version: 66.03
glider: 114
mission: 3
dive: 259
start: 10 28 108 0 52 36
data:
$ID,114
$MISSION,3
$DIVE,259
$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,-596786.38
$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,63
$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
$GPS1,004207,2103.374,-15746.666,37,1.5,37,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-65.4
$GPS2,005139,2103.426,-15746.695,11,1.3,11,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,0.012,0.232
$KALMAN_X,-75944.7,372.7,28.6,87403.9,-1435.9
$KALMAN_Y,-61324.3,7.6,-358.3,37326.8,-331.1
$MHEAD_RNG_PITCHd_Wd,353.1,13447,-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,29,-1.06,-165.5,0.0,0.0,0,96,0.00,0.00,-64.35,0.000,2,0.000,0.000,412,2080,2801
$GC,100,-1.06,-165.5,3.1,-3.1,12,130,11.90,2.53,-10.70,0.000,4,0.156,0.048,2539,633,3409
$GC,211,-1.20,-165.5,18.5,-8.2,31,218,0.00,2.35,0.00,0.000,6,0.000,0.022,2539,2042,3409
$GC,487,-1.25,-165.5,40.9,-8.0,68,491,0.15,2.40,0.00,0.000,4,0.056,0.034,2499,3441,3409
$GC,599,-1.29,-165.5,52.4,-9.2,77,605,0.00,2.38,0.00,0.000,6,0.000,0.022,2499,2021,3409
$GC,861,-1.26,-165.5,79.1,-9.6,102,866,0.00,2.45,0.00,0.000,4,0.000,0.035,2499,3439,3409
$GC,931,-1.30,-165.5,85.9,-9.1,107,937,0.00,2.35,0.00,0.000,6,0.000,0.022,2499,2032,3409
$GC,1259,-1.30,-165.5,109.7,-8.0,138,1266,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2032,3409
$GC,1588,-1.36,-165.5,131.3,-5.8,169,1592,0.00,2.42,0.00,0.000,4,0.000,0.034,2499,3440,3409
$GC,1658,-1.43,-165.5,136.0,-6.7,174,1665,0.15,2.35,0.00,0.000,6,0.056,0.022,2462,2026,3410
$GC,1984,-1.43,-165.5,160.9,-7.1,205,1985,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,2026,3409
$GC,2307,-1.43,-165.5,187.5,-8.9,235,2311,0.00,2.42,0.00,0.000,4,0.000,0.035,2462,3434,3409
$GC,2359,-1.51,-165.5,192.4,-9.3,239,2363,0.00,2.35,0.00,0.000,6,0.000,0.024,2462,2037,3409
$GC,2681,-1.56,-165.5,219.6,-6.8,258,2686,0.10,2.42,0.00,0.000,4,0.065,0.035,2435,3446,3409
$GC,2720,-1.56,-165.5,222.8,-7.9,259,2726,0.00,2.38,0.00,0.000,6,0.000,0.025,2435,2032,3409
$GC,3037,-1.56,-165.5,246.8,-8.3,275,3040,0.00,2.42,0.00,0.000,4,0.000,0.036,2435,3438,3408
$GC,3110,-1.61,-165.5,252.7,-7.8,278,3115,0.00,2.38,0.00,0.000,6,0.000,0.026,2435,2033,3408
$GC,3432,-1.61,-165.5,279.6,-8.0,294,3433,0.00,0.00,0.00,0.000,6,0.000,0.000,2435,2033,3406
$GC,3741,-1.61,-165.5,303.8,-8.5,308,3745,0.00,2.45,0.00,0.000,4,0.000,0.038,2435,3440,3405
$GC,3768,-1.61,-165.5,306.6,-9.6,308,3772,0.00,2.38,0.00,0.000,6,0.000,0.028,2435,2041,3404
$GC,4100,-1.61,-165.5,336.7,-8.5,316,4104,0.00,2.45,0.00,0.000,4,0.000,0.040,2435,3443,3402
$GC,4167,-1.68,-165.5,342.6,-8.8,317,4172,0.00,2.40,0.00,0.000,6,0.000,0.029,2435,2037,3402
$GC,4505,-1.72,-165.5,366.7,-6.5,326,4510,0.15,2.45,0.00,0.000,4,0.064,0.040,2400,3433,3399
$GC,4550,-1.72,-165.5,370.0,-7.2,327,4555,0.00,2.38,0.00,0.000,6,0.000,0.031,2398,2036,3398
$GC,4875,-1.72,-165.5,392.6,-6.9,335,4879,0.00,2.45,0.00,0.000,4,0.000,0.041,2399,3436,3396
$GC,4903,-1.72,-165.5,395.0,-8.1,335,4907,0.00,2.40,0.00,0.000,6,0.000,0.031,2399,2030,3396
$GC,5236,-1.72,-165.5,421.9,-8.7,343,5240,0.00,2.47,0.00,0.000,4,0.000,0.043,2399,3441,3393
$GC,5303,-1.72,-165.5,428.5,-9.4,344,5308,0.00,2.40,0.00,0.000,6,0.000,0.032,2399,2039,3392
$STATE,5557,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5557,begin apogee
$GC,5565,-0.33,0.0,450.5,8.5,351,5697,1.48,0.00,128.12,0.930,6,0.096,0.000,2704,1932,2732
$STATE,5698,end apogee,CONTROL_FINISHED_OK
$STATE,5698,begin climb
$GC,5701,1.06,165.5,455.6,0.0,354,5841,1.40,2.55,130.40,0.900,4,0.048,0.041,3011,3345,2057
$GC,6049,0.56,165.5,431.9,11.7,362,6054,0.60,2.42,0.00,0.000,6,0.133,0.035,2903,1961,2056
$GC,6387,0.27,165.5,402.4,9.0,371,6392,0.30,2.45,0.00,0.000,4,0.117,0.040,2844,3347,2054
$GC,6404,0.02,165.5,400.8,8.8,371,6409,0.30,2.45,0.00,0.000,6,0.127,0.033,2786,1939,2055
$GC,6747,0.06,223.6,382.5,5.1,380,6797,0.00,2.53,44.55,0.898,4,0.000,0.040,2786,3338,1821
$GC,6833,0.08,260.3,378.1,5.7,382,6868,0.00,2.45,29.48,0.883,6,0.000,0.034,2786,1944,1671
$GC,7196,0.14,313.4,358.9,5.2,390,7245,0.10,2.62,41.78,0.881,4,0.085,0.054,2807,546,1454
$GC,7258,0.05,313.4,354.4,8.2,391,7262,0.00,2.42,0.00,0.000,6,0.000,0.030,2807,1939,1455
$GC,7601,-0.02,313.4,328.0,7.2,400,7606,0.15,2.50,0.00,0.000,4,0.108,0.044,2776,3354,1454
$GC,7691,0.09,375.0,323.3,5.0,402,7746,0.10,2.45,48.53,0.865,6,0.086,0.033,2797,1944,1203
$GC,8057,0.05,375.0,300.2,7.2,411,8062,0.00,2.50,0.00,0.000,4,0.000,0.041,2797,3357,1203
$GC,8108,0.05,375.0,295.6,8.1,412,8112,0.00,2.45,0.00,0.000,6,0.000,0.032,2797,1948,1204
$GC,8425,0.01,375.0,269.5,8.2,427,8426,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,1948,1204
$GC,8734,-0.02,375.0,243.0,8.6,442,8738,0.10,2.47,0.00,0.000,4,0.112,0.038,2779,3362,1203
$GC,8774,0.02,375.0,239.7,8.0,444,8778,0.00,2.45,0.00,0.000,6,0.000,0.031,2779,1942,1204
$GC,9102,0.14,425.2,218.9,5.3,460,9147,0.15,2.55,39.42,0.798,4,0.067,0.038,2818,3366,998
$GC,9181,0.11,425.2,213.1,8.0,463,9187,0.00,2.47,0.00,0.000,6,0.000,0.031,2818,1939,999
$GC,9502,0.08,425.2,188.3,7.2,486,9504,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1939,999
$GC,9820,0.08,425.2,164.6,8.5,516,9824,0.00,2.47,0.00,0.000,4,0.000,0.035,2818,3366,999
$GC,9884,0.08,425.2,159.4,7.9,521,9889,0.00,2.45,0.00,0.000,6,0.000,0.028,2818,1934,1000
$GC,10212,0.08,425.2,135.7,7.1,551,10217,0.00,2.45,0.00,0.000,4,0.000,0.034,2818,3356,1000
$GC,10235,0.08,425.2,133.6,7.9,552,10241,0.00,2.40,0.00,0.000,6,0.000,0.027,2818,1943,1000
$GC,10564,0.08,425.4,109.7,6.8,583,10568,0.00,2.45,0.00,0.000,4,0.000,0.034,2818,3364,1000
$GC,10580,0.08,425.4,108.1,7.1,584,10587,0.00,2.40,0.00,0.000,6,0.000,0.025,2818,1937,1001
$GC,10911,0.21,463.5,89.7,5.7,615,10947,0.00,2.53,30.15,0.643,4,0.000,0.033,2818,3355,842
$GC,10990,0.31,465.0,84.4,6.8,622,10994,0.12,2.40,0.00,0.000,6,0.064,0.025,2849,1945,843
$GC,11315,0.39,505.2,62.3,5.6,652,11349,0.00,0.00,31.95,0.601,6,0.000,0.000,2849,1945,673
$GC,11605,0.43,530.5,45.8,6.1,679,11631,0.10,2.47,20.30,0.580,4,0.071,0.032,2875,3358,569
$GC,11662,0.43,530.5,41.3,8.2,684,11666,0.00,2.40,0.00,0.000,6,0.000,0.025,2875,1950,572
$GC,11931,0.37,530.5,18.3,9.3,719,11938,0.00,2.42,0.00,0.000,4,0.000,0.032,2875,3359,573
$GC,11957,0.32,530.5,15.8,9.5,723,11964,0.12,2.40,0.00,0.000,6,0.091,0.024,2850,1933,573
$STATE,12103,end climb,SURFACE_DEPTH_REACHED
$STATE,12106,begin surface coast
$FINISH,0.9,1.005880
$STATE,12190,end surface coast,CONTROL_FINISHED_OK
$STATE,12190,begin surface
$SM_CCo,12273,0.00,0.000,0,0,574,529.60
$SM_GC,1.66,10.80,0.00,0.00,0.042,0.000,0.000,408,2098,574,-10.87,1.64,529.60
$IRIDIUM_FIX,2057.14,-15748.75,220198,000000
$TT8_MAMPS,0.027612
$HUMID,1730
$INTERNAL_PRESSURE,7.94952
$TCM_TEMP,25.00
$XPDR_PINGS,19
$24V_AH,23.8,36.213
$10V_AH,10.2,22.182
$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,28.275,127.175,544.675,0.000,0.000,54.366,72.439,238.520,13.750,0.000,0.000,12.720,1386.792,8365.065,587.661,1795.961,711.157,33.373,1482.840,0.000,1764.568,0.000,57.472
$DEVICE_MAMPS,155.701,54.457,929.604,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,509.779,505.844,930.211,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37887,764
$CAP_FILE_SIZE,114782,0
$CFSIZE,260165632,243576832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,281008,041837,2104.552,-15747.417,37,1.0,49,9.8