version: 66.03
glider: 114
mission: 3
dive: 260
start: 10 28 108 4 25 18
data:
$ID,114
$MISSION,3
$DIVE,260
$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,-596802.75
$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,38
$R_STBD_OVSHOOT,31
$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
$GPS1,041837,2104.552,-15747.417,37,1.0,49,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-63.3
$GPS2,042421,2104.588,-15747.367,14,1.5,14,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,-0.108,0.206
$KALMAN_X,-76499.4,384.3,-735.8,87559.2,219.8
$KALMAN_Y,-62191.9,-112.2,-294.4,40400.0,-73.1
$MHEAD_RNG_PITCHd_Wd,322.6,11006,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,27,-1.06,-165.5,0.0,0.0,0,105,0.00,0.00,-76.03,0.000,2,0.000,0.000,408,2099,2862
$GC,109,-1.06,-165.5,3.4,-4.1,14,139,11.98,2.55,-8.95,0.000,4,0.157,0.046,2540,642,3410
$GC,221,-1.19,-165.5,20.6,-7.4,33,227,0.00,2.38,0.00,0.000,6,0.000,0.021,2540,2055,3410
$GC,499,-1.25,-165.5,41.7,-8.2,69,504,0.15,2.35,0.00,0.000,4,0.056,0.034,2499,3432,3410
$GC,600,-1.28,-165.5,52.0,-9.4,77,606,0.00,2.33,0.00,0.000,6,0.000,0.023,2499,2036,3410
$GC,862,-1.28,-165.5,76.1,-9.2,102,866,0.00,2.38,0.00,0.000,4,0.000,0.036,2499,644,3410
$GC,884,-1.32,-165.5,78.4,-9.6,103,891,0.00,2.33,0.00,0.000,6,0.000,0.022,2499,2047,3410
$GC,1147,-1.36,-165.5,102.2,-8.9,128,1151,0.00,2.38,0.00,0.000,4,0.000,0.035,2499,3447,3410
$GC,1233,-1.49,-165.5,109.9,-8.7,135,1239,0.20,2.35,0.00,0.000,6,0.051,0.023,2450,2034,3410
$GC,1566,-1.49,-165.5,140.7,-8.2,166,1570,0.00,2.42,0.00,0.000,4,0.000,0.034,2451,3448,3410
$GC,1633,-1.49,-165.5,146.7,-8.2,171,1639,0.00,2.35,0.00,0.000,6,0.000,0.024,2451,2037,3410
$GC,1958,-1.49,-165.5,171.4,-8.9,202,1962,0.00,2.40,0.00,0.000,4,0.000,0.034,2450,3438,3410
$GC,2054,-1.53,-165.5,180.2,-8.9,210,2061,0.00,2.33,0.00,0.000,6,0.000,0.024,2451,2036,3410
$GC,2390,-1.53,-165.5,207.9,-7.5,237,2394,0.00,2.42,0.00,0.000,4,0.000,0.035,2451,3447,3410
$GC,2459,-1.60,-165.5,212.7,-6.2,240,2463,0.00,2.38,0.00,0.000,6,0.000,0.025,2450,2030,3409
$GC,2781,-1.63,-165.5,232.8,-6.2,256,2786,0.12,2.42,0.00,0.000,4,0.060,0.035,2418,3435,3409
$GC,2823,-1.63,-165.5,236.1,-8.8,258,2827,0.00,2.35,0.00,0.000,6,0.000,0.025,2418,2042,3409
$GC,3150,-1.63,-165.5,263.2,-9.0,274,3151,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,2042,3408
$GC,3460,-1.63,-165.5,289.5,-8.1,289,3465,0.00,2.42,0.00,0.000,4,0.000,0.038,2418,3443,3406
$GC,3506,-1.63,-165.5,293.5,-8.6,291,3510,0.00,2.38,0.00,0.000,6,0.000,0.028,2418,2044,3405
$GC,3830,-1.63,-165.5,321.7,-8.5,301,3834,0.00,2.42,0.00,0.000,4,0.000,0.039,2418,3441,3403
$GC,3851,-1.63,-165.5,323.8,-8.8,301,3856,0.00,2.40,0.00,0.000,6,0.000,0.028,2418,2027,3403
$GC,4190,-1.63,-165.5,352.7,-8.1,310,4194,0.00,2.45,0.00,0.000,4,0.000,0.040,2418,3433,3401
$GC,4252,-1.67,-165.5,358.3,-9.0,311,4256,0.00,2.38,0.00,0.000,6,0.000,0.030,2418,2041,3400
$GC,4594,-1.67,-165.5,389.0,-9.2,320,4595,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,2040,3398
$GC,4919,-1.67,-165.5,418.5,-8.4,328,4923,0.00,2.45,0.00,0.000,4,0.000,0.042,2418,3436,3395
$GC,4949,-1.67,-165.5,420.7,-8.2,328,4953,0.00,2.40,0.00,0.000,6,0.000,0.031,2418,2037,3395
$GC,5281,-1.67,-165.5,446.5,-7.3,336,5285,0.00,2.47,0.00,0.000,4,0.000,0.051,2417,635,3392
$GC,5303,-1.67,-165.5,448.3,-7.7,336,5307,0.00,2.40,0.00,0.000,6,0.000,0.031,2417,2034,3392
$STATE,5352,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5353,begin apogee
$GC,5361,-0.33,0.0,451.6,6.6,338,5493,1.38,0.00,128.57,0.928,6,0.089,0.000,2703,1938,2733
$STATE,5494,end apogee,CONTROL_FINISHED_OK
$STATE,5494,begin climb
$GC,5497,1.06,165.5,455.5,0.0,341,5637,1.38,2.60,130.27,0.904,4,0.054,0.053,3006,557,2058
$GC,5897,0.52,165.5,423.1,12.4,350,5902,0.60,2.42,0.00,0.000,6,0.133,0.030,2899,1959,2056
$GC,6217,0.28,187.3,401.2,6.2,358,6241,0.28,2.65,16.88,0.901,4,0.143,0.053,2848,555,1969
$GC,6271,0.10,205.0,397.8,6.3,359,6290,0.22,2.42,14.15,0.902,6,0.129,0.031,2806,1950,1897
$GC,6629,0.07,239.0,378.3,5.8,368,6663,0.00,2.58,27.00,0.904,4,0.000,0.045,2806,3349,1758
$GC,6692,-0.01,239.0,374.1,7.3,369,6697,0.15,2.45,0.00,0.000,6,0.121,0.034,2780,1956,1758
$GC,7036,0.06,292.4,355.6,5.2,378,7085,0.00,2.55,42.40,0.891,4,0.000,0.041,2781,3344,1540
$GC,7122,0.09,310.3,350.7,6.3,380,7141,0.00,2.47,14.27,0.872,6,0.000,0.034,2779,1939,1468
$GC,7451,0.09,310.3,329.6,6.8,388,7455,0.00,2.50,0.00,0.000,4,0.000,0.041,2780,3351,1467
$GC,7479,0.10,317.4,327.7,6.6,388,7490,0.00,2.45,6.60,0.866,6,0.000,0.033,2780,1946,1437
$GC,7815,0.10,317.4,304.4,6.9,397,7820,0.00,2.47,0.00,0.000,4,0.000,0.039,2781,3352,1436
$GC,7856,0.10,317.4,301.4,7.4,398,7860,0.00,2.45,0.00,0.000,6,0.000,0.032,2780,1944,1436
$GC,8185,0.18,363.7,279.8,5.4,413,8225,0.17,0.00,36.15,0.857,6,0.071,0.000,2819,1944,1250
$GC,8534,0.10,363.7,256.2,7.6,430,8538,0.00,2.47,0.00,0.000,4,0.000,0.039,2820,3352,1250
$GC,8598,0.05,363.7,250.8,8.5,433,8603,0.15,2.45,0.00,0.000,6,0.103,0.031,2791,1945,1250
$GC,8926,0.07,373.1,229.3,6.5,449,8936,0.00,0.00,8.12,0.810,6,0.000,0.000,2791,1944,1212
$GC,9235,0.09,383.5,209.3,6.5,464,9249,0.00,2.50,9.10,0.790,4,0.000,0.035,2792,3354,1169
$GC,9295,0.14,383.5,205.0,7.6,466,9302,0.00,2.45,0.00,0.000,6,0.000,0.029,2791,1935,1169
$GC,9618,0.14,383.5,180.5,7.5,493,9620,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,1935,1169
$GC,9941,0.35,484.8,161.7,3.8,523,10025,0.25,2.58,78.03,0.723,4,0.057,0.035,2854,3355,755
$GC,10080,0.28,484.8,150.5,9.8,535,10085,0.00,2.42,0.00,0.000,6,0.000,0.027,2854,1950,755
$GC,10408,0.15,484.8,113.2,12.8,566,10413,0.20,2.42,0.00,0.000,4,0.096,0.034,2812,3353,756
$GC,10460,0.15,484.8,107.7,8.8,570,10464,0.00,2.42,0.00,0.000,6,0.000,0.026,2812,1935,756
$GC,10787,0.25,518.2,87.6,5.8,600,10819,0.00,2.55,26.27,0.645,4,0.000,0.033,2811,3357,620
$GC,10840,0.32,533.6,84.1,6.4,605,10862,0.17,2.42,13.52,0.649,6,0.059,0.025,2854,1945,556
$GC,11182,0.29,533.6,53.8,8.4,637,11186,0.00,2.45,0.00,0.000,4,0.000,0.044,2853,551,559
$GC,11223,0.29,533.6,50.4,8.7,640,11227,0.00,2.38,0.00,0.000,6,0.000,0.022,2854,1963,559
$GC,11489,0.29,533.6,28.1,8.4,666,11495,0.00,2.40,0.00,0.000,4,0.000,0.035,2854,3373,560
$GC,11543,0.34,533.6,23.5,8.1,675,11549,0.00,2.40,0.00,0.000,6,0.000,0.025,2853,1950,561
$STATE,11790,end climb,SURFACE_DEPTH_REACHED
$STATE,11790,begin surface coast
$FINISH,1.0,1.023670
$STATE,11870,end surface coast,CONTROL_FINISHED_OK
$STATE,11870,begin surface
$SM_CCo,11954,0.00,0.000,0,0,561,532.55
$SM_GC,1.79,10.77,0.00,0.00,0.041,0.000,0.000,411,2079,561,-10.85,1.07,532.55
$IRIDIUM_FIX,2054.83,-15746.61,220198,000047
$TT8_MAMPS,0.027612
$HUMID,1744
$INTERNAL_PRESSURE,7.92999
$TCM_TEMP,24.50
$XPDR_PINGS,10
$24V_AH,23.8,36.359
$10V_AH,10.2,22.266
$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,28.175,126.925,551.350,0.000,0.000,29.424,30.170,144.813,11.500,0.000,0.000,15.768,1330.718,8095.941,604.334,1733.796,534.403,33.372,1482.620,0.000,1703.693,0.000,57.451
$DEVICE_MAMPS,157.235,52.923,928.070,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,488.966,489.973,861.397,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38007,733
$CAP_FILE_SIZE,109947,0
$CFSIZE,260165632,243519488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,281008,074538,2106.042,-15747.715,27,1.9,27,9.8