version: 66.03
glider: 114
mission: 3
dive: 292
start: 11 1 108 18 17 49
data:
$ID,114
$MISSION,3
$DIVE,292
$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,-597337.88
$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,64
$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
$GPS1,181138,2110.326,-15749.095,32,1.3,32,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-63.1
$GPS2,181651,2110.336,-15749.116,10,1.8,10,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,-0.215,-0.013
$KALMAN_X,-95401.2,968.8,-709.2,102821.6,1326.8
$KALMAN_Y,-83857.9,313.5,143.5,71839.4,-451.8
$MHEAD_RNG_PITCHd_Wd,256.9,1648,-13.0,-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,-1.11,-136.2,0.0,0.0,0,88,0.00,0.00,-59.20,0.000,2,0.000,0.000,409,2059,2884
$GC,92,-1.16,-165.5,3.6,-4.2,11,122,11.82,2.38,-8.60,0.000,4,0.156,0.056,2518,3409,3410
$GC,234,-1.30,-165.5,25.7,-8.5,35,240,0.00,2.33,0.00,0.000,6,0.000,0.023,2518,2028,3410
$GC,507,-1.37,-165.5,51.8,-10.3,64,512,0.15,2.40,0.00,0.000,4,0.057,0.033,2478,3413,3410
$GC,593,-1.43,-165.5,61.7,-10.5,71,598,0.00,2.33,0.00,0.000,6,0.000,0.022,2477,2033,3410
$GC,855,-1.43,-165.5,89.9,-10.2,95,860,0.00,2.40,0.00,0.000,4,0.000,0.033,2477,3425,3410
$GC,878,-1.46,-165.5,92.3,-10.1,96,885,0.00,2.33,0.00,0.000,6,0.000,0.021,2477,2030,3410
$GC,1205,-1.52,-165.5,121.0,-6.8,127,1209,0.12,2.40,0.00,0.000,4,0.059,0.031,2444,3425,3411
$GC,1257,-1.55,-165.5,125.1,-8.0,131,1261,0.00,2.33,0.00,0.000,6,0.000,0.022,2445,2042,3411
$GC,1582,-1.55,-165.5,156.3,-11.5,161,1586,0.00,2.38,0.00,0.000,4,0.000,0.033,2444,3421,3411
$GC,1623,-1.59,-165.5,160.8,-10.2,164,1627,0.00,2.33,0.00,0.000,6,0.000,0.023,2445,2033,3411
$GC,1956,-1.64,-165.5,187.4,-8.4,195,1960,0.00,2.38,0.00,0.000,4,0.000,0.034,2444,3415,3411
$GC,2007,-1.73,-165.5,192.2,-8.6,199,2012,0.17,2.33,0.00,0.000,6,0.055,0.024,2401,2029,3410
$GC,2338,-1.73,-165.5,226.0,-10.4,218,2343,0.00,2.40,0.00,0.000,4,0.000,0.035,2401,3419,3411
$GC,2428,-1.73,-165.5,236.1,-11.6,222,2433,0.00,2.33,0.00,0.000,6,0.000,0.025,2401,2042,3411
$GC,2751,-1.73,-165.5,271.5,-10.9,238,2752,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2041,3411
$GC,3079,-1.73,-165.5,304.9,-9.9,253,3080,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2041,3410
$GC,3406,-1.73,-165.5,337.1,-9.9,261,3410,0.00,2.40,0.00,0.000,4,0.000,0.039,2401,3417,3408
$GC,3451,-1.78,-165.5,341.7,-9.7,262,3456,0.00,2.35,0.00,0.000,6,0.000,0.028,2401,2039,3408
$GC,3771,-1.78,-165.5,370.5,-8.6,270,3775,0.00,2.40,0.00,0.000,4,0.000,0.040,2401,3417,3405
$GC,3804,-1.78,-165.5,373.7,-9.4,270,3808,0.00,2.38,0.00,0.000,6,0.000,0.029,2401,2027,3405
$GC,4137,-1.78,-165.5,402.0,-7.9,278,4141,0.00,2.42,0.00,0.000,4,0.000,0.041,2401,3421,3402
$GC,4210,-1.84,-165.5,407.4,-6.8,279,4214,0.00,2.38,0.00,0.000,6,0.000,0.031,2402,2037,3402
$GC,4548,-1.84,-165.5,429.2,-6.6,288,4552,0.00,2.42,0.00,0.000,4,0.000,0.041,2402,3417,3399
$GC,4576,-1.87,-165.5,431.4,-7.1,288,4581,0.15,2.38,0.00,0.000,6,0.073,0.030,2369,2034,3399
$STATE,4785,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4785,begin apogee
$GC,4793,-0.33,0.0,451.8,10.0,293,4926,1.62,0.00,129.20,0.925,6,0.095,0.000,2704,1936,2733
$STATE,4927,end apogee,CONTROL_FINISHED_OK
$STATE,4927,begin climb
$GC,4931,1.16,165.5,458.5,0.0,296,5071,1.48,2.60,131.02,0.903,4,0.050,0.051,3031,557,2058
$GC,5083,0.62,165.5,460.5,8.7,299,5089,0.62,2.40,0.00,0.000,6,0.140,0.029,2920,1926,2058
$GC,5415,0.34,165.5,432.0,8.4,307,5420,0.32,2.50,0.00,0.000,4,0.120,0.052,2856,563,2056
$GC,5444,0.14,165.9,430.0,6.8,307,5449,0.22,2.42,0.00,0.000,6,0.115,0.031,2814,1961,2056
$GC,5777,0.25,263.9,417.1,3.3,315,5859,0.00,2.60,76.57,0.907,4,0.000,0.047,2814,3353,1657
$GC,5894,0.22,276.8,411.4,6.4,317,5910,0.00,2.45,10.90,0.884,6,0.000,0.034,2812,1968,1604
$GC,6230,0.17,276.8,387.4,7.5,326,6234,0.00,2.47,0.00,0.000,4,0.000,0.042,2814,3353,1603
$GC,6253,0.13,278.4,385.8,6.8,326,6257,0.00,2.47,0.00,0.000,6,0.000,0.033,2813,1942,1603
$GC,6595,0.08,278.4,361.0,7.7,335,6600,0.00,2.53,0.00,0.000,4,0.000,0.041,2814,3358,1602
$GC,6636,0.05,278.4,357.7,8.7,336,6641,0.00,2.47,0.00,0.000,6,0.000,0.032,2811,1947,1602
$GC,6962,0.01,278.4,331.9,8.1,344,6963,0.15,0.00,0.00,0.000,6,0.117,0.000,2785,1947,1600
$GC,7286,0.04,294.5,311.4,6.2,352,7305,0.00,2.53,13.88,0.876,4,0.000,0.040,2787,3353,1532
$GC,7353,0.09,294.5,307.0,6.9,353,7357,0.00,2.47,0.00,0.000,6,0.000,0.031,2785,1940,1531
$GC,7678,0.12,296.4,285.7,6.8,366,7679,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1939,1532
$GC,7988,0.16,296.4,264.2,6.8,381,7993,0.12,2.50,0.00,0.000,4,0.077,0.038,2815,3360,1531
$GC,8021,0.16,296.4,261.4,8.1,382,8028,0.00,2.45,0.00,0.000,6,0.000,0.031,2815,1944,1531
$GC,8338,0.19,312.1,240.7,6.3,398,8357,0.00,0.00,13.85,0.829,6,0.000,0.000,2814,1944,1459
$GC,8667,0.24,343.5,220.1,5.7,414,8697,0.00,2.55,24.90,0.804,4,0.000,0.037,2815,3363,1332
$GC,8765,0.27,343.5,213.1,7.8,418,8772,0.10,2.47,0.00,0.000,6,0.080,0.030,2837,1938,1332
$GC,9087,0.36,393.5,190.0,5.0,441,9133,0.00,2.58,39.08,0.766,4,0.000,0.048,2837,546,1127
$GC,9190,0.40,418.3,184.3,5.9,450,9219,0.12,2.42,19.80,0.755,6,0.071,0.026,2866,1961,1026
$GC,9538,0.33,418.3,148.2,11.2,483,9541,0.00,2.42,0.00,0.000,4,0.000,0.038,2867,3351,1027
$GC,9618,0.33,418.3,140.3,8.8,490,9622,0.00,2.42,0.00,0.000,6,0.000,0.028,2867,1948,1027
$GC,9952,0.28,418.3,111.7,10.3,521,9959,0.12,0.00,0.00,0.000,6,0.103,0.000,2844,1948,1027
$GC,10282,0.28,418.3,81.1,8.0,552,10286,0.00,2.42,0.00,0.000,4,0.000,0.033,2844,3348,1028
$GC,10323,0.33,418.3,77.5,8.8,555,10327,0.00,2.40,0.00,0.000,6,0.000,0.025,2844,1934,1028
$GC,10588,0.40,428.8,59.7,6.4,579,10600,0.10,0.00,9.38,0.618,6,0.071,0.000,2869,1934,984
$GC,10858,0.40,428.8,38.3,7.7,604,10862,0.00,2.42,0.00,0.000,4,0.000,0.032,2869,3349,985
$GC,10909,0.46,428.8,34.1,7.4,608,10915,0.00,2.38,0.00,0.000,6,0.000,0.025,2869,1946,985
$GC,11183,0.46,430.0,16.7,6.8,651,11189,0.00,2.42,0.00,0.000,4,0.000,0.032,2869,3359,986
$GC,11208,0.49,444.6,15.1,6.3,655,11227,0.00,2.38,12.77,0.571,6,0.000,0.024,2869,1947,919
$STATE,11363,end climb,SURFACE_DEPTH_REACHED
$STATE,11363,begin surface coast
$FINISH,1.0,1.023145
$STATE,11447,end surface coast,CONTROL_FINISHED_OK
$STATE,11447,begin surface
$SM_CCo,11531,0.00,0.000,0,0,919,444.97
$SM_GC,1.64,10.90,0.00,0.00,0.042,0.000,0.000,408,2081,919,-10.86,1.16,444.97
$IRIDIUM_FIX,2101.76,-15750.89,260198,151526
$TT8_MAMPS,0.027612
$HUMID,1743
$INTERNAL_PRESSURE,7.96906
$TCM_TEMP,24.70
$XPDR_PINGS,13
$24V_AH,23.8,40.892
$10V_AH,10.2,24.985
$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,28.325,116.575,481.350,0.000,0.000,23.845,28.491,138.660,12.250,0.000,0.000,14.141,1271.671,7958.845,549.051,1570.666,498.123,33.359,1330.109,0.000,1543.405,0.000,57.433
$DEVICE_MAMPS,155.701,55.991,925.002,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,465.057,461.747,826.942,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34903,697
$CAP_FILE_SIZE,103151,0
$CFSIZE,260165632,241623040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011108,213107,2110.083,-15750.077,12,1.1,28,9.8