version: 66.03
glider: 114
mission: 3
dive: 267
start: 10 29 108 4 41 36
data:
$ID,114
$MISSION,3
$DIVE,267
$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,-596911.62
$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,33
$R_STBD_OVSHOOT,69
$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
$GPS1,043455,2105.413,-15749.439,34,1.4,51,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-62.1
$GPS2,044039,2105.415,-15749.459,9,1.5,9,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.136,-0.189
$KALMAN_X,-81419.5,-261.4,-996.8,89786.1,239.1
$KALMAN_Y,-65869.5,-133.6,-167.9,45498.3,-206.6
$MHEAD_RNG_PITCHd_Wd,134.5,7213,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,29,-1.06,-165.5,0.0,0.0,0,102,0.00,0.00,-70.05,0.000,2,0.000,0.000,407,2076,2735
$GC,106,-1.06,-165.5,3.0,-3.1,13,136,11.90,2.50,-11.95,0.000,4,0.154,0.045,2542,632,3409
$GC,178,-1.18,-165.5,15.9,-10.7,25,184,0.00,2.30,0.00,0.000,6,0.000,0.021,2541,2011,3409
$GC,450,-1.25,-165.5,37.8,-7.8,65,455,0.15,2.45,0.00,0.000,4,0.057,0.034,2500,3442,3409
$GC,551,-1.25,-165.5,47.8,-9.9,73,558,0.00,2.38,0.00,0.000,6,0.000,0.022,2500,2021,3409
$GC,813,-1.25,-165.5,71.8,-8.1,98,817,0.00,2.45,0.00,0.000,4,0.000,0.033,2500,3443,3409
$GC,915,-1.31,-165.5,81.0,-9.8,106,921,0.00,2.35,0.00,0.000,6,0.000,0.022,2500,2033,3409
$GC,1245,-1.36,-165.5,109.3,-7.4,137,1250,0.00,2.42,0.00,0.000,4,0.000,0.034,2500,3443,3409
$GC,1307,-1.48,-165.5,114.3,-7.3,142,1314,0.20,2.35,0.00,0.000,6,0.051,0.023,2453,2033,3410
$GC,1633,-1.44,-165.5,143.9,-9.7,173,1634,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2032,3409
$GC,1955,-1.44,-165.5,170.7,-6.8,203,1959,0.00,2.42,0.00,0.000,4,0.000,0.034,2452,3443,3410
$GC,2022,-1.49,-165.5,176.3,-8.1,208,2028,0.00,2.35,0.00,0.000,6,0.000,0.023,2452,2036,3410
$GC,2345,-1.49,-165.5,204.6,-7.6,236,2349,0.00,2.42,0.00,0.000,4,0.000,0.035,2452,3443,3410
$GC,2385,-1.56,-165.5,207.4,-7.0,237,2391,0.00,2.38,0.00,0.000,6,0.000,0.025,2452,2028,3410
$GC,2703,-1.60,-165.5,230.2,-7.3,253,2707,0.00,2.45,0.00,0.000,4,0.000,0.037,2452,3443,3410
$GC,2745,-1.66,-165.5,233.0,-6.6,255,2750,0.15,2.38,0.00,0.000,6,0.058,0.025,2415,2035,3410
$GC,3075,-1.66,-165.5,256.2,-6.8,271,3079,0.00,2.45,0.00,0.000,4,0.000,0.044,2415,3446,3410
$GC,3108,-1.66,-165.5,258.8,-7.0,272,3114,0.00,2.38,0.00,0.000,6,0.000,0.026,2415,2038,3410
$GC,3424,-1.66,-165.5,285.4,-8.9,288,3428,0.00,2.45,0.00,0.000,4,0.000,0.039,2415,3443,3407
$GC,3486,-1.66,-165.5,291.2,-8.9,290,3492,0.00,2.38,0.00,0.000,6,0.000,0.028,2415,2044,3407
$GC,3799,-1.66,-165.5,318.0,-8.5,301,3803,0.00,2.45,0.00,0.000,4,0.000,0.040,2415,3443,3405
$GC,3843,-1.66,-165.5,321.5,-7.3,302,3848,0.00,2.40,0.00,0.000,6,0.000,0.028,2415,2034,3404
$GC,4165,-1.66,-165.5,342.6,-6.3,310,4170,0.00,2.47,0.00,0.000,4,0.000,0.041,2415,3443,3402
$GC,4216,-1.66,-165.5,346.7,-7.4,311,4220,0.00,2.42,0.00,0.000,6,0.000,0.029,2415,2029,3402
$GC,4530,-1.66,-165.5,372.3,-8.5,319,4534,0.00,2.47,0.00,0.000,4,0.000,0.041,2415,3441,3400
$GC,4558,-1.66,-165.5,374.8,-9.0,319,4563,0.00,2.40,0.00,0.000,6,0.000,0.030,2415,2039,3399
$GC,4897,-1.66,-165.5,401.5,-7.9,328,4901,0.00,2.45,0.00,0.000,4,0.000,0.042,2415,3440,3396
$GC,4919,-1.66,-165.5,403.5,-7.8,328,4924,0.00,2.40,0.00,0.000,6,0.000,0.030,2415,2043,3396
$GC,5262,-1.66,-165.5,434.0,-9.5,337,5266,0.00,2.45,0.00,0.000,4,0.000,0.044,2415,3435,3394
$GC,5296,-1.66,-165.5,437.5,-10.0,337,5300,0.00,2.40,0.00,0.000,6,0.000,0.031,2415,2039,3394
$STATE,5464,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5464,begin apogee
$GC,5472,-0.33,0.0,453.5,9.5,341,5605,1.40,0.00,128.60,0.933,6,0.093,0.000,2705,1932,2733
$STATE,5606,end apogee,CONTROL_FINISHED_OK
$STATE,5606,begin climb
$GC,5609,1.06,165.5,459.4,0.0,344,5749,1.35,2.60,130.38,0.903,4,0.048,0.053,3006,553,2058
$GC,5972,0.52,165.5,426.3,16.1,352,5977,0.62,2.42,0.00,0.000,6,0.142,0.029,2896,1949,2056
$GC,6322,0.25,165.5,393.5,8.5,361,6327,0.30,2.55,0.00,0.000,4,0.131,0.053,2839,552,2055
$GC,6408,0.07,171.2,387.6,6.6,363,6418,0.22,2.42,4.38,0.866,6,0.125,0.030,2799,1954,2035
$GC,6733,0.16,265.5,373.3,4.0,371,6814,0.00,2.55,74.15,0.890,4,0.000,0.047,2799,3350,1650
$GC,6869,0.22,326.7,367.7,5.0,374,6924,0.15,2.45,48.35,0.874,6,0.075,0.035,2830,1955,1400
$GC,7235,0.11,326.7,342.5,7.5,383,7240,0.12,2.58,0.00,0.000,4,0.115,0.053,2808,531,1400
$GC,7253,0.00,326.7,340.9,7.9,383,7258,0.15,2.47,0.00,0.000,6,0.114,0.031,2782,1958,1400
$GC,7595,0.00,326.7,317.0,7.2,392,7599,0.00,2.47,0.00,0.000,4,0.000,0.045,2782,3359,1399
$GC,7623,0.00,326.7,315.0,7.6,392,7627,0.00,2.47,0.00,0.000,6,0.000,0.033,2781,1939,1399
$GC,7936,0.08,372.9,295.4,5.4,401,7979,0.00,2.55,36.40,0.851,4,0.000,0.040,2782,3359,1212
$GC,8008,0.09,376.7,291.3,6.7,404,8017,0.00,2.47,3.90,0.808,6,0.000,0.031,2781,1945,1196
$GC,8336,0.17,421.4,273.7,5.5,420,8378,0.15,2.55,35.47,0.833,4,0.071,0.040,2815,3355,1015
$GC,8396,0.10,423.9,269.9,6.7,423,8404,0.00,2.47,3.22,0.784,6,0.000,0.031,2815,1941,1004
$GC,8723,0.03,423.9,246.2,7.7,439,8728,0.15,2.50,0.00,0.000,4,0.104,0.038,2783,3364,1004
$GC,8802,0.18,477.0,241.7,5.2,442,8851,0.15,2.45,41.78,0.805,6,0.072,0.031,2816,1940,787
$GC,9163,0.12,477.0,209.7,9.6,460,9167,0.00,2.47,0.00,0.000,4,0.000,0.038,2816,3354,788
$GC,9191,0.07,477.0,206.9,8.7,461,9196,0.00,2.42,0.00,0.000,6,0.000,0.029,2816,1952,788
$GC,9517,0.04,482.3,184.0,6.7,486,9524,0.12,0.00,5.20,0.753,6,0.102,0.000,2793,1952,766
$GC,9847,0.08,482.3,161.5,7.6,517,9852,0.00,2.45,0.00,0.000,4,0.000,0.035,2793,3363,765
$GC,9899,0.15,482.3,157.1,8.2,521,9904,0.00,2.42,0.00,0.000,6,0.000,0.027,2793,1946,766
$GC,10226,0.27,522.1,134.7,5.6,551,10263,0.17,2.50,31.52,0.690,4,0.061,0.035,2838,3363,603
$GC,10292,0.22,522.1,129.4,8.4,556,10299,0.00,2.42,0.00,0.000,6,0.000,0.027,2838,1950,605
$GC,10621,0.17,522.1,96.3,11.4,587,10626,0.10,2.45,0.00,0.000,4,0.103,0.034,2819,3358,607
$GC,10666,0.21,522.1,91.2,10.5,590,10673,0.00,2.40,0.00,0.000,6,0.000,0.025,2819,1945,608
$GC,10996,0.33,568.0,66.5,5.5,621,11039,0.15,2.50,36.33,0.613,4,0.061,0.035,2861,3361,419
$GC,11057,0.33,568.0,62.1,6.9,626,11063,0.00,2.42,0.00,0.000,6,0.000,0.025,2860,1942,419
$GC,11319,0.33,568.0,38.3,8.7,651,11323,0.00,2.45,0.00,0.000,4,0.000,0.033,2861,3360,420
$GC,11365,0.33,568.0,34.2,8.8,655,11370,0.00,2.40,0.00,0.000,6,0.000,0.025,2861,1945,420
$GC,11639,0.33,568.0,11.0,8.8,698,11646,0.00,2.45,0.00,0.000,4,0.000,0.033,2861,3368,421
$GC,11665,0.33,568.0,8.7,8.9,702,11672,0.00,2.40,0.00,0.000,6,0.000,0.025,2861,1949,422
$STATE,11704,end climb,SURFACE_DEPTH_REACHED
$STATE,11704,begin surface coast
$FINISH,0.9,0.997886
$STATE,11767,end surface coast,CONTROL_FINISHED_OK
$STATE,11767,begin surface
$SM_CCo,11851,0.00,0.000,0,0,422,566.89
$SM_GC,1.73,10.80,0.00,0.00,0.041,0.000,0.000,411,2089,422,-10.85,1.39,566.89
$IRIDIUM_FIX,2057.14,-15748.75,230198,010120
$TT8_MAMPS,0.027612
$HUMID,1734
$INTERNAL_PRESSURE,7.92023
$TCM_TEMP,24.50
$XPDR_PINGS,11
$24V_AH,23.8,37.395
$10V_AH,10.2,22.859
$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,28.525,142.075,579.675,0.000,0.000,26.417,33.443,151.009,11.750,0.000,0.000,11.422,1331.564,7925.502,628.394,1748.438,562.787,33.373,1527.866,0.000,1719.922,0.000,60.286
$DEVICE_MAMPS,154.167,52.923,932.672,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,479.447,473.516,849.112,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38058,720
$CAP_FILE_SIZE,114314,0
$CFSIZE,260165632,243093504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,291008,080031,2104.227,-15748.667,40,1.9,45,9.8