version: 66.03
glider: 114
mission: 3
dive: 320
start: 11 5 108 17 19 54
data:
$ID,114
$MISSION,3
$DIVE,320
$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,-597879.5
$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,67
$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
$GPS1,171301,2108.896,-15748.953,38,1.3,38,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-64.7
$GPS2,171857,2108.914,-15748.960,15,1.3,15,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.076,-0.220
$KALMAN_X,-105046.5,542.9,-24.2,112488.4,-190.8
$KALMAN_Y,-99746.1,349.2,-54.6,85254.0,57.2
$MHEAD_RNG_PITCHd_Wd,151.2,12724,-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,-165.5,0.0,0.0,0,100,0.00,0.00,-70.45,0.000,2,0.000,0.000,411,2079,2910
$GC,104,-1.06,-165.5,3.8,-4.5,13,129,11.93,2.58,-7.90,0.000,4,0.157,0.048,2539,637,3411
$GC,170,-1.10,-165.5,18.5,-10.8,24,177,0.00,2.33,0.00,0.000,6,0.000,0.021,2539,2025,3411
$GC,441,-1.16,-165.5,41.4,-8.9,61,446,0.00,2.42,0.00,0.000,4,0.000,0.035,2539,3439,3411
$GC,528,-1.29,-165.5,48.2,-6.9,68,533,0.17,2.38,0.00,0.000,6,0.054,0.022,2497,2027,3410
$GC,790,-1.29,-165.5,71.7,-9.1,92,794,0.00,2.42,0.00,0.000,4,0.000,0.035,2497,3439,3411
$GC,859,-1.35,-165.5,78.1,-9.3,98,863,0.00,2.35,0.00,0.000,6,0.000,0.023,2497,2038,3410
$GC,1125,-1.40,-165.5,97.7,-6.7,122,1129,0.00,2.42,0.00,0.000,4,0.000,0.033,2497,3443,3411
$GC,1177,-1.51,-165.5,101.8,-7.0,126,1182,0.20,2.38,0.00,0.000,6,0.049,0.022,2448,2027,3411
$GC,1503,-1.47,-165.5,136.1,-10.6,156,1507,0.00,2.42,0.00,0.000,4,0.000,0.033,2448,3434,3411
$GC,1536,-1.47,-165.5,139.8,-10.0,158,1546,0.00,2.33,0.00,0.000,6,0.000,0.022,2448,2041,3411
$GC,1862,-1.47,-165.5,171.7,-9.5,189,1866,0.00,2.40,0.00,0.000,4,0.000,0.034,2448,3433,3411
$GC,1907,-1.50,-165.5,175.7,-8.2,192,1913,0.00,2.35,0.00,0.000,6,0.000,0.024,2448,2030,3411
$GC,2231,-1.50,-165.5,204.9,-9.6,221,2236,0.00,2.45,0.00,0.000,4,0.000,0.035,2448,3446,3411
$GC,2327,-1.57,-165.5,214.3,-9.7,225,2331,0.00,2.35,0.00,0.000,6,0.000,0.024,2448,2042,3411
$GC,2650,-1.57,-165.5,241.0,-8.1,241,2654,0.00,2.42,0.00,0.000,4,0.000,0.036,2448,3441,3411
$GC,2673,-1.57,-165.5,243.2,-8.6,242,2677,0.00,2.38,0.00,0.000,6,0.000,0.025,2448,2034,3411
$GC,2995,-1.61,-165.5,265.5,-6.3,258,2999,0.00,2.42,0.00,0.000,4,0.000,0.037,2448,3437,3410
$GC,3052,-1.68,-165.5,269.1,-6.7,260,3057,0.15,2.38,0.00,0.000,6,0.061,0.027,2412,2038,3410
$GC,3368,-1.68,-165.5,296.9,-8.9,275,3372,0.00,2.42,0.00,0.000,4,0.000,0.038,2412,3433,3410
$GC,3403,-1.68,-165.5,300.1,-9.0,276,3407,0.00,2.38,0.00,0.000,6,0.000,0.027,2412,2032,3409
$GC,3741,-1.68,-165.5,332.3,-9.8,285,3745,0.00,2.45,0.00,0.000,4,0.000,0.039,2412,3434,3407
$GC,3802,-1.68,-165.5,338.3,-9.3,286,3807,0.00,2.40,0.00,0.000,6,0.000,0.028,2412,2030,3407
$GC,4145,-1.68,-165.5,367.8,-8.2,295,4149,0.00,2.47,0.00,0.000,4,0.000,0.040,2412,3442,3405
$GC,4200,-1.68,-165.5,372.3,-7.5,296,4205,0.00,2.40,0.00,0.000,6,0.000,0.029,2412,2041,3404
$GC,4549,-1.68,-165.5,397.8,-7.7,305,4550,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,2040,3401
$GC,4874,-1.68,-165.5,425.1,-8.6,313,4878,0.00,2.45,0.00,0.000,4,0.000,0.042,2412,3431,3399
$GC,4935,-1.68,-165.5,430.7,-8.7,314,4940,0.00,2.40,0.00,0.000,6,0.000,0.030,2412,2034,3398
$STATE,5154,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5154,begin apogee
$GC,5162,-0.33,0.0,451.3,9.3,320,5296,1.42,0.00,129.50,0.932,6,0.104,0.000,2706,1928,2732
$STATE,5296,end apogee,CONTROL_FINISHED_OK
$STATE,5296,begin climb
$GC,5300,1.06,165.5,458.3,0.0,323,5440,1.35,2.62,130.05,0.912,4,0.048,0.039,3008,3343,2058
$GC,5602,0.56,165.5,440.6,12.7,330,5607,0.55,2.45,0.00,0.000,6,0.121,0.033,2907,1958,2057
$GC,5927,0.27,165.5,412.5,7.9,338,5932,0.32,2.58,0.00,0.000,4,0.126,0.054,2845,537,2056
$GC,5950,0.03,165.5,410.8,6.9,338,5955,0.30,2.45,0.00,0.000,6,0.114,0.030,2789,1949,2055
$GC,6288,0.11,236.5,395.7,4.7,347,6348,0.00,2.55,54.62,0.919,4,0.000,0.045,2788,3348,1768
$GC,6372,0.08,240.9,390.8,6.7,349,6381,0.00,2.47,4.43,0.861,6,0.000,0.034,2788,1949,1750
$GC,6696,0.14,291.0,372.2,5.3,357,6738,0.00,0.00,40.17,0.902,6,0.000,0.000,2788,1948,1546
$GC,7061,0.15,301.1,350.9,6.5,366,7076,0.12,2.58,8.35,0.873,4,0.080,0.041,2815,3349,1505
$GC,7128,0.09,301.1,345.8,7.7,367,7132,0.00,2.47,0.00,0.000,6,0.000,0.032,2815,1941,1505
$GC,7471,0.02,301.1,318.5,8.3,376,7476,0.15,2.50,0.00,0.000,4,0.109,0.038,2784,3350,1504
$GC,7493,0.02,301.1,316.8,7.1,376,7497,0.00,2.45,0.00,0.000,6,0.000,0.031,2784,1942,1505
$GC,7810,0.04,308.5,295.2,6.6,386,7821,0.00,2.53,6.28,0.854,4,0.000,0.038,2784,3353,1474
$GC,7861,0.04,308.5,291.5,6.9,388,7865,0.00,2.45,0.00,0.000,6,0.000,0.031,2784,1946,1474
$GC,8178,0.10,345.2,272.4,5.7,403,8213,0.00,2.58,28.73,0.853,4,0.000,0.038,2784,3350,1325
$GC,8231,0.19,395.7,269.4,5.3,405,8277,0.17,2.47,39.80,0.837,6,0.071,0.031,2821,1940,1120
$GC,8591,0.12,395.7,241.7,7.6,422,8595,0.00,2.50,0.00,0.000,4,0.000,0.039,2821,3353,1121
$GC,8649,0.08,395.7,236.8,8.0,424,8655,0.12,2.45,0.00,0.000,6,0.105,0.031,2798,1943,1120
$GC,8965,0.08,395.7,212.5,7.3,440,8969,0.00,2.47,0.00,0.000,4,0.000,0.037,2798,3353,1121
$GC,8988,0.08,395.7,210.8,7.0,441,8992,0.00,2.42,0.00,0.000,6,0.000,0.028,2798,1950,1121
$GC,9314,0.12,419.0,190.9,6.1,464,9338,0.00,2.55,18.98,0.775,4,0.000,0.035,2798,3354,1024
$GC,9375,0.18,430.6,187.1,6.5,469,9392,0.00,2.45,9.85,0.767,6,0.000,0.028,2798,1945,977
$GC,9713,0.28,488.6,168.9,5.1,501,9764,0.20,2.55,44.95,0.742,4,0.059,0.035,2845,3352,741
$GC,9788,0.21,488.6,162.9,9.1,508,9795,0.00,2.45,0.00,0.000,6,0.000,0.027,2844,1939,741
$GC,10117,0.13,488.6,132.1,9.2,539,10122,0.17,2.47,0.00,0.000,4,0.096,0.034,2810,3360,743
$GC,10181,0.21,488.6,126.6,7.1,544,10186,0.00,2.45,0.00,0.000,6,0.000,0.026,2810,1936,744
$GC,10507,0.25,488.6,102.6,9.2,574,10509,0.10,0.00,0.00,0.000,6,0.074,0.000,2834,1936,744
$GC,10828,0.32,528.9,77.2,5.6,604,10870,0.00,2.55,32.65,0.634,4,0.000,0.031,2834,3355,575
$GC,10922,0.54,594.1,72.4,4.9,612,10961,0.28,2.40,30.25,0.627,6,0.050,0.024,2898,1949,420
$GC,11216,0.41,594.1,37.5,12.6,640,11221,0.15,2.45,0.12,1.322,4,0.097,0.032,2865,3358,420
$GC,11246,0.35,594.1,34.0,11.0,642,11251,0.00,2.40,0.00,0.000,6,0.000,0.024,2865,1948,420
$GC,11522,0.31,594.1,9.7,9.0,686,11528,0.00,2.45,0.00,0.000,4,0.000,0.032,2865,3365,420
$GC,11564,0.31,594.1,5.7,9.3,693,11571,0.00,2.42,0.10,1.666,6,0.000,0.035,2865,1940,420
$STATE,11575,end climb,SURFACE_DEPTH_REACHED
$STATE,11575,begin surface coast
$FINISH,0.9,1.004882
$STATE,11638,end surface coast,CONTROL_FINISHED_OK
$STATE,11638,begin surface
$SM_CCo,11723,0.00,0.000,0,0,419,567.62
$SM_GC,1.71,11.02,0.00,0.00,0.048,0.000,0.000,408,2078,419,-10.87,1.07,567.62
$IRIDIUM_FIX,2101.76,-15750.89,300198,131307
$TT8_MAMPS,0.027612
$HUMID,1739
$INTERNAL_PRESSURE,7.92999
$TCM_TEMP,24.60
$XPDR_PINGS,10
$24V_AH,23.8,44.757
$10V_AH,10.2,27.317
$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,28.900,137.475,578.825,0.000,0.000,22.803,29.906,161.505,11.500,0.000,0.000,16.943,1297.798,7926.786,622.902,1683.097,548.427,33.376,1487.182,0.000,1641.417,0.000,60.292
$DEVICE_MAMPS,157.235,53.690,1665.924,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,470.423,460.712,820.094,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37985,706
$CAP_FILE_SIZE,112153,0
$CFSIZE,260165632,239960064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051108,203632,2107.542,-15748.646,36,1.3,36,9.8