version: 66.03
glider: 114
mission: 3
dive: 239
start: 10 25 108 3 12 5
data:
$ID,114
$MISSION,3
$DIVE,239
$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,170
$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,400
$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,-596392.38
$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,68
$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
$GPS1,030508,2107.884,-15750.473,34,0.9,34,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-64.1
$GPS2,031109,2107.903,-15750.452,13,1.3,13,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,-0.009,0.232
$KALMAN_X,-61088.9,-725.9,-483.7,67695.2,821.0
$KALMAN_Y,-52540.1,-433.0,-84.3,36999.2,498.3
$MHEAD_RNG_PITCHd_Wd,348.1,3962,-11.5,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,30,-1.06,-165.5,0.0,0.0,0,103,0.00,0.00,-70.35,0.000,2,0.000,0.000,410,2071,2852
$GC,107,-1.06,-165.5,3.2,-3.5,13,137,11.93,2.35,-9.32,0.000,4,0.156,0.049,2541,3400,3410
$GC,218,-1.19,-165.5,20.5,-8.0,32,225,0.00,2.33,0.00,0.000,6,0.000,0.024,2540,2015,3410
$GC,495,-1.25,-165.5,41.7,-7.2,67,500,0.15,2.42,0.00,0.000,4,0.055,0.033,2499,3419,3410
$GC,559,-1.29,-165.5,47.3,-8.2,72,563,0.00,2.33,0.00,0.000,6,0.000,0.023,2499,2032,3410
$GC,821,-1.29,-165.5,69.2,-8.8,96,824,0.00,2.40,0.00,0.000,4,0.000,0.037,2498,631,3410
$GC,844,-1.29,-165.5,71.2,-8.7,98,848,0.00,2.30,0.00,0.000,6,0.000,0.021,2499,2025,3410
$GC,1113,-1.32,-165.5,89.9,-7.2,123,1117,0.00,2.42,0.00,0.000,4,0.000,0.034,2499,3447,3410
$GC,1221,-1.41,-165.5,98.0,-7.3,132,1226,0.12,2.38,0.00,0.000,6,0.061,0.023,2468,2027,3410
$GC,1547,-1.41,-165.5,127.3,-8.8,162,1550,0.00,2.42,0.00,0.000,4,0.000,0.035,2468,3435,3410
$GC,1586,-1.41,-165.5,131.1,-9.2,165,1592,0.00,2.35,0.00,0.000,6,0.000,0.024,2468,2031,3410
$GC,1911,-1.41,-165.5,156.3,-6.9,196,1915,0.00,2.42,0.00,0.000,4,0.000,0.035,2467,3435,3410
$GC,1956,-1.45,-165.5,159.6,-7.3,199,1962,0.00,2.35,0.00,0.000,6,0.000,0.025,2467,2036,3410
$GC,2281,-1.45,-165.5,186.0,-8.9,230,2282,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,2034,3410
$GC,2610,-1.49,-165.5,210.6,-6.7,254,2614,0.00,2.40,0.00,0.000,4,0.000,0.035,2468,3435,3410
$GC,2712,-1.59,-165.5,216.6,-5.3,258,2716,0.15,2.35,0.00,0.000,6,0.058,0.025,2431,2038,3410
$GC,3029,-1.59,-165.5,241.9,-9.2,273,3033,0.00,2.42,0.00,0.000,4,0.000,0.035,2430,3444,3410
$GC,3076,-1.59,-165.5,246.4,-9.7,275,3080,0.00,2.38,0.00,0.000,6,0.000,0.026,2431,2043,3410
$GC,3404,-1.59,-165.5,276.6,-8.2,291,3408,0.00,2.42,0.00,0.000,4,0.000,0.037,2430,3443,3410
$GC,3420,-1.59,-165.5,278.2,-8.2,291,3426,0.00,2.38,0.00,0.000,6,0.000,0.025,2431,2037,3410
$GC,3736,-1.59,-165.5,304.2,-8.5,306,3740,0.00,2.42,0.00,0.000,4,0.000,0.038,2431,3436,3408
$GC,3776,-1.63,-165.5,307.7,-8.2,306,3782,0.00,2.38,0.00,0.000,6,0.000,0.027,2431,2038,3408
$GC,4110,-1.63,-165.5,332.6,-7.3,315,4111,0.00,0.00,0.00,0.000,6,0.000,0.000,2431,2037,3405
$GC,4433,-1.63,-165.5,354.1,-6.6,323,4437,0.00,2.45,0.00,0.000,4,0.000,0.040,2430,3438,3404
$GC,4473,-1.68,-165.5,356.9,-7.6,324,4478,0.00,2.40,0.00,0.000,6,0.000,0.030,2431,2042,3403
$GC,4799,-1.68,-165.5,380.5,-7.0,332,4803,0.00,2.47,0.00,0.000,4,0.000,0.048,2430,631,3401
$GC,4822,-1.68,-165.5,382.0,-6.2,332,4826,0.00,2.40,0.00,0.000,6,0.000,0.030,2431,2031,3401
$GC,5165,-1.71,-165.5,399.3,-5.0,341,5170,0.00,2.50,0.00,0.000,4,0.000,0.047,2430,3449,3398
$GC,5240,-1.77,-165.5,403.3,-5.5,342,5244,0.17,2.42,0.00,0.000,6,0.065,0.031,2391,2039,3398
$GC,5572,-1.74,-165.5,428.3,-7.9,350,5573,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2039,3396
$STATE,5855,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5855,begin apogee
$GC,5863,-0.33,0.0,452.6,8.8,357,5995,1.50,0.00,128.20,0.933,6,0.093,0.000,2702,1933,2733
$STATE,5995,end apogee,CONTROL_FINISHED_OK
$STATE,5996,begin climb
$GC,5999,1.06,165.5,459.0,0.0,360,6136,1.38,2.55,129.45,0.911,4,0.051,0.053,3006,554,2058
$GC,6396,0.53,165.5,431.8,12.4,369,6401,0.60,2.45,0.00,0.000,6,0.141,0.030,2899,1959,2057
$GC,6716,0.26,170.5,408.0,6.7,377,6726,0.30,2.60,4.18,0.858,4,0.124,0.054,2842,553,2037
$GC,6795,0.08,175.0,402.8,6.7,378,6804,0.25,2.45,4.35,0.872,6,0.129,0.031,2798,1960,2018
$GC,7131,0.12,239.9,387.6,4.9,387,7187,0.00,2.55,50.62,0.904,4,0.000,0.046,2798,3357,1754
$GC,7221,0.07,239.9,382.2,6.8,389,7226,0.00,2.47,0.00,0.000,6,0.000,0.033,2797,1955,1754
$GC,7536,0.05,264.5,362.6,6.1,397,7561,0.00,2.55,20.05,0.890,4,0.000,0.041,2797,3355,1653
$GC,7574,0.01,279.8,360.5,6.4,398,7593,0.00,2.50,12.82,0.880,6,0.000,0.032,2797,1943,1591
$GC,7904,-0.02,292.6,338.8,6.4,406,7919,0.00,2.55,10.48,0.881,4,0.000,0.042,2798,3359,1540
$GC,7948,-0.06,292.6,335.7,6.9,407,7953,0.15,2.50,0.00,0.000,6,0.116,0.033,2771,1938,1540
$GC,8267,0.06,360.2,319.8,4.8,415,8325,0.00,2.58,52.85,0.877,4,0.000,0.041,2771,3352,1264
$GC,8348,0.10,385.0,315.3,6.1,417,8374,0.15,2.47,20.17,0.864,6,0.070,0.031,2804,1946,1163
$GC,8689,0.05,385.0,286.3,9.0,429,8694,0.00,2.50,0.00,0.000,4,0.000,0.042,2804,3354,1163
$GC,8745,0.05,385.0,280.6,10.0,431,8751,0.00,2.47,0.00,0.000,6,0.000,0.032,2803,1941,1163
$GC,9063,0.01,385.0,253.8,7.6,447,9067,0.00,2.50,0.00,0.000,4,0.000,0.040,2804,3353,1163
$GC,9107,0.01,385.0,250.7,7.4,449,9111,0.00,2.45,0.00,0.000,6,0.000,0.031,2803,1945,1163
$GC,9429,-0.02,386.7,228.0,6.8,465,9434,0.12,2.47,0.00,0.000,4,0.104,0.038,2781,3354,1163
$GC,9480,0.11,434.2,225.0,5.4,467,9525,0.10,2.45,38.72,0.803,6,0.078,0.030,2803,1939,961
$GC,9846,0.11,434.2,200.7,7.6,485,9851,0.00,2.50,0.00,0.000,4,0.000,0.038,2803,3357,962
$GC,9887,0.11,434.2,197.3,7.6,488,9891,0.00,2.45,0.00,0.000,6,0.000,0.028,2803,1946,961
$GC,10215,0.11,434.2,174.2,7.7,518,10219,0.00,2.47,0.00,0.000,4,0.000,0.038,2803,3355,962
$GC,10237,0.11,434.2,172.3,7.4,519,10243,0.00,2.42,0.00,0.000,6,0.000,0.028,2803,1945,962
$GC,10566,0.27,503.2,153.9,4.8,550,10629,0.15,2.55,53.42,0.713,4,0.062,0.035,2844,3349,681
$GC,10658,0.20,503.2,145.2,10.8,558,10665,0.00,2.42,0.00,0.000,6,0.000,0.027,2844,1951,681
$GC,10987,0.14,503.2,109.1,11.4,589,10992,0.15,2.47,0.00,0.000,4,0.095,0.035,2810,3362,681
$GC,11021,0.14,503.2,105.2,9.2,591,11027,0.00,2.42,0.00,0.000,6,0.000,0.026,2810,1943,681
$GC,11350,0.30,563.9,83.0,5.0,622,11405,0.15,2.50,48.30,0.629,4,0.060,0.033,2852,3356,433
$GC,11452,0.30,563.9,73.8,11.0,631,11456,0.00,2.42,0.00,0.000,6,0.000,0.025,2852,1952,434
$GC,11714,0.30,563.9,49.0,8.4,655,11718,0.00,2.45,0.00,0.000,4,0.000,0.034,2852,3361,435
$GC,11754,0.30,563.9,45.3,9.0,658,11759,0.00,2.42,0.00,0.000,6,0.000,0.025,2852,1941,436
$GC,12021,0.30,563.9,22.9,9.2,689,12028,0.00,2.45,0.00,0.000,4,0.000,0.031,2852,3365,436
$GC,12047,0.30,563.9,20.6,8.9,693,12053,0.00,2.40,0.00,0.000,6,0.000,0.025,2852,1953,436
$STATE,12249,end climb,SURFACE_DEPTH_REACHED
$STATE,12249,begin surface coast
$FINISH,0.9,1.010005
$STATE,12318,end surface coast,CONTROL_FINISHED_OK
$STATE,12318,begin surface
$SM_CCo,12402,0.00,0.000,0,0,437,563.21
$SM_GC,1.59,10.73,0.00,0.00,0.038,0.000,0.000,406,2083,437,-10.87,1.22,563.21
$IRIDIUM_FIX,2059.45,-15756.04,180198,232302
$TT8_MAMPS,0.027612
$HUMID,1721
$INTERNAL_PRESSURE,7.92999
$TCM_TEMP,24.50
$XPDR_PINGS,10
$24V_AH,23.8,33.330
$10V_AH,10.2,20.483
$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,28.250,142.050,573.625,0.000,0.000,24.843,36.411,161.719,11.500,0.000,0.000,14.814,1370.880,8405.660,620.537,1796.024,570.055,33.360,1531.688,0.000,1761.441,0.000,57.439
$DEVICE_MAMPS,156.468,53.690,932.672,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,493.706,477.104,859.958,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37986,741
$CAP_FILE_SIZE,116050,0
$CFSIZE,260165632,244772864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,251008,064007,2109.463,-15750.145,36,1.1,41,9.8