version: 66.03
glider: 114
mission: 3
dive: 286
start: 10 31 108 21 44 49
data:
$ID,114
$MISSION,3
$DIVE,286
$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,-597230.62
$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,58
$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
$GPS1,213708,2105.292,-15748.273,28,1.0,28,9.8
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-59.3
$GPS2,214350,2105.305,-15748.280,10,1.1,15,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,0.075,0.220
$KALMAN_X,-95193.8,452.1,685.3,103193.0,-1511.6
$KALMAN_Y,-80279.6,-58.1,463.2,59000.3,-1361.3
$MHEAD_RNG_PITCHd_Wd,8.9,9188,-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,-165.5,0.0,0.0,0,111,0.00,0.00,-80.97,0.000,2,0.000,0.000,411,2075,2865
$GC,115,-1.06,-165.5,3.6,-4.0,15,145,11.95,2.55,-8.85,0.000,4,0.157,0.047,2537,636,3410
$GC,187,-1.16,-165.5,18.2,-10.2,27,193,0.00,2.33,0.00,0.000,6,0.000,0.021,2537,2027,3410
$GC,459,-1.23,-165.5,39.4,-7.8,65,463,0.12,2.42,0.00,0.000,4,0.061,0.033,2508,3440,3410
$GC,567,-1.34,-165.5,51.0,-10.8,74,571,0.00,2.38,0.00,0.000,6,0.000,0.023,2507,2034,3410
$GC,830,-1.38,-165.5,77.6,-9.3,98,834,0.12,2.42,0.00,0.000,4,0.058,0.032,2475,3440,3410
$GC,905,-1.42,-165.5,84.8,-8.6,104,909,0.00,2.38,0.00,0.000,6,0.000,0.023,2475,2028,3410
$GC,1230,-1.42,-165.5,114.5,-8.2,134,1234,0.00,2.42,0.00,0.000,4,0.000,0.033,2474,3436,3410
$GC,1294,-1.46,-165.5,119.8,-8.1,139,1302,0.00,2.35,0.00,0.000,6,0.000,0.023,2475,2040,3410
$GC,1627,-1.46,-165.5,153.1,-10.2,170,1631,0.00,2.40,0.00,0.000,4,0.000,0.033,2475,3436,3410
$GC,1691,-1.54,-165.5,158.7,-8.0,175,1696,0.15,2.35,0.00,0.000,6,0.058,0.024,2438,2042,3410
$GC,2017,-1.50,-165.5,184.2,-7.3,205,2019,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2042,3410
$GC,2332,-1.50,-165.5,209.7,-8.8,230,2340,0.00,2.42,0.00,0.000,4,0.000,0.035,2438,3447,3410
$GC,2396,-1.50,-165.5,215.6,-8.8,232,2403,0.00,2.38,0.00,0.000,6,0.000,0.025,2438,2033,3411
$GC,2713,-1.50,-165.5,239.5,-7.4,248,2717,0.00,2.45,0.00,0.000,4,0.000,0.035,2438,3447,3410
$GC,2782,-1.55,-165.5,244.9,-7.0,251,2786,0.00,2.40,0.00,0.000,6,0.000,0.025,2438,2030,3410
$GC,3109,-1.55,-165.5,272.0,-8.6,267,3110,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2029,3410
$GC,3418,-1.55,-165.5,298.5,-8.4,282,3419,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2029,3410
$GC,3725,-1.59,-165.5,322.9,-7.5,290,3729,0.00,2.45,0.00,0.000,4,0.000,0.038,2439,3432,3407
$GC,3758,-1.63,-165.5,325.4,-6.9,290,3764,0.00,2.38,0.00,0.000,6,0.000,0.028,2438,2041,3407
$GC,4091,-1.67,-165.5,345.1,-5.8,299,4096,0.00,2.45,0.00,0.000,4,0.000,0.039,2439,3442,3404
$GC,4172,-1.74,-165.5,350.3,-6.6,300,4178,0.17,2.40,0.00,0.000,6,0.065,0.030,2399,2042,3403
$GC,4504,-1.74,-165.5,377.4,-8.3,309,4505,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,2041,3401
$GC,4829,-1.74,-165.5,410.2,-10.6,317,4833,0.00,2.45,0.00,0.000,4,0.000,0.039,2399,3442,3398
$GC,4886,-1.74,-165.5,416.4,-10.7,318,4890,0.00,2.42,0.00,0.000,6,0.000,0.031,2399,2034,3398
$GC,5199,-1.74,-165.5,444.2,-8.2,326,5204,0.00,2.47,0.00,0.000,4,0.000,0.042,2399,3437,3397
$GC,5261,-1.74,-165.5,449.2,-7.7,327,5265,0.00,2.42,0.00,0.000,6,0.000,0.031,2399,2032,3396
$STATE,5276,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5276,begin apogee
$GC,5284,-0.33,0.0,450.4,7.5,328,5417,1.48,0.00,128.88,0.922,6,0.099,0.000,2703,1929,2733
$STATE,5418,end apogee,CONTROL_FINISHED_OK
$STATE,5418,begin climb
$GC,5421,1.06,165.5,455.1,0.0,331,5560,1.40,2.55,130.12,0.901,4,0.049,0.052,3009,547,2058
$GC,5742,0.51,165.5,434.3,10.8,339,5747,0.62,2.42,0.00,0.000,6,0.129,0.028,2896,1948,2057
$GC,6068,0.32,222.9,417.6,5.1,347,6118,0.20,2.55,44.47,0.897,4,0.126,0.044,2857,3350,1824
$GC,6184,0.15,222.9,410.9,7.6,349,6189,0.20,2.45,0.00,0.000,6,0.117,0.034,2818,1958,1824
$GC,6516,0.05,222.9,387.5,7.0,357,6518,0.15,0.00,0.00,0.000,6,0.117,0.000,2791,1958,1822
$GC,6841,0.12,291.9,371.5,4.8,365,6900,0.00,2.62,53.97,0.900,4,0.000,0.053,2791,543,1543
$GC,6931,0.09,299.7,366.2,6.6,367,6945,0.00,2.47,6.90,0.869,6,0.000,0.030,2791,1960,1510
$GC,7254,0.05,299.7,345.2,6.9,375,7258,0.00,2.47,0.00,0.000,4,0.000,0.044,2791,3352,1510
$GC,7310,0.05,299.7,340.6,8.5,376,7314,0.00,2.47,0.00,0.000,6,0.000,0.032,2789,1941,1510
$GC,7658,0.09,324.1,316.3,6.1,385,7682,0.00,2.58,19.17,0.872,4,0.000,0.041,2791,3355,1411
$GC,7752,0.11,332.5,310.5,6.6,387,7766,0.00,2.47,7.38,0.857,6,0.000,0.031,2791,1943,1376
$GC,8077,0.13,347.5,289.4,6.4,398,8099,0.00,2.60,12.18,0.856,4,0.000,0.039,2792,3354,1316
$GC,8111,0.23,402.9,287.5,5.2,399,8164,0.17,2.47,44.00,0.849,6,0.073,0.030,2828,1942,1089
$GC,8476,0.15,402.9,263.2,7.1,417,8480,0.00,2.50,0.00,0.000,4,0.000,0.038,2829,3353,1088
$GC,8505,0.07,402.9,260.5,8.7,418,8510,0.15,2.45,0.00,0.000,6,0.104,0.030,2800,1947,1089
$GC,8827,0.11,424.2,240.5,6.2,434,8849,0.00,2.58,16.90,0.805,4,0.000,0.037,2800,3353,1003
$GC,8888,0.11,424.2,236.2,7.2,436,8895,0.00,2.45,0.00,0.000,6,0.000,0.029,2800,1943,1003
$GC,9205,0.11,424.2,215.5,7.3,452,9209,0.00,2.47,0.00,0.000,4,0.000,0.036,2800,3353,1003
$GC,9238,0.11,424.2,212.7,7.9,453,9244,0.00,2.42,0.00,0.000,6,0.000,0.028,2800,1950,1003
$GC,9559,0.15,446.4,191.7,6.2,475,9581,0.00,2.58,17.85,0.755,4,0.000,0.035,2799,3364,913
$GC,9629,0.20,446.4,186.3,7.8,481,9634,0.10,2.47,0.00,0.000,6,0.079,0.028,2822,1937,913
$GC,9955,0.16,446.4,155.6,7.5,511,9956,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1937,913
$GC,10277,0.12,446.4,134.9,6.8,541,10281,0.00,2.45,0.00,0.000,4,0.000,0.034,2823,3354,913
$GC,10323,0.12,446.4,131.6,7.0,545,10327,0.00,2.42,0.00,0.000,6,0.000,0.027,2822,1940,913
$GC,10653,0.13,448.9,109.7,6.7,575,10665,0.00,2.50,3.12,0.669,4,0.000,0.035,2822,3347,902
$GC,10694,0.13,448.9,106.0,8.4,578,10701,0.00,2.40,0.00,0.000,6,0.000,0.026,2822,1938,903
$GC,11022,0.19,486.2,82.7,5.7,609,11056,0.00,2.58,28.65,0.635,4,0.000,0.033,2822,3364,750
$GC,11085,0.24,492.4,78.5,6.6,614,11096,0.00,2.42,5.75,0.634,6,0.000,0.025,2822,1948,724
$GC,11357,0.34,504.1,59.3,6.5,639,11373,0.15,2.50,10.00,0.614,4,0.059,0.033,2865,3365,677
$GC,11402,0.34,504.1,55.4,8.9,642,11408,0.00,2.42,0.00,0.000,6,0.000,0.025,2865,1946,678
$GC,11664,0.34,504.1,33.3,9.0,667,11665,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,1946,679
$GC,11932,0.31,504.1,10.2,7.9,711,11938,0.00,2.42,0.00,0.000,4,0.000,0.042,2865,3357,680
$GC,11985,0.31,504.1,5.2,9.5,720,11992,0.00,2.38,0.00,0.000,6,0.000,0.028,2864,1941,680
$STATE,11996,end climb,SURFACE_DEPTH_REACHED
$STATE,11996,begin surface coast
$FINISH,1.1,1.023103
$STATE,12059,end surface coast,CONTROL_FINISHED_OK
$STATE,12059,begin surface
$SM_CCo,12143,0.00,0.000,0,0,681,503.60
$SM_GC,1.50,10.80,0.00,0.00,0.039,0.000,0.000,406,2084,681,-10.87,1.24,503.60
$IRIDIUM_FIX,2054.83,-15746.61,250198,181802
$TT8_MAMPS,0.027612
$HUMID,1741
$INTERNAL_PRESSURE,7.93976
$TCM_TEMP,24.50
$XPDR_PINGS,17
$24V_AH,23.8,40.074
$10V_AH,10.2,24.482
$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,27.950,128.000,529.350,0.000,0.000,28.723,27.680,205.242,13.250,0.000,0.000,16.896,1340.259,8251.611,598.220,1761.746,596.742,33.366,1484.437,0.000,1722.961,0.000,57.450
$DEVICE_MAMPS,157.235,52.923,921.934,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,488.481,476.683,866.796,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38016,733
$CAP_FILE_SIZE,112413,0
$CFSIZE,260165632,241954816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011108,010902,2106.222,-15748.374,71,0.9,71,9.8