version: 66.03
glider: 114
mission: 3
dive: 263
start: 10 28 108 14 40 28
data:
$ID,114
$MISSION,3
$DIVE,263
$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,-596840.56
$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,41
$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
$GPS1,143356,2108.568,-15748.814,37,1.9,37,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-64.2
$GPS2,143932,2108.582,-15748.827,12,1.3,12,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,-0.139,0.186
$KALMAN_X,-77167.9,-250.6,-659.0,86266.5,-34.5
$KALMAN_Y,-63677.6,103.4,-341.9,49108.8,-36.9
$MHEAD_RNG_PITCHd_Wd,313.5,3316,-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,28,-1.06,-165.5,0.0,0.0,0,111,0.00,0.00,-81.15,0.000,2,0.000,0.000,413,2022,2979
$GC,115,-1.06,-165.5,4.1,-4.8,15,140,11.93,2.45,-6.62,0.000,4,0.157,0.044,2540,3437,3409
$GC,177,-0.87,-165.5,19.9,-16.6,25,184,0.25,2.35,0.00,0.000,6,0.082,0.023,2590,2036,3409
$GC,450,-1.04,-165.5,35.9,-5.5,64,454,0.15,2.42,0.00,0.000,4,0.054,0.033,2548,3449,3409
$GC,502,-1.19,-165.5,39.7,-7.6,68,507,0.12,2.38,0.00,0.000,6,0.059,0.022,2517,2036,3409
$GC,767,-1.24,-165.5,66.8,-9.8,92,771,0.00,2.40,0.00,0.000,4,0.000,0.038,2517,634,3409
$GC,807,-1.38,-165.5,71.0,-8.7,95,813,0.17,2.35,0.00,0.000,6,0.048,0.021,2473,2051,3409
$GC,1069,-1.38,-165.5,101.8,-9.9,120,1073,0.00,2.38,0.00,0.000,4,0.000,0.035,2472,3445,3409
$GC,1181,-1.38,-165.5,111.6,-8.4,129,1187,0.00,2.35,0.00,0.000,6,0.000,0.023,2472,2038,3409
$GC,1507,-1.38,-165.5,138.8,-8.9,160,1511,0.00,2.42,0.00,0.000,4,0.000,0.034,2472,3447,3409
$GC,1587,-1.45,-165.5,146.7,-9.3,166,1593,0.00,2.35,0.00,0.000,6,0.000,0.022,2472,2038,3409
$GC,1913,-1.51,-165.5,173.1,-6.0,197,1917,0.00,2.42,0.00,0.000,4,0.000,0.033,2472,3449,3409
$GC,1944,-1.56,-165.5,174.9,-6.5,199,1948,0.15,2.38,0.00,0.000,6,0.055,0.023,2434,2034,3409
$GC,2268,-1.56,-165.5,202.3,-8.6,228,2272,0.00,2.42,0.00,0.000,4,0.000,0.035,2434,3441,3409
$GC,2337,-1.56,-165.5,208.5,-8.8,231,2341,0.00,2.35,0.00,0.000,6,0.000,0.025,2434,2044,3409
$GC,2659,-1.56,-165.5,236.4,-9.5,247,2663,0.00,2.40,0.00,0.000,4,0.000,0.036,2434,3437,3409
$GC,2699,-1.60,-165.5,240.4,-10.0,248,2705,0.00,2.38,0.00,0.000,6,0.000,0.026,2434,2027,3409
$GC,3016,-1.60,-165.5,271.5,-9.1,264,3020,0.00,2.45,0.00,0.000,4,0.000,0.037,2434,3442,3408
$GC,3061,-1.64,-165.5,275.9,-9.1,266,3065,0.00,2.38,0.00,0.000,6,0.000,0.027,2434,2041,3408
$GC,3388,-1.64,-165.5,299.5,-6.5,282,3393,0.00,2.45,0.00,0.000,4,0.000,0.038,2434,3447,3407
$GC,3440,-1.69,-165.5,302.9,-6.7,284,3445,0.10,2.40,0.00,0.000,6,0.071,0.028,2410,2034,3406
$GC,3753,-1.69,-165.5,327.1,-7.7,292,3758,0.00,2.45,0.00,0.000,4,0.000,0.040,2410,3434,3404
$GC,3798,-1.69,-165.5,331.1,-8.7,293,3803,0.00,2.38,0.00,0.000,6,0.000,0.028,2409,2043,3404
$GC,4118,-1.69,-165.5,359.5,-9.3,301,4119,0.00,0.00,0.00,0.000,6,0.000,0.000,2410,2042,3402
$GC,4442,-1.69,-165.5,388.2,-8.2,309,4447,0.00,2.45,0.00,0.000,4,0.000,0.042,2410,3436,3400
$GC,4499,-1.73,-165.5,392.6,-7.6,310,4503,0.00,2.40,0.00,0.000,6,0.000,0.031,2410,2037,3399
$GC,4850,-1.73,-165.5,420.4,-8.2,319,4854,0.00,2.47,0.00,0.000,4,0.000,0.042,2410,3444,3397
$GC,4890,-1.73,-165.5,424.1,-8.4,320,4894,0.00,2.42,0.00,0.000,6,0.000,0.031,2409,2036,3397
$STATE,5213,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5213,begin apogee
$GC,5221,-0.33,0.0,452.2,9.1,328,5353,1.42,0.00,127.68,0.954,6,0.091,0.000,2704,1931,2733
$STATE,5353,end apogee,CONTROL_FINISHED_OK
$STATE,5353,begin climb
$GC,5357,1.06,165.5,458.7,0.0,331,5497,1.38,2.62,130.12,0.913,4,0.050,0.041,3010,3350,2058
$GC,5566,0.55,165.5,452.1,13.5,336,5572,0.60,2.45,0.00,0.000,6,0.121,0.034,2900,1963,2057
$GC,5892,0.26,165.5,420.9,9.8,344,5897,0.30,2.47,0.00,0.000,4,0.120,0.040,2841,3353,2055
$GC,5954,0.09,165.5,416.0,7.5,345,5959,0.20,2.47,0.00,0.000,6,0.116,0.034,2805,1941,2055
$GC,6297,0.07,200.8,396.6,5.8,354,6326,0.00,0.00,27.00,0.909,6,0.000,0.000,2805,1940,1914
$GC,6661,0.03,230.1,374.2,5.9,363,6686,0.00,0.00,23.65,0.904,6,0.000,0.000,2804,1940,1794
$GC,6986,-0.03,239.7,353.6,6.5,371,7000,0.15,2.55,8.18,0.888,4,0.114,0.040,2773,3339,1754
$GC,7041,0.02,267.0,350.3,6.0,372,7072,0.00,2.45,22.27,0.890,6,0.000,0.033,2773,1943,1643
$GC,7398,0.13,334.8,332.0,4.8,381,7457,0.17,2.55,53.20,0.877,4,0.071,0.041,2811,3350,1367
$GC,7480,0.06,334.8,326.8,7.3,383,7485,0.00,2.47,0.00,0.000,6,0.000,0.033,2811,1944,1367
$GC,7800,-0.01,334.8,303.9,7.3,391,7805,0.15,2.50,0.00,0.000,4,0.108,0.040,2780,3348,1367
$GC,7834,-0.00,339.0,301.6,6.7,391,7843,0.00,2.45,4.15,0.838,6,0.000,0.031,2780,1943,1351
$GC,8175,0.10,400.0,283.5,5.0,407,8230,0.10,2.58,48.12,0.844,4,0.087,0.040,2802,3341,1102
$GC,8253,0.06,400.0,278.5,7.0,410,8260,0.00,2.45,0.00,0.000,6,0.000,0.031,2802,1946,1102
$GC,8570,0.03,400.0,256.4,6.9,426,8574,0.00,2.47,0.00,0.000,4,0.000,0.039,2802,3347,1102
$GC,8603,0.03,400.0,253.7,8.2,427,8609,0.00,2.42,0.00,0.000,6,0.000,0.031,2802,1950,1102
$GC,8920,0.03,400.0,228.4,8.0,443,8923,0.00,2.45,0.00,0.000,4,0.000,0.038,2802,3350,1102
$GC,8948,0.03,400.0,226.0,8.5,444,8952,0.00,2.42,0.00,0.000,6,0.000,0.029,2802,1946,1102
$GC,9270,0.13,458.1,205.2,5.1,460,9321,0.00,2.50,45.80,0.773,4,0.000,0.035,2802,3344,864
$GC,9374,0.18,464.1,198.8,6.6,465,9386,0.00,2.42,5.32,0.751,6,0.000,0.028,2802,1946,841
$GC,9706,0.18,464.1,172.2,7.8,496,9710,0.00,2.45,0.00,0.000,4,0.000,0.035,2802,3347,841
$GC,9739,0.18,464.1,169.4,7.8,498,9745,0.00,2.40,0.00,0.000,6,0.000,0.027,2802,1949,842
$GC,10070,0.29,507.1,147.8,5.5,529,10113,0.17,2.53,33.80,0.703,4,0.062,0.035,2847,3346,664
$GC,10150,0.24,507.1,140.7,9.2,536,10154,0.00,2.42,0.00,0.000,6,0.000,0.027,2847,1943,664
$GC,10476,0.17,507.1,112.5,9.0,566,10481,0.15,2.45,0.00,0.000,4,0.094,0.034,2813,3347,665
$GC,10528,0.24,508.7,108.5,6.8,570,10532,0.00,2.40,0.00,0.000,6,0.000,0.026,2813,1947,667
$GC,10857,0.39,557.4,89.0,5.4,600,10904,0.20,0.00,40.97,0.629,6,0.055,0.000,2867,1945,459
$GC,11224,0.35,557.4,55.0,9.2,635,11228,0.00,2.42,0.00,0.000,4,0.000,0.033,2867,3354,460
$GC,11285,0.39,557.4,49.4,8.3,640,11292,0.00,2.40,0.00,0.000,6,0.000,0.025,2867,1934,461
$GC,11552,0.36,557.4,27.6,8.3,667,11558,0.00,2.42,0.00,0.000,4,0.000,0.032,2867,3345,462
$GC,11577,0.33,557.4,25.1,8.5,671,11584,0.00,2.35,0.00,0.000,6,0.000,0.023,2867,1949,462
$STATE,11802,end climb,SURFACE_DEPTH_REACHED
$STATE,11802,begin surface coast
$FINISH,0.9,0.998903
$STATE,11871,end surface coast,CONTROL_FINISHED_OK
$STATE,11871,begin surface
$SM_CCo,11955,0.00,0.000,0,0,462,556.83
$SM_GC,1.65,10.85,0.00,0.00,0.042,0.000,0.000,409,2071,462,-10.86,0.88,556.83
$IRIDIUM_FIX,2059.45,-15741.46,220198,111101
$TT8_MAMPS,0.027612
$HUMID,1719
$INTERNAL_PRESSURE,7.93976
$TCM_TEMP,24.80
$XPDR_PINGS,5
$24V_AH,23.8,36.807
$10V_AH,10.2,22.516
$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,28.725,131.725,570.275,0.000,0.000,25.924,30.437,144.720,10.250,0.000,0.000,13.973,1325.876,8094.205,646.937,1684.784,539.511,33.376,1498.568,0.000,1655.878,0.000,60.323
$DEVICE_MAMPS,157.235,52.156,954.148,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,482.120,475.293,842.462,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38043,723
$CAP_FILE_SIZE,111246,0
$CFSIZE,260165632,243339264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,281008,180102,2109.767,-15749.697,40,1.1,40,9.8