version: 66.03
glider: 114
mission: 3
dive: 253
start: 10 27 108 4 15 57
data:
$ID,114
$MISSION,3
$DIVE,253
$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,-596677.88
$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,33
$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
$GPS1,040908,2108.940,-15749.767,38,1.3,38,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-65.2
$GPS2,041502,2108.906,-15749.720,14,1.4,31,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.016,-0.232
$KALMAN_X,-71344.9,-37.4,-788.5,78825.5,995.4
$KALMAN_Y,-59395.0,-25.2,8.4,45206.7,-23.4
$MHEAD_RNG_PITCHd_Wd,166.3,13130,-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,-165.5,0.0,0.0,0,100,0.00,0.00,-70.03,0.000,2,0.000,0.000,411,2095,2710
$GC,104,-1.06,-165.5,3.1,-3.1,13,134,11.93,2.55,-11.73,0.000,4,0.156,0.050,2542,640,3409
$GC,170,-1.09,-165.5,16.2,-10.6,24,177,0.00,2.35,0.00,0.000,6,0.000,0.022,2542,2047,3409
$GC,449,-1.15,-165.5,37.5,-7.9,65,453,0.00,2.40,0.00,0.000,4,0.000,0.035,2542,3449,3409
$GC,523,-1.30,-165.5,43.1,-7.1,71,528,0.20,2.38,0.00,0.000,6,0.051,0.023,2494,2032,3409
$GC,785,-1.30,-165.5,68.4,-8.9,95,790,0.00,2.45,0.00,0.000,4,0.000,0.035,2494,3447,3409
$GC,842,-1.34,-165.5,73.3,-8.4,99,848,0.00,2.35,0.00,0.000,6,0.000,0.022,2494,2038,3409
$GC,1104,-1.34,-165.5,94.9,-9.2,124,1108,0.00,2.42,0.00,0.000,4,0.000,0.034,2494,3448,3409
$GC,1166,-1.44,-165.5,100.6,-8.3,129,1173,0.12,2.38,0.00,0.000,6,0.059,0.023,2463,2026,3409
$GC,1492,-1.44,-165.5,136.4,-9.9,160,1496,0.00,2.45,0.00,0.000,4,0.000,0.033,2463,3451,3409
$GC,1547,-1.44,-165.5,141.5,-8.4,164,1554,0.00,2.38,0.00,0.000,6,0.000,0.023,2463,2035,3410
$GC,1873,-1.44,-165.5,166.6,-8.4,195,1877,0.00,2.42,0.00,0.000,4,0.000,0.034,2463,3446,3410
$GC,1913,-1.48,-165.5,170.4,-9.7,198,1917,0.00,2.38,0.00,0.000,6,0.000,0.024,2463,2028,3410
$GC,2247,-1.51,-165.5,201.0,-9.3,229,2251,0.00,2.40,0.00,0.000,4,0.000,0.039,2464,635,3409
$GC,2266,-1.55,-165.5,203.0,-9.9,230,2270,0.00,2.38,0.00,0.000,6,0.000,0.024,2463,2053,3410
$GC,2594,-1.60,-165.5,227.2,-5.7,246,2599,0.15,2.38,0.00,0.000,4,0.058,0.035,2421,3440,3410
$GC,2644,-1.60,-165.5,231.5,-8.3,248,2649,0.00,2.38,0.00,0.000,6,0.000,0.025,2421,2032,3410
$GC,2961,-1.60,-165.5,257.5,-7.4,263,2965,0.00,2.45,0.00,0.000,4,0.000,0.037,2421,3443,3409
$GC,2995,-1.60,-165.5,260.2,-7.6,264,3002,0.00,2.38,0.00,0.000,6,0.000,0.027,2421,2034,3410
$GC,3311,-1.60,-165.5,286.1,-8.6,280,3315,0.00,2.45,0.00,0.000,4,0.000,0.038,2421,3443,3409
$GC,3338,-1.60,-165.5,288.6,-9.3,281,3343,0.00,2.38,0.00,0.000,6,0.000,0.028,2421,2043,3409
$GC,3652,-1.60,-165.5,315.2,-8.5,292,3656,0.00,2.45,0.00,0.000,4,0.000,0.039,2421,3447,3406
$GC,3675,-1.60,-165.5,317.3,-9.3,292,3679,0.00,2.40,0.00,0.000,6,0.000,0.028,2421,2027,3406
$GC,4018,-1.60,-165.5,344.9,-7.6,301,4022,0.00,2.47,0.00,0.000,4,0.000,0.041,2421,3437,3403
$GC,4062,-1.60,-165.5,348.8,-8.1,302,4067,0.00,2.40,0.00,0.000,6,0.000,0.030,2421,2036,3403
$GC,4383,-1.60,-165.5,378.6,-9.8,310,4388,0.00,2.47,0.00,0.000,4,0.000,0.041,2421,3446,3401
$GC,4424,-1.63,-165.5,383.2,-11.6,311,4428,0.00,2.42,0.00,0.000,6,0.000,0.031,2421,2036,3401
$GC,4750,-1.63,-165.5,416.7,-9.9,319,4754,0.00,2.47,0.00,0.000,4,0.000,0.041,2421,3445,3398
$GC,4773,-1.63,-165.5,419.0,-9.2,319,4777,0.00,2.42,0.00,0.000,6,0.000,0.030,2422,2030,3398
$GC,5113,-1.63,-165.5,442.7,-6.7,328,5114,0.00,0.00,0.00,0.000,6,0.000,0.000,2421,2030,3395
$STATE,5231,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5231,begin apogee
$GC,5239,-0.33,0.0,451.3,7.0,331,5371,1.38,0.00,128.27,0.925,6,0.094,0.000,2706,1939,2733
$STATE,5372,end apogee,CONTROL_FINISHED_OK
$STATE,5372,begin climb
$GC,5375,1.06,165.5,455.8,0.0,334,5513,1.35,2.55,129.82,0.900,4,0.047,0.053,3009,554,2057
$GC,5618,0.51,165.5,441.9,13.3,339,5623,0.62,2.42,0.00,0.000,6,0.143,0.030,2897,1945,2057
$GC,5950,0.23,165.5,411.7,8.6,347,5955,0.30,2.55,0.00,0.000,4,0.120,0.053,2836,553,2055
$GC,6024,0.05,167.8,406.6,6.7,348,6029,0.22,2.45,0.00,0.000,6,0.114,0.031,2795,1964,2055
$GC,6356,0.16,269.7,394.2,3.8,356,6443,0.00,2.53,80.85,0.894,4,0.000,0.047,2795,3354,1633
$GC,6491,0.12,269.7,386.4,7.3,359,6495,0.00,2.45,0.00,0.000,6,0.000,0.034,2795,1966,1632
$GC,6805,0.07,269.7,364.5,7.0,367,6809,0.00,2.47,0.00,0.000,4,0.000,0.043,2795,3353,1631
$GC,6833,0.04,278.4,362.5,6.6,367,6847,0.00,2.47,7.30,0.867,6,0.000,0.034,2795,1939,1598
$GC,7173,-0.01,278.4,337.2,7.9,376,7177,0.00,2.50,0.00,0.000,4,0.000,0.042,2796,3353,1597
$GC,7207,-0.06,278.4,334.4,8.2,376,7212,0.15,2.45,0.00,0.000,6,0.110,0.033,2767,1946,1596
$GC,7539,0.07,349.2,317.1,4.7,384,7600,0.12,2.55,54.62,0.869,4,0.075,0.042,2796,3350,1309
$GC,7645,0.07,349.2,310.0,7.8,386,7650,0.00,2.47,0.00,0.000,6,0.000,0.033,2795,1941,1309
$GC,7965,0.03,349.2,285.9,7.2,399,7969,0.00,2.50,0.00,0.000,4,0.000,0.041,2796,3360,1309
$GC,7999,0.03,349.2,283.3,7.2,400,8005,0.00,2.47,0.00,0.000,6,0.000,0.033,2795,1940,1309
$GC,8315,0.03,349.2,260.8,7.2,416,8319,0.00,2.50,0.00,0.000,4,0.000,0.041,2796,3363,1309
$GC,8342,0.03,349.2,258.6,7.3,417,8347,0.00,2.45,0.00,0.000,6,0.000,0.031,2795,1947,1309
$GC,8659,0.05,361.0,239.3,6.5,432,8671,0.00,0.00,10.02,0.823,6,0.000,0.000,2795,1947,1261
$GC,8969,0.18,435.2,220.6,4.6,447,9034,0.10,2.60,57.50,0.791,4,0.078,0.038,2819,3364,959
$GC,9101,0.26,480.2,213.4,5.5,453,9143,0.00,2.47,35.50,0.770,6,0.000,0.030,2819,1942,775
$GC,9460,0.23,480.2,189.1,8.7,476,9465,0.00,2.47,0.00,0.000,4,0.000,0.037,2819,3354,775
$GC,9505,0.23,480.2,184.6,10.1,479,9511,0.00,2.42,0.00,0.000,6,0.000,0.028,2819,1949,775
$GC,9833,0.20,480.2,159.3,6.9,510,9837,0.00,2.45,0.00,0.000,4,0.000,0.035,2819,3356,775
$GC,9878,0.20,480.2,155.8,7.2,513,9884,0.00,2.42,0.00,0.000,6,0.000,0.027,2819,1937,775
$GC,10206,0.20,480.2,131.4,7.2,544,10210,0.00,2.47,0.00,0.000,4,0.000,0.035,2819,3362,775
$GC,10247,0.20,480.2,128.2,7.9,547,10251,0.00,2.42,0.00,0.000,6,0.000,0.027,2819,1944,776
$GC,10575,0.21,487.7,106.3,6.6,577,10588,0.00,2.53,7.03,0.657,4,0.000,0.035,2819,3357,744
$GC,10612,0.21,487.7,103.5,7.1,580,10616,0.00,2.40,0.00,0.000,6,0.000,0.025,2819,1952,744
$GC,10939,0.30,514.3,80.2,6.0,610,10965,0.12,2.47,20.83,0.624,4,0.064,0.033,2851,3358,635
$GC,10994,0.30,514.3,75.6,9.4,614,11000,0.00,2.42,0.00,0.000,6,0.000,0.025,2851,1937,639
$GC,11256,0.30,514.3,52.3,8.9,639,11260,0.00,2.47,0.00,0.000,4,0.000,0.034,2851,3368,639
$GC,11289,0.34,514.3,49.1,9.2,641,11296,0.00,2.40,0.00,0.000,6,0.000,0.025,2851,1949,640
$GC,11552,0.37,530.5,30.6,6.3,666,11575,0.00,2.50,14.15,0.577,4,0.000,0.033,2851,3358,569
$GC,11594,0.39,545.4,28.0,6.4,672,11612,0.00,2.40,11.77,0.573,6,0.000,0.024,2851,1943,508
$GC,11884,0.39,545.4,5.8,7.7,723,11890,0.00,2.45,0.00,0.000,4,0.000,0.031,2851,3367,509
$STATE,11895,end climb,SURFACE_DEPTH_REACHED
$STATE,11895,begin surface coast
$FINISH,2.8,1.022933
$STATE,11920,end surface coast,CONTROL_FINISHED_OK
$STATE,11920,begin surface
$SM_CCo,12006,0.00,0.000,0,0,509,545.55
$SM_GC,1.65,11.00,0.00,0.00,0.051,0.000,0.000,412,2032,509,-10.85,-0.23,545.55
$IRIDIUM_FIX,2101.76,-15750.89,210198,000001
$TT8_MAMPS,0.027612
$HUMID,1709
$INTERNAL_PRESSURE,7.92999
$TCM_TEMP,24.80
$XPDR_PINGS,9
$24V_AH,23.8,35.386
$10V_AH,10.2,21.673
$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,27.775,151.625,557.675,0.000,0.000,22.330,29.817,146.518,11.250,0.000,0.000,32.710,1336.110,8125.648,614.235,1746.774,536.055,33.365,1505.084,0.000,1688.395,0.000,57.447
$DEVICE_MAMPS,155.701,55.991,925.002,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,485.283,483.030,866.593,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38030,729
$CAP_FILE_SIZE,114109,0
$CFSIZE,260165632,243933184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,271008,073707,2107.214,-15749.361,15,1.4,25,9.8