version: 66.03
glider: 114
mission: 3
dive: 276
start: 10 30 108 12 11 36
data:
$ID,114
$MISSION,3
$DIVE,276
$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,-597056.88
$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,60
$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
$GPS1,120432,2108.835,-15748.868,37,1.3,37,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-60.7
$GPS2,121039,2108.741,-15748.898,11,1.2,11,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,0.032,0.230
$KALMAN_X,-89178.3,-244.3,765.4,96719.4,-1587.2
$KALMAN_Y,-74594.2,178.0,143.6,59759.6,-1597.4
$MHEAD_RNG_PITCHd_Wd,358.0,3008,-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,-165.5,0.0,0.0,0,107,0.00,0.00,-75.35,0.000,2,0.000,0.000,410,2065,2778
$GC,111,-1.06,-165.5,3.2,-3.5,14,141,11.85,2.35,-11.23,0.000,4,0.153,0.045,2541,3420,3409
$GC,223,-1.20,-165.5,17.6,-6.7,33,230,0.10,2.38,0.00,0.000,6,0.067,0.023,2516,2010,3410
$GC,496,-1.25,-165.5,37.9,-6.0,71,500,0.00,2.45,0.00,0.000,4,0.000,0.033,2516,3428,3409
$GC,537,-1.32,-165.5,40.8,-7.0,74,541,0.10,2.33,0.00,0.000,6,0.065,0.023,2490,2039,3410
$GC,804,-1.32,-165.5,62.7,-8.6,99,808,0.00,2.40,0.00,0.000,4,0.000,0.035,2490,3427,3409
$GC,850,-1.38,-165.5,66.8,-8.3,102,857,0.00,2.33,0.00,0.000,6,0.000,0.023,2490,2037,3409
$GC,1112,-1.38,-165.5,90.0,-9.6,127,1116,0.00,2.40,0.00,0.000,4,0.000,0.033,2490,3428,3410
$GC,1146,-1.42,-165.5,93.4,-9.5,129,1153,0.00,2.33,0.00,0.000,6,0.000,0.023,2490,2039,3410
$GC,1473,-1.46,-165.5,122.2,-8.9,160,1477,0.12,2.38,0.00,0.000,4,0.058,0.032,2458,3416,3410
$GC,1513,-1.46,-165.5,126.3,-10.5,163,1517,0.00,2.33,0.00,0.000,6,0.000,0.024,2458,2037,3410
$GC,1839,-1.46,-165.5,162.0,-10.2,193,1843,0.00,2.38,0.00,0.000,4,0.000,0.035,2458,3418,3410
$GC,1895,-1.50,-165.5,167.8,-9.9,197,1901,0.00,2.33,0.00,0.000,6,0.000,0.024,2458,2033,3409
$GC,2220,-1.50,-165.5,195.9,-7.8,228,2224,0.00,2.40,0.00,0.000,4,0.000,0.035,2458,3425,3410
$GC,2263,-1.56,-165.5,199.1,-7.7,231,2267,0.00,2.35,0.00,0.000,6,0.000,0.025,2458,2032,3410
$GC,2591,-1.59,-165.5,222.0,-5.8,247,2596,0.12,2.40,0.00,0.000,4,0.063,0.035,2426,3418,3410
$GC,2614,-1.59,-165.5,223.5,-6.3,248,2618,0.00,2.33,0.00,0.000,6,0.000,0.025,2426,2038,3410
$GC,2936,-1.59,-165.5,242.6,-6.0,264,2940,0.00,2.40,0.00,0.000,4,0.000,0.037,2426,3424,3410
$GC,3037,-1.59,-165.5,251.4,-10.2,268,3043,0.00,2.35,0.00,0.000,6,0.000,0.026,2426,2033,3409
$GC,3355,-1.59,-165.5,281.5,-9.4,284,3359,0.00,2.42,0.00,0.000,4,0.000,0.042,2426,637,3408
$GC,3383,-1.59,-165.5,284.7,-10.5,285,3388,0.00,2.35,0.00,0.000,6,0.000,0.027,2426,2022,3408
$GC,3718,-1.59,-165.5,313.1,-7.4,297,3722,0.00,2.47,0.00,0.000,4,0.000,0.041,2426,3447,3406
$GC,3808,-1.63,-165.5,319.3,-7.1,299,3812,0.00,2.40,0.00,0.000,6,0.000,0.030,2426,2044,3405
$GC,4129,-1.63,-165.5,342.9,-7.8,307,4133,0.00,2.45,0.00,0.000,4,0.000,0.041,2426,3443,3403
$GC,4208,-1.66,-165.5,350.1,-9.1,308,4214,0.00,2.42,0.00,0.000,6,0.000,0.030,2426,2030,3402
$GC,4541,-1.66,-165.5,380.1,-8.9,317,4545,0.00,2.47,0.00,0.000,4,0.000,0.042,2426,3443,3400
$GC,4582,-1.70,-165.5,383.7,-8.9,318,4586,0.00,2.42,0.00,0.000,6,0.000,0.030,2426,2033,3400
$GC,4906,-1.70,-165.5,408.3,-7.4,326,4911,0.00,2.50,0.00,0.000,4,0.000,0.042,2426,3451,3398
$GC,4947,-1.74,-165.5,411.4,-8.3,327,4952,0.12,2.45,0.00,0.000,6,0.071,0.031,2398,2032,3398
$GC,5272,-1.74,-165.5,439.2,-8.3,335,5276,0.00,2.50,0.00,0.000,4,0.000,0.042,2398,3450,3396
$GC,5312,-1.74,-165.5,442.4,-8.2,336,5316,0.00,2.45,0.00,0.000,6,0.000,0.030,2398,2031,3396
$STATE,5432,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5432,begin apogee
$GC,5440,-0.33,0.0,451.6,7.3,339,5573,1.48,0.00,129.07,0.913,6,0.088,0.000,2703,1935,2733
$STATE,5574,end apogee,CONTROL_FINISHED_OK
$STATE,5574,begin climb
$GC,5578,1.06,165.5,454.9,0.0,342,5718,1.38,2.60,130.38,0.889,4,0.048,0.052,3009,555,2057
$GC,5925,0.52,165.5,427.4,13.9,350,5931,0.62,2.45,0.00,0.000,6,0.159,0.030,2897,1956,2056
$GC,6250,0.25,165.5,403.3,7.0,358,6255,0.30,2.55,0.00,0.000,4,0.123,0.052,2840,564,2055
$GC,6296,0.07,165.5,400.0,6.8,359,6301,0.22,2.42,0.00,0.000,6,0.123,0.030,2799,1960,2054
$GC,6615,-0.00,165.5,377.9,7.7,367,6619,0.00,2.47,0.00,0.000,4,0.000,0.045,2800,3351,2053
$GC,6683,-0.07,165.5,371.7,9.0,368,6688,0.17,2.42,0.00,0.000,6,0.113,0.034,2767,1961,2053
$GC,7021,0.01,209.5,349.4,5.5,377,7062,0.00,2.65,33.35,0.878,4,0.000,0.054,2767,546,1879
$GC,7085,0.19,313.1,346.9,3.8,378,7174,0.25,2.45,81.18,0.859,6,0.064,0.029,2821,1952,1455
$GC,7513,0.19,368.0,324.9,5.2,389,7563,0.00,2.58,43.00,0.854,4,0.000,0.044,2821,3350,1232
$GC,7632,0.13,368.0,315.1,9.7,391,7637,0.00,2.47,0.00,0.000,6,0.000,0.033,2821,1946,1232
$GC,7946,0.05,368.0,282.6,10.6,402,7948,0.15,0.00,0.00,0.000,6,0.107,0.000,2794,1946,1232
$GC,8257,0.12,405.7,261.2,5.7,417,8291,0.00,2.55,29.77,0.818,4,0.000,0.039,2794,3352,1078
$GC,8337,0.12,405.7,255.1,8.4,420,8343,0.00,2.45,0.00,0.000,6,0.000,0.031,2794,1950,1078
$GC,8653,0.12,405.7,229.6,7.5,436,8657,0.00,2.47,0.00,0.000,4,0.000,0.038,2794,3356,1078
$GC,8693,0.12,405.7,226.3,8.1,438,8697,0.00,2.45,0.00,0.000,6,0.000,0.029,2794,1944,1078
$GC,9009,0.12,405.7,198.0,8.0,454,9011,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,1944,1078
$GC,9329,0.22,462.2,180.7,5.1,484,9382,0.15,2.55,43.83,0.742,4,0.067,0.035,2833,3349,848
$GC,9429,0.22,462.2,173.2,8.2,493,9433,0.00,2.45,0.00,0.000,6,0.000,0.028,2833,1940,848
$GC,9758,0.18,462.2,145.8,7.1,523,9762,0.00,2.47,0.00,0.000,4,0.000,0.035,2834,3357,848
$GC,9791,0.18,463.8,143.1,6.8,525,9798,0.00,2.42,0.00,0.000,6,0.000,0.027,2833,1941,849
$GC,10120,0.15,463.8,117.9,8.0,556,10125,0.10,2.47,0.00,0.000,4,0.104,0.033,2814,3364,848
$GC,10166,0.22,479.7,114.6,6.3,559,10186,0.00,2.42,14.10,0.670,6,0.000,0.026,2814,1940,777
$GC,10513,0.30,524.8,92.4,5.5,592,10557,0.15,2.53,35.05,0.634,4,0.061,0.034,2856,3347,593
$GC,10581,0.24,524.8,86.9,9.7,598,10586,0.12,2.40,0.00,0.000,6,0.092,0.025,2831,1952,594
$GC,10910,0.37,577.7,65.6,5.3,628,10953,0.12,2.53,34.22,0.599,4,0.064,0.033,2863,3357,420
$GC,11022,0.37,577.7,55.8,8.7,638,11027,0.00,2.42,0.00,0.000,6,0.000,0.025,2863,1940,419
$GC,11285,0.32,577.7,30.4,10.6,662,11286,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1940,420
$STATE,11545,end climb,SURFACE_DEPTH_REACHED
$STATE,11545,begin surface coast
$FINISH,1.2,1.023104
$STATE,11597,end surface coast,CONTROL_FINISHED_OK
$STATE,11597,begin surface
$SM_CCo,11681,0.00,0.000,0,0,422,566.89
$SM_GC,1.64,10.85,0.00,0.00,0.042,0.000,0.000,411,2074,422,-10.85,0.96,566.89
$IRIDIUM_FIX,2059.45,-15750.89,240198,080829
$TT8_MAMPS,0.027612
$HUMID,1736
$INTERNAL_PRESSURE,7.92023
$TCM_TEMP,24.40
$XPDR_PINGS,9
$24V_AH,23.8,38.687
$10V_AH,10.2,23.636
$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,28.500,131.875,573.950,0.000,0.000,22.965,29.361,177.050,11.250,0.000,0.000,12.718,1313.411,7794.895,613.839,1769.060,556.702,33.365,1515.074,0.000,1732.766,0.000,57.436
$DEVICE_MAMPS,158.769,56.758,913.497,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,477.184,475.368,856.390,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38076,717
$CAP_FILE_SIZE,111513,0
$CFSIZE,260165632,242548736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,301008,152703,2109.758,-15749.155,7,1.5,7,9.8