version: 66.03
glider: 114
mission: 3
dive: 273
start: 10 30 108 1 30 29
data:
$ID,114
$MISSION,3
$DIVE,273
$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,-597011.69
$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,70
$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
$GPS1,012338,2105.911,-15748.760,38,1.0,38,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-58.7
$GPS2,012933,2105.879,-15748.841,10,1.7,10,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,0.152,0.176
$KALMAN_X,-87803.7,334.4,-50.4,95681.6,-2334.4
$KALMAN_Y,-70808.5,-235.3,-152.9,51385.9,-1075.9
$MHEAD_RNG_PITCHd_Wd,31.1,7889,-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,-165.5,0.0,0.0,0,111,0.00,0.00,-81.20,0.000,2,0.000,0.000,410,2071,2927
$GC,115,-1.06,-165.5,3.7,-4.6,15,141,11.88,2.55,-7.62,0.000,4,0.154,0.045,2540,637,3410
$GC,188,-1.15,-165.5,19.3,-9.6,27,195,0.00,2.35,0.00,0.000,6,0.000,0.022,2540,2014,3410
$GC,463,-1.20,-165.5,40.7,-7.4,64,468,0.00,2.45,0.00,0.000,4,0.000,0.035,2540,3443,3410
$GC,550,-1.34,-165.5,47.9,-8.5,71,555,0.22,2.38,0.00,0.000,6,0.049,0.022,2486,2026,3410
$GC,812,-1.34,-165.5,75.9,-9.1,95,813,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2026,3410
$GC,1068,-1.34,-165.5,100.3,-9.5,119,1072,0.00,2.45,0.00,0.000,4,0.000,0.034,2486,3444,3410
$GC,1153,-1.39,-165.5,108.3,-9.4,126,1160,0.00,2.35,0.00,0.000,6,0.000,0.023,2486,2038,3410
$GC,1480,-1.42,-165.5,134.9,-7.1,157,1484,0.00,2.42,0.00,0.000,4,0.000,0.033,2486,3449,3411
$GC,1532,-1.49,-165.5,138.7,-7.5,161,1537,0.15,2.38,0.00,0.000,6,0.054,0.023,2448,2034,3411
$GC,1858,-1.49,-165.5,166.9,-8.0,191,1863,0.00,2.42,0.00,0.000,4,0.000,0.033,2448,3447,3411
$GC,1949,-1.53,-165.5,173.7,-6.7,198,1955,0.00,2.35,0.00,0.000,6,0.000,0.023,2448,2040,3411
$GC,2276,-1.53,-165.5,197.9,-7.2,229,2281,0.00,2.42,0.00,0.000,4,0.000,0.035,2448,3447,3410
$GC,2310,-1.53,-165.5,200.7,-8.0,231,2315,0.00,2.38,0.00,0.000,6,0.000,0.024,2448,2033,3411
$GC,2626,-1.53,-165.5,227.1,-8.7,247,2630,0.00,2.42,0.00,0.000,4,0.000,0.035,2448,3443,3411
$GC,2665,-1.58,-165.5,230.5,-8.7,248,2672,0.00,2.38,0.00,0.000,6,0.000,0.025,2448,2030,3410
$GC,2981,-1.58,-165.5,254.3,-7.3,264,2983,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,2029,3410
$GC,3292,-1.61,-165.5,274.3,-5.9,279,3296,0.00,2.42,0.00,0.000,4,0.000,0.037,2448,3438,3410
$GC,3349,-1.68,-165.5,278.2,-7.0,281,3354,0.15,2.38,0.00,0.000,6,0.062,0.026,2413,2037,3409
$GC,3664,-1.68,-165.5,304.2,-7.8,295,3668,0.00,2.45,0.00,0.000,4,0.000,0.038,2413,3442,3407
$GC,3720,-1.68,-165.5,308.5,-7.8,296,3725,0.00,2.40,0.00,0.000,6,0.000,0.028,2413,2030,3407
$GC,4069,-1.68,-165.5,339.7,-9.9,305,4070,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2029,3404
$GC,4395,-1.68,-165.5,372.7,-9.9,313,4399,0.00,2.47,0.00,0.000,4,0.000,0.041,2413,3437,3402
$GC,4429,-1.68,-165.5,376.2,-10.3,313,4435,0.00,2.40,0.00,0.000,6,0.000,0.030,2413,2037,3401
$GC,4761,-1.68,-165.5,402.4,-7.2,322,4765,0.00,2.47,0.00,0.000,4,0.000,0.041,2413,3447,3399
$GC,4806,-1.68,-165.5,405.6,-6.4,323,4811,0.00,2.42,0.00,0.000,6,0.000,0.030,2413,2036,3398
$GC,5126,-1.68,-165.5,428.0,-7.2,331,5127,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2035,3397
$STATE,5407,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5407,begin apogee
$GC,5416,-0.33,0.0,450.1,8.0,338,5549,1.40,0.00,129.32,0.918,6,0.091,0.000,2703,1932,2733
$STATE,5550,end apogee,CONTROL_FINISHED_OK
$STATE,5550,begin climb
$GC,5553,1.06,165.5,456.4,0.0,341,5694,1.38,2.60,131.30,0.893,4,0.051,0.041,3009,3344,2058
$GC,5721,0.54,165.5,456.6,9.7,345,5727,0.60,2.45,0.00,0.000,6,0.122,0.033,2900,1965,2058
$GC,6046,0.26,165.5,430.9,7.6,353,6052,0.30,2.58,0.00,0.000,4,0.120,0.053,2841,541,2057
$GC,6075,0.09,188.7,429.0,6.1,353,6100,0.22,2.45,18.58,0.891,6,0.116,0.030,2799,1955,1962
$GC,6415,0.19,289.5,415.5,3.8,362,6499,0.00,2.65,79.22,0.900,4,0.000,0.054,2800,538,1552
$GC,6518,0.11,289.5,409.8,7.0,364,6522,0.00,2.47,0.00,0.000,6,0.000,0.030,2800,1953,1552
$GC,6862,0.05,289.5,382.2,8.7,373,6866,0.00,2.50,0.00,0.000,4,0.000,0.045,2800,3355,1550
$GC,6923,0.01,289.5,376.1,9.6,374,6928,0.00,2.47,0.00,0.000,6,0.000,0.034,2798,1946,1550
$GC,7267,-0.05,289.5,347.3,8.2,383,7269,0.15,0.00,0.00,0.000,6,0.110,0.000,2771,1945,1549
$GC,7592,0.02,329.2,327.6,5.6,391,7627,0.00,2.55,30.38,0.879,4,0.000,0.040,2772,3353,1390
$GC,7662,0.07,359.6,323.9,5.9,391,7692,0.12,2.47,24.52,0.866,6,0.077,0.032,2798,1944,1266
$GC,8016,0.03,359.6,297.9,7.7,401,8020,0.00,2.47,0.00,0.000,4,0.000,0.040,2799,3350,1266
$GC,8056,0.04,369.8,295.1,6.5,402,8071,0.00,2.45,8.85,0.850,6,0.000,0.032,2798,1940,1224
$GC,8396,0.04,369.8,271.7,7.9,419,8400,0.00,2.50,0.00,0.000,4,0.000,0.040,2798,3351,1224
$GC,8429,0.04,369.8,269.0,7.2,420,8435,0.00,2.45,0.00,0.000,6,0.000,0.031,2798,1938,1224
$GC,8746,0.06,378.3,248.2,6.6,436,8760,0.00,2.58,7.38,0.821,4,0.000,0.038,2798,3354,1189
$GC,8806,0.06,378.3,243.8,7.5,438,8813,0.00,2.45,0.00,0.000,6,0.000,0.031,2798,1949,1190
$GC,9123,0.07,383.0,220.6,6.7,454,9132,0.00,2.55,4.62,0.790,4,0.000,0.050,2798,538,1171
$GC,9166,0.07,383.0,217.5,7.7,456,9171,0.00,2.42,0.00,0.000,6,0.000,0.026,2799,1954,1170
$GC,9490,0.07,383.0,194.2,7.4,475,9494,0.00,2.42,0.00,0.000,4,0.000,0.038,2798,3347,1171
$GC,9558,0.10,383.0,189.2,6.8,480,9565,0.00,2.42,0.00,0.000,6,0.000,0.029,2798,1938,1171
$GC,9887,0.12,392.9,170.3,6.5,511,9901,0.00,2.53,8.30,0.749,4,0.000,0.035,2798,3349,1131
$GC,9925,0.20,422.7,167.7,5.9,514,9957,0.12,2.40,23.60,0.737,6,0.068,0.028,2827,1950,1008
$GC,10283,0.20,422.7,141.0,7.7,548,10287,0.00,2.45,0.00,0.000,4,0.000,0.034,2828,3359,1009
$GC,10340,0.20,422.7,136.3,8.4,553,10345,0.00,2.42,0.00,0.000,6,0.000,0.027,2827,1950,1009
$GC,10669,0.23,438.1,112.8,6.4,583,10691,0.00,2.53,12.60,0.673,4,0.000,0.034,2828,3352,947
$GC,10732,0.29,450.5,108.3,6.5,588,10749,0.00,2.40,10.27,0.665,6,0.000,0.026,2827,1949,895
$GC,11068,0.29,450.5,85.6,7.1,620,11072,0.00,2.42,0.00,0.000,4,0.000,0.032,2828,3351,896
$GC,11098,0.36,467.2,83.8,6.3,622,11117,0.15,2.40,13.43,0.637,6,0.061,0.025,2864,1935,828
$GC,11435,0.32,467.2,51.5,10.4,654,11439,0.00,2.45,0.00,0.000,4,0.000,0.033,2864,3350,828
$GC,11458,0.28,467.2,49.0,10.0,655,11465,0.12,2.38,0.00,0.000,6,0.092,0.024,2839,1947,829
$GC,11723,0.33,467.2,31.2,7.4,680,11727,0.00,2.42,0.00,0.000,4,0.000,0.030,2839,3362,829
$GC,11748,0.39,467.2,29.2,7.7,682,11755,0.12,2.38,0.00,0.000,6,0.064,0.023,2870,1942,829
$GC,12028,0.35,468.0,10.0,6.8,731,12034,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,1942,830
$STATE,12105,end climb,SURFACE_DEPTH_REACHED
$STATE,12105,begin surface coast
$FINISH,0.9,1.023125
$STATE,12180,end surface coast,CONTROL_FINISHED_OK
$STATE,12180,begin surface
$SM_CCo,12264,0.00,0.000,0,0,832,466.56
$SM_GC,1.57,10.82,0.00,0.00,0.041,0.000,0.000,408,2083,832,-10.86,1.22,466.56
$IRIDIUM_FIX,2057.14,-15746.61,230198,222228
$TT8_MAMPS,0.027612
$HUMID,1732
$INTERNAL_PRESSURE,7.95929
$TCM_TEMP,24.70
$XPDR_PINGS,18
$24V_AH,23.8,38.242
$10V_AH,10.2,23.374
$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,27.925,132.550,502.375,0.000,0.000,25.066,39.352,155.693,13.500,0.000,0.000,12.090,1363.298,8393.896,580.065,1728.086,553.978,33.370,1446.799,0.000,1697.512,0.000,57.439
$DEVICE_MAMPS,154.167,53.690,918.099,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,505.212,501.321,897.596,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38033,758
$CAP_FILE_SIZE,111305,0
$CFSIZE,260165632,242728960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,301008,045632,2106.486,-15748.916,60,1.4,60,9.8