version: 66.03
glider: 114
mission: 3
dive: 288
start: 11 1 108 4 53 49
data:
$ID,114
$MISSION,3
$DIVE,288
$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,-597258.25
$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,71
$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
$GPS1,044008,2106.307,-15748.121,27,1.4,27,9.8
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-61.6
$GPS2,045250,2106.346,-15748.335,8,1.4,13,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,-0.085,0.216
$KALMAN_X,-96598.1,-381.0,-858.5,106873.7,-102.5
$KALMAN_Y,-81797.9,-91.1,-420.8,63364.7,37.2
$MHEAD_RNG_PITCHd_Wd,328.7,7352,-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,-165.5,0.0,0.0,0,105,0.00,0.00,-75.32,0.000,2,0.000,0.000,410,2093,2889
$GC,109,-1.06,-165.5,3.6,-4.4,14,133,11.95,0.00,-8.23,0.000,6,0.157,0.000,2541,2095,3410
$GC,408,-1.12,-165.5,35.6,-7.6,61,412,0.00,2.25,0.00,0.000,4,0.000,0.034,2541,3405,3410
$GC,472,-1.26,-165.5,40.0,-6.5,66,477,0.17,2.33,0.00,0.000,6,0.052,0.022,2498,2025,3410
$GC,734,-1.26,-165.5,65.4,-8.8,90,738,0.00,2.38,0.00,0.000,4,0.000,0.034,2498,3415,3410
$GC,796,-1.33,-165.5,70.9,-8.3,95,802,0.00,2.30,0.00,0.000,6,0.000,0.022,2498,2038,3410
$GC,1058,-1.37,-165.5,92.9,-8.4,120,1062,0.00,2.35,0.00,0.000,4,0.000,0.032,2498,3406,3410
$GC,1088,-1.41,-165.5,95.4,-8.5,122,1092,0.12,2.30,0.00,0.000,6,0.059,0.023,2466,2038,3410
$GC,1414,-1.41,-165.5,123.8,-8.5,152,1418,0.00,2.38,0.00,0.000,4,0.000,0.033,2466,3418,3410
$GC,1466,-1.41,-165.5,128.3,-8.3,156,1470,0.00,2.33,0.00,0.000,6,0.000,0.023,2466,2036,3410
$GC,1792,-1.41,-165.5,156.7,-9.0,186,1796,0.00,2.38,0.00,0.000,4,0.000,0.033,2466,3416,3410
$GC,1856,-1.49,-165.5,162.9,-10.0,191,1860,0.00,2.33,0.00,0.000,6,0.000,0.024,2466,2037,3410
$GC,2182,-1.49,-165.5,191.8,-8.7,221,2186,0.00,2.38,0.00,0.000,4,0.000,0.034,2466,3416,3410
$GC,2257,-1.56,-165.5,198.5,-8.9,227,2262,0.12,2.33,0.00,0.000,6,0.062,0.024,2435,2036,3410
$GC,2584,-1.56,-165.5,227.5,-7.3,243,2588,0.00,2.38,0.00,0.000,4,0.000,0.035,2435,3413,3410
$GC,2640,-1.59,-165.5,232.0,-7.5,245,2646,0.00,2.33,0.00,0.000,6,0.000,0.025,2435,2032,3410
$GC,2957,-1.59,-165.5,254.6,-6.6,261,2961,0.00,2.38,0.00,0.000,4,0.000,0.036,2435,3407,3410
$GC,3002,-1.64,-165.5,257.6,-6.2,263,3007,0.00,2.33,0.00,0.000,6,0.000,0.026,2435,2031,3410
$GC,3325,-1.64,-165.5,279.6,-7.9,279,3329,0.00,2.40,0.00,0.000,4,0.000,0.037,2435,3413,3408
$GC,3352,-1.64,-165.5,282.0,-8.6,280,3356,0.00,2.33,0.00,0.000,6,0.000,0.026,2435,2042,3408
$GC,3693,-1.64,-165.5,311.5,-8.6,294,3697,0.00,2.38,0.00,0.000,4,0.000,0.038,2435,3404,3406
$GC,3783,-1.70,-165.5,319.5,-8.4,296,3788,0.12,2.33,0.00,0.000,6,0.067,0.028,2406,2043,3405
$GC,4102,-1.70,-165.5,346.6,-8.1,304,4103,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,2042,3403
$GC,4428,-1.70,-165.5,373.9,-8.5,312,4433,0.00,2.40,0.00,0.000,4,0.000,0.041,2406,3411,3400
$GC,4485,-1.70,-165.5,379.0,-8.7,313,4489,0.00,2.35,0.00,0.000,6,0.000,0.030,2406,2040,3400
$GC,4833,-1.70,-165.5,409.3,-8.9,322,4834,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,2039,3397
$GC,5158,-1.70,-165.5,437.9,-8.9,330,5162,0.00,2.47,0.00,0.000,4,0.000,0.048,2406,631,3394
$GC,5198,-1.74,-165.5,441.4,-8.6,331,5202,0.00,2.35,0.00,0.000,6,0.000,0.031,2406,1997,3394
$STATE,5323,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5323,begin apogee
$GC,5331,-0.33,0.0,452.7,9.0,334,5464,1.45,0.00,128.62,0.928,6,0.088,0.000,2706,1935,2733
$STATE,5464,end apogee,CONTROL_FINISHED_OK
$STATE,5464,begin climb
$GC,5468,1.06,165.5,459.6,0.0,337,5608,1.35,2.65,130.30,0.903,4,0.049,0.043,3007,3359,2058
$GC,5696,0.53,165.5,452.3,11.7,342,5702,0.60,2.47,0.00,0.000,6,0.132,0.034,2898,1960,2057
$GC,6046,0.25,165.5,426.5,7.0,351,6051,0.30,2.58,0.00,0.000,4,0.120,0.054,2838,543,2056
$GC,6179,0.08,179.2,418.4,6.4,354,6196,0.22,2.47,11.02,0.903,6,0.117,0.031,2797,1964,2002
$GC,6505,0.15,263.1,402.9,4.3,362,6573,0.00,0.00,66.07,0.916,6,0.000,0.000,2797,1964,1660
$GC,6870,0.17,309.4,383.9,5.5,371,6912,0.00,2.58,36.47,0.902,4,0.000,0.044,2798,3351,1470
$GC,6935,0.14,328.0,379.8,6.3,372,6957,0.00,2.50,15.35,0.887,6,0.000,0.035,2797,1941,1394
$GC,7283,0.09,333.0,355.9,6.7,381,7292,0.00,2.55,4.45,0.858,4,0.000,0.042,2798,3353,1375
$GC,7355,0.14,359.9,351.1,6.0,382,7384,0.00,2.47,21.88,0.890,6,0.000,0.034,2797,1941,1265
$GC,7700,0.12,373.1,329.4,6.4,391,7716,0.00,2.55,11.23,0.882,4,0.000,0.041,2798,3353,1210
$GC,7762,0.12,373.1,325.0,7.4,392,7766,0.00,2.47,0.00,0.000,6,0.000,0.033,2796,1946,1210
$GC,8105,0.08,373.1,296.5,9.0,401,8109,0.00,2.50,0.00,0.000,4,0.000,0.040,2798,3353,1210
$GC,8162,0.08,373.1,291.4,8.5,403,8168,0.00,2.45,0.00,0.000,6,0.000,0.032,2797,1950,1210
$GC,8479,0.10,380.9,268.9,6.6,419,8488,0.00,0.00,6.72,0.841,6,0.000,0.000,2797,1950,1180
$GC,8788,0.10,380.9,246.3,8.2,434,8792,0.00,2.47,0.00,0.000,4,0.000,0.038,2798,3354,1180
$GC,8832,0.10,380.9,242.2,8.6,436,8836,0.00,2.45,0.00,0.000,6,0.000,0.030,2797,1942,1180
$GC,9160,0.18,430.2,218.4,5.4,452,9205,0.10,2.58,38.45,0.798,4,0.078,0.037,2821,3354,979
$GC,9258,0.18,430.2,212.2,7.3,456,9262,0.00,2.45,0.00,0.000,6,0.000,0.030,2821,1952,979
$GC,9579,0.15,430.2,188.7,7.9,478,9580,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1953,979
$GC,9897,0.19,454.8,166.3,6.1,508,9921,0.00,2.53,19.70,0.736,4,0.000,0.035,2821,3362,879
$GC,9991,0.26,497.3,160.1,5.6,516,10031,0.00,2.45,33.40,0.723,6,0.000,0.028,2821,1940,704
$GC,10359,0.26,497.3,135.7,7.3,551,10363,0.00,2.47,0.00,0.000,4,0.000,0.035,2821,3360,707
$GC,10405,0.26,497.3,132.5,7.1,555,10409,0.00,2.45,0.00,0.000,6,0.000,0.027,2821,1937,706
$GC,10731,0.26,497.3,110.3,7.8,585,10735,0.00,2.47,0.00,0.000,4,0.000,0.035,2821,3359,708
$GC,10760,0.26,497.3,107.7,8.7,587,10765,0.00,2.42,0.00,0.000,6,0.000,0.025,2821,1944,708
$GC,11089,0.42,561.0,83.5,4.9,617,11146,0.20,2.53,50.72,0.619,4,0.056,0.035,2873,3364,444
$GC,11177,0.35,561.0,75.6,11.7,625,11181,0.00,2.45,0.00,0.000,6,0.000,0.025,2873,1943,444
$GC,11440,0.27,561.0,45.9,11.0,649,11445,0.15,2.45,0.00,0.000,4,0.094,0.041,2839,548,445
$GC,11458,0.23,561.0,44.1,10.3,650,11462,0.00,2.40,0.00,0.000,6,0.000,0.022,2839,1971,445
$GC,11728,0.30,579.5,26.5,6.3,678,11740,0.00,2.38,5.72,0.578,4,0.000,0.032,2840,3348,419
$GC,11771,0.36,579.5,22.7,8.3,685,11777,0.00,2.38,0.00,0.000,6,0.000,0.024,2839,1940,419
$STATE,11979,end climb,SURFACE_DEPTH_REACHED
$STATE,11979,begin surface coast
$FINISH,0.9,1.020873
$STATE,12042,end surface coast,CONTROL_FINISHED_OK
$STATE,12042,begin surface
$SM_CCo,12126,0.00,0.000,0,0,420,567.38
$SM_GC,1.47,10.73,0.00,0.00,0.040,0.000,0.000,407,2055,420,-10.87,0.42,567.38
$IRIDIUM_FIX,2057.14,-15746.61,260198,040455
$TT8_MAMPS,0.027612
$HUMID,1740
$INTERNAL_PRESSURE,7.92023
$TCM_TEMP,24.60
$XPDR_PINGS,13
$24V_AH,23.8,40.393
$10V_AH,10.2,24.657
$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,27.600,126.225,580.125,0.000,0.000,71.587,106.390,303.626,12.250,0.000,0.000,14.949,1337.843,8357.986,620.986,1745.650,828.858,33.380,1496.069,0.000,1710.066,0.000,57.449
$DEVICE_MAMPS,157.235,72.865,928.070,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,489.066,483.422,861.635,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38008,733
$CAP_FILE_SIZE,114502,0
$CFSIZE,260165632,241831936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011108,081738,2107.764,-15748.835,64,1.1,64,9.8