version: 66.03
glider: 114
mission: 3
dive: 287
start: 11 1 108 1 19 53
data:
$ID,114
$MISSION,3
$DIVE,287
$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,-597242.69
$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,78
$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
$GPS1,010902,2106.222,-15748.374,71,0.9,71,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-63.8
$GPS2,011857,2106.145,-15748.460,9,1.6,9,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,0.204,0.111
$KALMAN_X,-95981.6,45.0,583.3,104175.9,-2877.4
$KALMAN_Y,-80991.5,-112.8,-121.2,61905.6,-977.8
$MHEAD_RNG_PITCHd_Wd,51.8,7619,-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,27,end surface,CONTROL_FINISHED_OK
$STATE,27,begin dive
$GC,31,-1.06,-165.5,0.0,0.0,0,104,0.00,0.00,-70.72,0.000,2,0.000,0.000,406,2085,2813
$GC,108,-1.06,-165.5,3.4,-4.1,13,138,11.95,2.33,-10.00,0.000,4,0.155,0.049,2542,3401,3411
$GC,168,-0.96,-165.5,16.4,-13.7,23,176,0.08,2.33,0.00,0.000,6,0.064,0.021,2571,2034,3411
$GC,445,-1.09,-165.5,34.0,-7.3,67,450,0.12,2.38,0.00,0.000,4,0.058,0.031,2538,3409,3411
$GC,501,-1.23,-165.5,39.2,-9.1,71,508,0.12,2.30,0.00,0.000,6,0.061,0.022,2507,2031,3411
$GC,763,-1.23,-165.5,66.2,-9.5,96,764,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2030,3410
$GC,1019,-1.29,-165.5,85.1,-5.6,120,1023,0.00,2.35,0.00,0.000,4,0.000,0.033,2507,3399,3411
$GC,1105,-1.42,-165.5,90.4,-6.4,127,1112,0.17,2.28,0.00,0.000,6,0.051,0.022,2464,2034,3411
$GC,1431,-1.42,-165.5,124.8,-11.1,158,1435,0.00,2.35,0.00,0.000,4,0.000,0.033,2463,3404,3411
$GC,1489,-1.42,-165.5,130.9,-10.2,163,1493,0.00,2.30,0.00,0.000,6,0.000,0.023,2464,2034,3411
$GC,1815,-1.42,-165.5,162.3,-11.2,193,1819,0.00,2.35,0.00,0.000,4,0.000,0.033,2464,3402,3411
$GC,1844,-1.42,-165.5,165.4,-10.8,195,1849,0.00,2.30,0.00,0.000,6,0.000,0.023,2464,2034,3411
$GC,2171,-1.45,-165.5,192.7,-7.3,225,2174,0.00,2.35,0.00,0.000,4,0.000,0.034,2464,3402,3411
$GC,2212,-1.51,-165.5,195.7,-7.2,228,2218,0.00,2.30,0.00,0.000,6,0.000,0.024,2464,2028,3411
$GC,2541,-1.56,-165.5,219.1,-6.7,247,2546,0.10,2.38,0.00,0.000,4,0.067,0.034,2437,3402,3411
$GC,2608,-1.56,-165.5,224.8,-8.5,250,2612,0.00,2.30,0.00,0.000,6,0.000,0.025,2437,2036,3411
$GC,2929,-1.56,-165.5,252.0,-8.0,266,2934,0.00,2.38,0.00,0.000,4,0.000,0.037,2437,3405,3411
$GC,2963,-1.56,-165.5,255.4,-8.4,267,2969,0.00,2.33,0.00,0.000,6,0.000,0.025,2437,2029,3411
$GC,3280,-1.56,-165.5,279.3,-6.8,283,3281,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2028,3410
$GC,3591,-1.56,-165.5,300.8,-7.4,298,3595,0.00,2.38,0.00,0.000,4,0.000,0.037,2437,3398,3410
$GC,3693,-1.62,-165.5,308.8,-7.4,300,3697,0.00,2.30,0.00,0.000,6,0.000,0.027,2437,2039,3409
$GC,4008,-1.65,-165.5,330.8,-6.8,308,4012,0.00,2.38,0.00,0.000,4,0.000,0.038,2437,3403,3407
$GC,4059,-1.70,-165.5,334.1,-6.1,309,4063,0.12,2.33,0.00,0.000,6,0.068,0.028,2408,2038,3406
$GC,4372,-1.70,-165.5,359.5,-8.7,317,4376,0.00,2.38,0.00,0.000,4,0.000,0.039,2408,3397,3404
$GC,4428,-1.70,-165.5,364.7,-9.4,318,4432,0.00,2.33,0.00,0.000,6,0.000,0.030,2408,2034,3403
$GC,4741,-1.70,-165.5,393.7,-9.1,326,4742,0.00,0.00,0.00,0.000,6,0.000,0.000,2408,2033,3402
$GC,5067,-1.70,-165.5,422.4,-9.0,334,5071,0.00,2.40,0.00,0.000,4,0.000,0.041,2408,3397,3399
$GC,5089,-1.70,-165.5,424.6,-9.1,334,5093,0.00,2.33,0.00,0.000,6,0.000,0.030,2408,2043,3399
$STATE,5424,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5424,begin apogee
$GC,5432,-0.33,0.0,450.6,7.6,343,5565,1.42,0.00,128.85,0.919,6,0.087,0.000,2704,1940,2733
$STATE,5566,end apogee,CONTROL_FINISHED_OK
$STATE,5566,begin climb
$GC,5569,1.06,165.5,455.4,0.0,346,5709,1.35,2.53,130.07,0.896,4,0.047,0.039,3006,3305,2058
$GC,5871,0.57,165.5,436.8,13.2,353,5876,0.55,2.38,0.00,0.000,6,0.174,0.033,2907,1961,2057
$GC,6197,0.27,165.5,409.1,8.3,361,6202,0.30,2.58,0.00,0.000,4,0.118,0.053,2846,541,2055
$GC,6254,0.08,165.5,404.6,7.4,362,6259,0.25,2.38,0.00,0.000,6,0.114,0.029,2799,1911,2055
$GC,6603,0.12,233.2,386.6,4.8,371,6662,0.00,2.65,51.90,0.896,4,0.000,0.042,2800,3350,1782
$GC,6739,0.07,233.2,378.2,7.1,374,6744,0.00,2.47,0.00,0.000,6,0.000,0.034,2799,1947,1781
$GC,7059,0.01,233.2,355.3,7.1,382,7063,0.00,2.50,0.00,0.000,4,0.000,0.040,2800,3353,1780
$GC,7087,-0.05,233.2,353.2,6.8,382,7092,0.15,2.47,0.00,0.000,6,0.109,0.032,2772,1938,1780
$GC,7419,0.07,301.7,336.6,4.8,390,7479,0.10,2.60,53.22,0.876,4,0.082,0.039,2794,3353,1502
$GC,7514,0.04,301.7,330.0,8.1,392,7518,0.00,2.47,0.00,0.000,6,0.000,0.031,2794,1945,1503
$GC,7828,0.01,302.9,307.9,6.8,400,7832,0.00,2.50,0.00,0.000,4,0.000,0.039,2794,3354,1502
$GC,7889,0.02,309.6,303.5,6.6,401,7903,0.00,2.47,7.00,0.844,6,0.000,0.032,2794,1939,1469
$GC,8220,0.18,397.8,287.4,4.2,416,8297,0.10,2.62,68.35,0.842,4,0.084,0.038,2817,3360,1111
$GC,8320,0.12,397.8,281.0,7.9,420,8327,0.00,2.47,0.00,0.000,6,0.000,0.031,2816,1946,1111
$GC,8637,0.06,397.8,253.1,9.4,436,8642,0.12,2.50,0.00,0.000,4,0.106,0.037,2794,3355,1110
$GC,8665,0.06,397.8,250.6,7.8,437,8669,0.00,2.45,0.00,0.000,6,0.000,0.030,2794,1950,1111
$GC,8981,0.06,397.8,227.9,6.8,452,8982,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,1949,1111
$GC,9291,0.19,467.3,210.0,4.8,467,9354,0.12,2.55,54.42,0.769,4,0.074,0.036,2822,3365,827
$GC,9407,0.19,467.3,202.4,6.9,472,9412,0.00,2.47,0.00,0.000,6,0.000,0.028,2823,1943,826
$GC,9740,0.13,467.3,174.9,9.5,501,9744,0.00,2.47,0.00,0.000,4,0.000,0.035,2822,3354,827
$GC,9771,0.09,467.3,171.7,10.0,503,9776,0.12,2.45,0.00,0.000,6,0.098,0.027,2799,1934,827
$GC,10097,0.13,467.3,144.5,8.5,533,10101,0.00,2.47,0.00,0.000,4,0.000,0.034,2799,3356,827
$GC,10126,0.18,467.3,142.0,8.7,535,10131,0.00,2.42,0.00,0.000,6,0.000,0.025,2799,1936,827
$GC,10453,0.23,467.3,116.9,8.0,565,10457,0.15,2.47,0.00,0.000,4,0.061,0.033,2840,3362,827
$GC,10497,0.23,467.3,112.7,9.6,568,10504,0.00,2.40,0.00,0.000,6,0.000,0.026,2840,1953,827
$GC,10827,0.23,467.3,84.2,9.4,599,10831,0.00,2.45,0.00,0.000,4,0.000,0.034,2840,3366,827
$GC,10861,0.23,467.3,81.1,7.7,601,10867,0.00,2.42,0.00,0.000,6,0.000,0.025,2840,1934,828
$GC,11191,0.27,489.3,57.5,6.2,632,11214,0.00,2.55,17.67,0.607,4,0.000,0.031,2840,3357,737
$GC,11266,0.42,524.6,53.1,5.8,638,11299,0.15,2.40,27.38,0.596,6,0.062,0.024,2876,1945,593
$GC,11557,0.36,524.6,26.2,11.4,667,11564,0.00,2.45,0.00,0.000,4,0.000,0.034,2876,3361,597
$GC,11594,0.31,524.6,22.3,10.8,673,11601,0.15,2.40,0.00,0.000,6,0.090,0.024,2846,1949,597
$STATE,11797,end climb,SURFACE_DEPTH_REACHED
$STATE,11797,begin surface coast
$FINISH,1.0,1.008438
$STATE,11866,end surface coast,CONTROL_FINISHED_OK
$STATE,11866,begin surface
$SM_CCo,11949,0.00,0.000,0,0,597,523.96
$SM_GC,1.68,10.82,0.00,0.00,0.044,0.000,0.000,410,2096,597,-10.86,1.58,523.96
$IRIDIUM_FIX,2057.14,-15756.91,260198,010104
$TT8_MAMPS,0.027612
$HUMID,1756
$INTERNAL_PRESSURE,7.93976
$TCM_TEMP,24.60
$XPDR_PINGS,10
$24V_AH,23.8,40.226
$10V_AH,10.2,24.569
$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,28.550,130.850,538.875,0.000,0.000,55.869,105.169,234.092,11.500,0.000,0.000,11.441,1328.409,8162.451,580.638,1731.866,741.572,33.373,1467.447,0.000,1704.292,0.000,57.439
$DEVICE_MAMPS,174.109,52.923,918.866,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,480.682,479.385,853.121,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38006,721
$CAP_FILE_SIZE,114105,0
$CFSIZE,260165632,241893376
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011108,044008,2106.307,-15748.121,27,1.4,27,9.8