version: 66.03
glider: 114
mission: 3
dive: 314
start: 11 4 108 20 34 29
data:
$ID,114
$MISSION,3
$DIVE,314
$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,-597747.62
$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,34
$R_STBD_OVSHOOT,65
$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
$GPS1,202755,2105.033,-15746.480,24,1.1,42,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-62.9
$GPS2,203333,2105.064,-15746.459,10,2.0,10,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,-0.061,0.224
$KALMAN_X,-105726.9,977.7,-338.9,117360.9,-604.3
$KALMAN_Y,-97997.3,325.9,118.0,76226.7,-857.5
$MHEAD_RNG_PITCHd_Wd,335.1,10997,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,28,-1.06,-165.5,0.0,0.0,0,101,0.00,0.00,-70.45,0.000,2,0.000,0.000,409,2072,2924
$GC,105,-1.06,-165.5,3.8,-4.7,13,130,11.95,2.40,-7.72,0.000,4,0.156,0.049,2540,3419,3411
$GC,189,-1.13,-165.5,20.6,-9.8,27,195,0.00,2.35,0.00,0.000,6,0.000,0.023,2540,2025,3411
$GC,462,-1.19,-165.5,44.8,-9.2,61,466,0.00,2.40,0.00,0.000,4,0.000,0.033,2540,3413,3411
$GC,536,-1.33,-165.5,52.3,-9.9,67,541,0.22,2.33,0.00,0.000,6,0.049,0.022,2487,2030,3411
$GC,799,-1.33,-165.5,83.2,-10.8,91,803,0.00,2.40,0.00,0.000,4,0.000,0.037,2487,637,3411
$GC,844,-1.43,-165.5,88.3,-10.6,94,850,0.00,2.33,0.00,0.000,6,0.000,0.021,2486,2039,3410
$GC,1170,-1.43,-165.5,119.6,-8.0,125,1175,0.00,2.40,0.00,0.000,4,0.000,0.034,2486,3442,3410
$GC,1244,-1.51,-165.5,124.9,-7.0,131,1251,0.15,2.35,0.00,0.000,6,0.055,0.023,2450,2037,3411
$GC,1570,-1.51,-165.5,155.9,-10.3,162,1574,0.00,2.40,0.00,0.000,4,0.000,0.038,2450,640,3411
$GC,1592,-1.51,-165.5,158.4,-10.6,163,1598,0.00,2.35,0.00,0.000,6,0.000,0.022,2450,2045,3411
$GC,1917,-1.51,-165.5,189.3,-8.3,194,1921,0.00,2.40,0.00,0.000,4,0.000,0.035,2450,3448,3411
$GC,1996,-1.55,-165.5,196.2,-8.5,200,2003,0.00,2.38,0.00,0.000,6,0.000,0.025,2449,2033,3411
$GC,2314,-1.55,-165.5,222.3,-8.3,218,2318,0.00,2.45,0.00,0.000,4,0.000,0.035,2449,3449,3411
$GC,2347,-1.60,-165.5,225.2,-8.0,219,2353,0.00,2.38,0.00,0.000,6,0.000,0.025,2450,2039,3411
$GC,2665,-1.63,-165.5,249.5,-6.9,235,2669,0.12,2.45,0.00,0.000,4,0.063,0.036,2417,3446,3411
$GC,2693,-1.63,-165.5,251.7,-8.5,236,2697,0.00,2.38,0.00,0.000,6,0.000,0.025,2418,2043,3411
$GC,3010,-1.63,-165.5,281.1,-10.0,251,3014,0.00,2.42,0.00,0.000,4,0.000,0.037,2418,3444,3411
$GC,3049,-1.63,-165.5,284.9,-9.5,252,3055,0.00,2.38,0.00,0.000,6,0.000,0.027,2418,2037,3411
$GC,3363,-1.63,-165.5,310.0,-7.6,265,3368,0.00,2.45,0.00,0.000,4,0.000,0.043,2417,631,3410
$GC,3391,-1.63,-165.5,312.4,-8.6,265,3395,0.00,2.40,0.00,0.000,6,0.000,0.027,2418,2042,3410
$GC,3729,-1.63,-165.5,341.4,-8.9,274,3732,0.00,2.45,0.00,0.000,4,0.000,0.043,2417,3448,3408
$GC,3780,-1.67,-165.5,346.4,-9.7,275,3784,0.00,2.42,0.00,0.000,6,0.000,0.030,2417,2032,3407
$GC,4104,-1.67,-165.5,375.4,-8.3,283,4105,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,2031,3404
$GC,4429,-1.67,-165.5,398.7,-7.0,291,4433,0.00,2.50,0.00,0.000,4,0.000,0.044,2418,3444,3401
$GC,4519,-1.73,-165.5,405.5,-8.2,293,4523,0.00,2.42,0.00,0.000,6,0.000,0.031,2418,2036,3401
$GC,4838,-1.73,-165.5,429.7,-7.4,301,4845,0.00,2.50,0.00,0.000,4,0.000,0.043,2418,3449,3399
$GC,4892,-1.78,-165.5,434.0,-8.0,302,4897,0.12,2.45,0.00,0.000,6,0.076,0.031,2391,2030,3398
$STATE,5129,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5129,begin apogee
$GC,5137,-0.33,0.0,452.1,7.5,308,5270,1.52,0.00,129.15,0.941,6,0.101,0.000,2704,1935,2732
$STATE,5271,end apogee,CONTROL_FINISHED_OK
$STATE,5271,begin climb
$GC,5275,1.06,165.5,455.6,0.0,311,5414,1.42,2.58,130.73,0.913,4,0.061,0.052,3014,562,2057
$GC,5528,0.50,165.5,438.6,15.5,317,5533,0.68,2.42,0.00,0.000,6,0.146,0.030,2894,1958,2056
$GC,5866,0.22,165.5,412.2,7.3,326,5871,0.30,2.55,0.00,0.000,4,0.120,0.052,2833,564,2055
$GC,5928,0.05,167.2,407.9,6.8,327,5933,0.22,2.42,0.00,0.000,6,0.117,0.031,2795,1956,2055
$GC,6272,0.15,265.4,394.4,3.9,336,6356,0.00,2.60,77.38,0.913,4,0.000,0.048,2795,3349,1650
$GC,6406,0.10,265.4,387.7,7.3,339,6411,0.00,2.45,0.00,0.000,6,0.000,0.033,2794,1964,1651
$GC,6726,0.05,265.4,365.7,6.9,347,6727,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,1965,1650
$GC,7051,0.03,278.2,344.6,6.4,355,7067,0.00,2.53,10.45,0.896,4,0.000,0.041,2795,3356,1599
$GC,7096,0.03,297.8,341.8,6.2,356,7117,0.00,2.47,16.12,0.897,6,0.000,0.032,2794,1947,1518
$GC,7456,0.07,343.6,322.5,5.5,365,7497,0.00,2.55,35.83,0.886,4,0.000,0.041,2795,3350,1332
$GC,7554,0.07,343.6,315.2,7.7,367,7559,0.00,2.45,0.00,0.000,6,0.000,0.031,2794,1946,1331
$GC,7870,0.07,343.6,291.4,7.3,377,7874,0.00,2.53,0.00,0.000,4,0.000,0.051,2792,544,1331
$GC,7887,0.07,343.6,290.0,7.3,378,7892,0.00,2.45,0.00,0.000,6,0.000,0.029,2793,1955,1331
$GC,8215,0.07,345.8,268.6,6.8,394,8219,0.00,2.47,0.00,0.000,4,0.000,0.044,2794,3352,1331
$GC,8283,0.13,375.3,264.3,5.9,397,8313,0.00,2.45,25.38,0.847,6,0.000,0.033,2794,1951,1202
$GC,8625,0.17,400.2,241.1,6.1,413,8651,0.10,2.58,20.00,0.822,4,0.085,0.050,2816,545,1101
$GC,8674,0.12,400.2,237.6,7.7,415,8678,0.00,2.45,0.00,0.000,6,0.000,0.028,2816,1955,1101
$GC,8991,0.09,400.2,213.8,7.6,430,8995,0.00,2.47,0.00,0.000,4,0.000,0.041,2817,3357,1101
$GC,9035,0.09,400.2,210.0,7.8,432,9040,0.00,2.45,0.00,0.000,6,0.000,0.031,2817,1937,1101
$GC,9364,0.09,400.2,183.3,7.3,457,9368,0.00,2.47,0.00,0.000,4,0.000,0.036,2817,3351,1101
$GC,9403,0.09,400.2,180.4,6.9,460,9408,0.00,2.42,0.00,0.000,6,0.000,0.028,2816,1950,1101
$GC,9732,0.14,433.0,161.5,5.8,490,9764,0.00,2.50,26.17,0.732,4,0.000,0.035,2817,3352,966
$GC,9777,0.14,433.0,158.4,7.2,494,9782,0.00,2.45,0.00,0.000,6,0.000,0.026,2817,1940,966
$GC,10106,0.14,433.0,132.9,7.5,524,10112,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1939,966
$GC,10435,0.18,452.8,111.2,6.2,555,10457,0.00,2.50,15.93,0.672,4,0.000,0.033,2817,3357,887
$GC,10494,0.27,478.3,107.4,6.1,560,10519,0.10,2.42,19.90,0.676,6,0.071,0.025,2841,1947,782
$GC,10845,0.27,478.3,76.2,8.2,593,10849,0.00,2.45,0.00,0.000,4,0.000,0.034,2841,3354,783
$GC,10898,0.30,478.3,72.4,7.5,597,10902,0.00,2.40,0.00,0.000,6,0.000,0.025,2841,1948,783
$GC,11163,0.41,521.2,55.8,5.6,621,11207,0.12,2.58,33.17,0.611,4,0.063,0.044,2873,542,608
$GC,11221,0.38,521.2,51.3,8.2,626,11225,0.00,2.40,0.00,0.000,6,0.000,0.022,2873,1959,609
$GC,11488,0.33,521.2,26.5,9.3,653,11494,0.00,2.40,0.00,0.000,4,0.000,0.034,2873,3361,611
$GC,11547,0.33,521.2,20.9,8.7,663,11553,0.00,2.40,0.00,0.000,6,0.000,0.025,2873,1949,612
$STATE,11729,end climb,SURFACE_DEPTH_REACHED
$STATE,11729,begin surface coast
$FINISH,0.9,1.010410
$STATE,11790,end surface coast,CONTROL_FINISHED_OK
$STATE,11790,begin surface
$SM_CCo,11875,0.00,0.000,0,0,613,520.28
$SM_GC,1.74,10.95,0.00,0.00,0.044,0.000,0.000,407,2066,613,-10.87,0.76,520.28
$IRIDIUM_FIX,2052.52,-15747.49,290198,171729
$TT8_MAMPS,0.027612
$HUMID,1742
$INTERNAL_PRESSURE,7.93976
$TCM_TEMP,24.60
$XPDR_PINGS,12
$24V_AH,23.3,43.894
$10V_AH,10.2,26.815
$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,28.000,137.075,540.200,0.000,0.000,22.153,28.666,150.942,12.000,0.000,0.000,11.801,1298.058,8103.199,603.201,1668.107,540.100,33.370,1459.149,0.000,1639.566,0.000,57.470
$DEVICE_MAMPS,156.468,56.758,941.109,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,470.498,463.666,818.376,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38149,706
$CAP_FILE_SIZE,109481,0
$CFSIZE,260165632,240316416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041108,235315,2106.240,-15746.708,12,2.0,12,9.8