version: 66.03
glider: 114
mission: 3
dive: 306
start: 11 3 108 17 55 18
data:
$ID,114
$MISSION,3
$DIVE,306
$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,-597594.69
$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,33
$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
$GPS1,174608,2109.985,-15750.010,36,1.5,36,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-63.3
$GPS2,175421,2110.010,-15750.071,13,1.4,13,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.100,-0.210
$KALMAN_X,-99607.2,516.7,-637.1,105772.0,125.7
$KALMAN_Y,-92860.8,386.8,-72.8,80385.7,-1057.1
$MHEAD_RNG_PITCHd_Wd,144.7,15257,-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,-165.5,0.0,0.0,0,91,0.00,0.00,-59.70,0.000,2,0.000,0.000,409,2035,2902
$GC,96,-1.06,-165.5,3.5,-4.4,11,126,11.88,2.50,-8.23,0.000,4,0.153,0.047,2540,630,3411
$GC,173,-1.23,-165.5,18.7,-8.9,24,180,0.12,2.38,0.00,0.000,6,0.057,0.021,2508,2051,3410
$GC,448,-1.23,-165.5,47.6,-10.8,59,452,0.00,2.38,0.00,0.000,4,0.000,0.036,2508,3433,3410
$GC,580,-1.29,-165.5,60.6,-9.7,70,584,0.00,2.35,0.00,0.000,6,0.000,0.022,2508,2033,3411
$GC,842,-1.34,-165.5,83.2,-7.1,94,846,0.00,2.42,0.00,0.000,4,0.000,0.033,2508,3443,3410
$GC,922,-1.45,-165.5,89.6,-7.2,100,928,0.20,2.35,0.00,0.000,6,0.051,0.023,2459,2034,3410
$GC,1248,-1.42,-165.5,123.2,-9.0,131,1249,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,2034,3411
$GC,1569,-1.42,-165.5,150.8,-9.2,161,1574,0.00,2.42,0.00,0.000,4,0.000,0.034,2459,3443,3411
$GC,1637,-1.45,-165.5,157.8,-9.2,166,1644,0.00,2.35,0.00,0.000,6,0.000,0.023,2459,2034,3411
$GC,1963,-1.45,-165.5,186.4,-6.6,197,1967,0.00,2.40,0.00,0.000,4,0.000,0.038,2459,638,3411
$GC,1987,-1.50,-165.5,188.0,-6.7,198,1993,0.00,2.35,0.00,0.000,6,0.000,0.024,2460,2043,3411
$GC,2312,-1.53,-165.5,209.7,-7.5,223,2317,0.00,2.40,0.00,0.000,4,0.000,0.037,2459,3443,3411
$GC,2368,-1.60,-165.5,214.8,-8.2,225,2373,0.12,2.38,0.00,0.000,6,0.061,0.025,2428,2031,3411
$GC,2685,-1.60,-165.5,242.7,-9.1,240,2689,0.00,2.45,0.00,0.000,4,0.000,0.036,2428,3449,3411
$GC,2709,-1.60,-165.5,245.2,-10.5,241,2713,0.00,2.40,0.00,0.000,6,0.000,0.025,2428,2032,3411
$GC,3036,-1.60,-165.5,277.6,-9.2,257,3040,0.00,2.47,0.00,0.000,4,0.000,0.038,2427,3450,3410
$GC,3133,-1.64,-165.5,285.3,-7.6,261,3138,0.00,2.40,0.00,0.000,6,0.000,0.027,2427,2038,3410
$GC,3470,-1.64,-165.5,310.5,-7.8,274,3472,0.00,0.00,0.00,0.000,6,0.000,0.000,2428,2036,3408
$GC,3793,-1.64,-165.5,336.3,-7.8,282,3797,0.00,2.47,0.00,0.000,4,0.000,0.041,2427,3447,3405
$GC,3835,-1.69,-165.5,339.2,-7.4,283,3839,0.00,2.42,0.00,0.000,6,0.000,0.028,2427,2030,3405
$GC,4160,-1.69,-165.5,360.8,-6.2,291,4162,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2028,3402
$GC,4485,-1.69,-165.5,383.3,-7.2,299,4489,0.00,2.50,0.00,0.000,4,0.000,0.041,2427,3448,3400
$GC,4526,-1.74,-165.5,386.6,-8.1,300,4531,0.12,2.42,0.00,0.000,6,0.073,0.030,2400,2036,3399
$GC,4850,-1.74,-165.5,416.1,-9.2,308,4854,0.00,2.47,0.00,0.000,4,0.000,0.042,2400,3442,3398
$GC,4872,-1.74,-165.5,418.3,-10.0,308,4876,0.00,2.40,0.00,0.000,6,0.000,0.030,2400,2037,3398
$STATE,5212,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5213,begin apogee
$GC,5221,-0.33,0.0,451.7,10.1,317,5353,1.48,0.00,128.68,0.931,6,0.093,0.000,2704,1929,2733
$STATE,5354,end apogee,CONTROL_FINISHED_OK
$STATE,5354,begin climb
$GC,5358,1.06,165.5,458.7,0.0,320,5495,1.35,2.58,129.73,0.925,4,0.048,0.038,3005,3349,2057
$GC,5535,0.56,165.5,457.8,11.0,324,5540,0.55,2.45,0.00,0.000,6,0.134,0.031,2906,1959,2057
$GC,5884,0.27,165.5,428.1,8.5,333,5889,0.32,2.58,0.00,0.000,4,0.120,0.052,2842,538,2056
$GC,5952,0.07,165.5,423.1,6.9,334,5957,0.22,2.45,0.00,0.000,6,0.117,0.028,2801,1954,2056
$GC,6289,0.14,243.2,407.9,4.5,343,6355,0.00,2.53,60.28,0.912,4,0.000,0.044,2801,3351,1740
$GC,6373,0.17,299.2,403.8,5.2,345,6423,0.00,2.47,44.53,0.897,6,0.000,0.032,2799,1950,1512
$GC,6738,0.12,299.2,379.0,6.8,354,6742,0.00,2.50,0.00,0.000,4,0.000,0.042,2801,3347,1512
$GC,6795,0.08,302.5,375.2,6.7,355,6804,0.00,2.45,3.80,0.849,6,0.000,0.033,2800,1951,1498
$GC,7149,0.09,340.5,354.4,5.7,364,7181,0.00,0.00,29.98,0.897,6,0.000,0.000,2801,1951,1344
$GC,7474,0.07,353.1,333.4,6.4,372,7489,0.00,2.53,10.70,0.879,4,0.000,0.040,2801,3349,1292
$GC,7563,0.08,358.2,327.3,6.7,374,7573,0.00,2.45,5.03,0.861,6,0.000,0.031,2801,1951,1272
$GC,7882,0.04,358.2,305.5,7.1,382,7886,0.00,2.47,0.00,0.000,4,0.000,0.039,2801,3348,1272
$GC,7915,0.04,358.2,303.0,7.1,382,7921,0.00,2.45,0.00,0.000,6,0.000,0.031,2800,1941,1272
$GC,8231,0.05,379.1,283.6,6.2,397,8253,0.00,2.60,16.65,0.860,4,0.000,0.038,2801,3352,1187
$GC,8282,0.05,379.1,279.8,7.5,399,8286,0.00,2.47,0.00,0.000,6,0.000,0.031,2801,1939,1187
$GC,8606,0.05,379.1,256.1,7.0,415,8611,0.00,2.50,0.00,0.000,4,0.000,0.038,2801,3355,1187
$GC,8652,0.05,379.2,252.8,6.8,417,8656,0.00,2.45,0.00,0.000,6,0.000,0.030,2801,1944,1187
$GC,8974,0.05,379.2,229.4,7.8,433,8978,0.00,2.47,0.00,0.000,4,0.000,0.036,2801,3355,1187
$GC,9007,0.05,379.2,226.6,8.0,434,9014,0.00,2.42,0.00,0.000,6,0.000,0.029,2801,1948,1187
$GC,9323,0.05,379.2,204.4,7.1,450,9327,0.00,2.45,0.00,0.000,4,0.000,0.036,2801,3350,1187
$GC,9391,0.08,379.2,199.0,8.0,453,9397,0.00,2.42,0.00,0.000,6,0.000,0.028,2802,1941,1187
$GC,9719,0.14,414.0,177.9,5.8,484,9751,0.00,2.50,27.40,0.756,4,0.000,0.034,2801,3351,1045
$GC,9769,0.16,425.7,174.6,6.5,488,9786,0.00,2.42,10.02,0.749,6,0.000,0.027,2801,1950,997
$GC,10107,0.20,443.9,151.9,6.3,520,10129,0.00,2.50,14.75,0.723,4,0.000,0.034,2801,3355,923
$GC,10170,0.32,472.3,147.9,6.0,525,10198,0.22,2.42,22.33,0.716,6,0.058,0.026,2852,1946,806
$GC,10517,0.24,472.3,115.3,10.3,558,10518,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1946,807
$GC,10839,0.18,472.3,84.2,9.3,588,10843,0.15,2.45,0.00,0.000,4,0.095,0.033,2818,3357,808
$GC,10902,0.28,472.3,78.8,7.9,593,10907,0.10,2.40,0.00,0.000,6,0.072,0.025,2842,1947,809
$GC,11168,0.33,478.5,58.9,6.6,617,11176,0.00,0.00,6.25,0.626,6,0.000,0.000,2842,1947,781
$GC,11433,0.43,508.5,43.9,5.9,642,11466,0.12,2.53,22.80,0.601,4,0.061,0.031,2875,3353,660
$GC,11513,0.43,508.5,37.5,7.9,649,11518,0.00,2.40,0.00,0.000,6,0.000,0.024,2875,1950,662
$GC,11786,0.38,508.5,13.3,9.3,689,11792,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,1950,662
$STATE,11874,end climb,SURFACE_DEPTH_REACHED
$STATE,11875,begin surface coast
$FINISH,1.1,1.023049
$STATE,11946,end surface coast,CONTROL_FINISHED_OK
$STATE,11946,begin surface
$SM_CCo,12030,0.00,0.000,0,0,663,507.77
$SM_GC,1.68,10.93,0.00,0.00,0.043,0.000,0.000,410,2096,663,-10.85,1.55,507.77
$IRIDIUM_FIX,2101.76,-15748.75,280198,171749
$TT8_MAMPS,0.027612
$HUMID,1751
$INTERNAL_PRESSURE,7.95929
$TCM_TEMP,24.70
$XPDR_PINGS,9
$24V_AH,23.8,42.833
$10V_AH,10.2,26.159
$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,27.900,122.750,532.900,0.000,0.000,58.042,63.800,182.448,11.250,0.000,0.000,15.344,1309.753,8326.009,592.839,1661.817,638.456,33.367,1421.533,0.000,1632.165,0.000,60.257
$DEVICE_MAMPS,153.400,52.156,931.138,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,478.553,468.329,825.277,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38013,717
$CAP_FILE_SIZE,109340,0
$CFSIZE,260165632,240783360
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031108,211708,2108.366,-15749.194,41,1.1,41,9.8