version: 66.03
glider: 114
mission: 3
dive: 248
start: 10 26 108 10 50 59
data:
$ID,114
$MISSION,3
$DIVE,248
$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,-596588.31
$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,60
$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
$GPS1,104432,2105.309,-15747.164,42,1.4,42,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-62.2
$GPS2,105003,2105.295,-15747.234,11,1.7,11,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,0.042,0.229
$KALMAN_X,-69937.1,340.5,403.8,80128.3,-1959.9
$KALMAN_Y,-57115.7,147.0,-283.8,36362.8,-456.5
$MHEAD_RNG_PITCHd_Wd,0.7,9936,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-1.06,-165.5,0.0,0.0,0,111,0.00,0.00,-81.22,0.000,2,0.000,0.000,411,2076,2921
$GC,115,-1.06,-165.5,3.6,-4.2,15,140,11.90,2.38,-7.85,0.000,4,0.156,0.047,2541,3415,3411
$GC,216,-1.18,-165.5,21.1,-7.6,32,222,0.00,2.35,0.00,0.000,6,0.000,0.024,2541,2026,3410
$GC,493,-1.24,-165.5,42.7,-7.3,67,498,0.15,2.42,0.00,0.000,4,0.056,0.033,2501,3427,3410
$GC,545,-1.24,-165.5,47.8,-9.5,71,549,0.00,2.35,0.00,0.000,6,0.000,0.022,2500,2032,3410
$GC,807,-1.24,-165.5,73.6,-10.6,95,811,0.00,2.40,0.00,0.000,4,0.000,0.034,2500,3424,3410
$GC,881,-1.28,-165.5,80.9,-9.1,101,885,0.00,2.33,0.00,0.000,6,0.000,0.021,2500,2038,3410
$GC,1210,-1.31,-165.5,106.7,-8.0,131,1214,0.00,2.38,0.00,0.000,4,0.000,0.033,2500,3425,3411
$GC,1272,-1.43,-165.5,111.7,-7.7,136,1278,0.15,2.33,0.00,0.000,6,0.058,0.023,2463,2033,3411
$GC,1598,-1.43,-165.5,139.9,-7.0,167,1599,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2032,3411
$GC,1920,-1.43,-165.5,163.8,-7.7,197,1924,0.00,2.38,0.00,0.000,4,0.000,0.033,2463,3417,3411
$GC,1983,-1.49,-165.5,168.8,-7.7,202,1987,0.00,2.33,0.00,0.000,6,0.000,0.024,2464,2038,3411
$GC,2308,-1.53,-165.5,193.8,-8.7,232,2313,0.00,2.40,0.00,0.000,4,0.000,0.035,2463,3425,3411
$GC,2332,-1.57,-165.5,195.9,-8.9,233,2338,0.12,2.35,0.00,0.000,6,0.063,0.024,2432,2025,3411
$GC,2649,-1.57,-165.5,226.0,-9.4,251,2653,0.00,2.40,0.00,0.000,4,0.000,0.036,2433,3415,3411
$GC,2698,-1.57,-165.5,230.3,-9.4,253,2703,0.00,2.33,0.00,0.000,6,0.000,0.025,2432,2042,3411
$GC,3027,-1.57,-165.5,261.4,-9.4,269,3031,0.00,2.38,0.00,0.000,4,0.000,0.036,2432,3420,3410
$GC,3055,-1.57,-165.5,264.2,-9.4,270,3059,0.00,2.35,0.00,0.000,6,0.000,0.028,2432,2038,3410
$GC,3376,-1.57,-165.5,293.5,-8.3,286,3380,0.00,2.40,0.00,0.000,4,0.000,0.038,2432,3417,3409
$GC,3443,-1.63,-165.5,299.0,-7.5,289,3447,0.00,2.35,0.00,0.000,6,0.000,0.027,2432,2036,3409
$GC,3763,-1.63,-165.5,323.0,-7.8,298,3764,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,2036,3407
$GC,4086,-1.63,-165.5,347.9,-7.3,306,4090,0.00,2.42,0.00,0.000,4,0.000,0.039,2433,3422,3405
$GC,4153,-1.69,-165.5,352.8,-6.5,307,4158,0.00,2.38,0.00,0.000,6,0.000,0.030,2432,2038,3404
$GC,4491,-1.69,-165.5,372.5,-5.5,316,4495,0.00,2.42,0.00,0.000,4,0.000,0.040,2433,3422,3402
$GC,4531,-1.76,-165.5,374.8,-6.1,316,4537,0.17,2.38,0.00,0.000,6,0.065,0.031,2393,2038,3402
$GC,4863,-1.72,-165.5,398.5,-6.9,325,4867,0.00,2.47,0.00,0.000,4,0.000,0.048,2392,638,3399
$GC,4907,-1.72,-165.5,401.6,-7.0,326,4911,0.00,2.38,0.00,0.000,6,0.000,0.030,2393,2021,3400
$GC,5228,-1.68,-165.5,423.1,-6.9,334,5233,0.10,2.53,0.00,0.000,4,0.120,0.048,2410,3445,3397
$GC,5295,-1.68,-165.5,427.9,-6.9,335,5299,0.00,2.42,0.00,0.000,6,0.000,0.032,2410,2043,3396
$STATE,5629,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5629,begin apogee
$GC,5638,-0.33,0.0,450.6,6.8,344,5771,1.42,0.00,129.15,0.933,6,0.092,0.000,2703,1940,2733
$STATE,5771,end apogee,CONTROL_FINISHED_OK
$STATE,5771,begin climb
$GC,5775,1.06,165.5,455.4,0.0,347,5915,1.38,2.62,130.55,0.908,4,0.050,0.053,3008,551,2058
$GC,6174,0.51,165.5,422.1,14.1,356,6180,0.62,2.45,0.00,0.000,6,0.146,0.030,2897,1957,2056
$GC,6495,0.24,165.5,395.9,7.4,364,6500,0.30,2.55,0.00,0.000,4,0.123,0.053,2837,553,2054
$GC,6568,0.05,165.5,391.0,7.0,365,6573,0.22,2.45,0.00,0.000,6,0.145,0.031,2796,1961,2054
$GC,6901,0.09,227.2,375.0,5.0,373,6950,0.00,0.00,47.78,0.903,6,0.000,0.000,2796,1961,1806
$GC,7266,0.10,266.4,353.9,5.7,382,7307,0.00,2.60,31.48,0.887,4,0.000,0.048,2796,3350,1646
$GC,7354,0.07,272.3,348.6,6.6,384,7364,0.00,2.47,5.40,0.857,6,0.000,0.035,2796,1956,1623
$GC,7679,0.05,283.5,327.9,6.5,392,7693,0.00,2.55,9.52,0.873,4,0.000,0.044,2796,3351,1577
$GC,7712,0.04,305.0,325.6,6.2,392,7736,0.00,2.47,17.50,0.870,6,0.000,0.033,2796,1948,1489
$GC,8046,-0.00,305.0,299.8,8.1,401,8050,0.00,2.53,0.00,0.000,4,0.000,0.041,2796,3362,1488
$GC,8074,-0.04,305.0,297.1,9.9,402,8079,0.12,2.47,0.00,0.000,6,0.115,0.033,2774,1950,1488
$GC,8391,-0.03,312.6,274.0,6.6,417,8404,0.00,2.62,6.47,0.841,4,0.000,0.053,2774,537,1457
$GC,8417,-0.01,320.0,272.3,6.6,418,8432,0.00,2.47,6.50,0.834,6,0.000,0.030,2774,1960,1428
$GC,8742,0.15,412.8,256.4,4.1,434,8825,0.17,2.53,72.20,0.821,4,0.070,0.043,2816,3357,1049
$GC,8880,0.12,412.8,246.3,9.0,440,8884,0.00,2.47,0.00,0.000,6,0.000,0.033,2815,1950,1049
$GC,9203,0.07,412.8,218.9,8.6,456,9204,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1950,1049
$GC,9515,0.03,412.8,188.4,9.1,476,9520,0.15,2.47,0.00,0.000,4,0.099,0.038,2783,3352,1049
$GC,9566,0.10,412.8,184.3,7.2,480,9571,0.00,2.45,0.00,0.000,6,0.000,0.029,2783,1938,1049
$GC,9895,0.25,465.0,166.1,5.3,510,9942,0.20,2.55,41.05,0.733,4,0.060,0.036,2833,3363,836
$GC,9971,0.21,465.0,159.8,8.9,516,9978,0.00,2.47,0.00,0.000,6,0.000,0.028,2833,1941,836
$GC,10300,0.16,465.0,131.3,9.3,547,10304,0.00,2.47,0.00,0.000,4,0.000,0.036,2833,3355,837
$GC,10339,0.16,465.0,127.2,9.6,550,10345,0.00,2.42,0.00,0.000,6,0.000,0.027,2833,1945,837
$GC,10669,0.16,465.0,98.9,8.9,581,10673,0.00,2.47,0.00,0.000,4,0.000,0.035,2833,3364,837
$GC,10724,0.16,465.0,94.0,7.8,585,10731,0.00,2.42,0.00,0.000,6,0.000,0.027,2833,1944,837
$GC,11053,0.19,484.6,74.7,6.2,616,11074,0.00,2.50,16.02,0.629,4,0.000,0.033,2833,3362,756
$GC,11092,0.32,535.8,72.2,5.3,619,11140,0.00,2.42,39.55,0.618,6,0.000,0.025,2833,1946,547
$GC,11397,0.39,552.5,53.5,6.3,648,11419,0.15,2.50,14.68,0.598,4,0.056,0.033,2871,3359,479
$GC,11459,0.39,552.5,48.1,8.4,653,11465,0.00,2.42,0.00,0.000,6,0.000,0.025,2871,1938,479
$GC,11727,0.35,552.5,25.2,8.9,682,11733,0.00,2.45,0.00,0.000,4,0.000,0.034,2871,3355,481
$GC,11765,0.31,552.5,21.5,9.2,688,11772,0.10,2.40,0.00,0.000,6,0.098,0.025,2851,1941,481
$STATE,11984,end climb,SURFACE_DEPTH_REACHED
$STATE,11984,begin surface coast
$FINISH,0.9,1.009849
$STATE,12059,end surface coast,CONTROL_FINISHED_OK
$STATE,12059,begin surface
$SM_CCo,12143,0.00,0.000,0,0,482,552.17
$SM_GC,1.57,10.80,0.00,0.00,0.042,0.000,0.000,407,2080,482,-10.87,1.13,552.17
$IRIDIUM_FIX,2052.52,-15935.56,200198,070702
$TT8_MAMPS,0.027612
$HUMID,1710
$INTERNAL_PRESSURE,7.92999
$TCM_TEMP,24.80
$XPDR_PINGS,11
$24V_AH,23.8,34.649
$10V_AH,10.2,21.249
$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,28.250,132.025,567.850,0.000,0.000,24.192,28.854,142.340,11.750,0.000,0.000,13.476,1352.105,8206.021,631.569,1754.754,530.333,33.367,1520.391,0.000,1722.758,0.000,57.437
$DEVICE_MAMPS,156.468,52.923,932.672,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,492.769,485.784,878.596,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37942,740
$CAP_FILE_SIZE,112749,0
$CFSIZE,260165632,244232192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,261008,141438,2106.525,-15747.845,37,1.4,37,9.8