAL_PRESSURE,7.96906
$TCM_TEMP,25.00
$XPDR_PINGS,11
$24V_AH,23.8,25.007
$10V_AH,10.2,15.266
$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,27.900,127.925,476.150,0.000,0.000,22.799,28.377,152.099,11.750,0.000,0.000,42.567,1288.018,8098.320,560.065,1635.296,523.873,33.371,1368.479,0.000,1580.348,0.000,57.448
$DEVICE_MAMPS,158.002,52.923,914.264,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,473.840,465.322,844.187,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37991,711
$CAP_FILE_SIZE,106790,0
$CFSIZE,260165632,248430592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,161008,105707,2106.960,-15748.385,25,1.0,25,9.8