version: 66.03
glider: 114
mission: 3
dive: 360
start: 11 11 108 11 12 13
data:
$ID,114
$MISSION,3
$DIVE,360
$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,-598651.88
$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,31
$R_STBD_OVSHOOT,72
$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
$GPS1,110156,2102.021,-15746.640,41,1.0,41,9.8
$_CALLS,2
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-64.3
$GPS2,111115,2102.074,-15746.608,11,1.2,11,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,-0.010,0.232
$KALMAN_X,-108495.2,-67.6,203.7,120373.7,-997.4
$KALMAN_Y,-100402.0,-82.7,-10.2,73639.2,-233.1
$MHEAD_RNG_PITCHd_Wd,347.8,15804,-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,-165.5,0.0,0.0,0,83,0.00,0.00,-53.47,0.000,2,0.000,0.000,411,2065,2702
$GC,87,-1.06,-165.5,3.0,-3.2,10,118,11.88,2.38,-12.90,0.000,4,0.153,0.046,2539,3406,3410
$GC,176,-1.13,-165.5,15.1,-7.0,25,183,0.00,2.33,0.00,0.000,6,0.000,0.021,2539,2017,3410
$GC,456,-1.17,-165.5,36.0,-7.1,68,460,0.00,2.40,0.00,0.000,4,0.000,0.033,2539,3409,3410
$GC,519,-1.30,-165.5,41.3,-7.9,73,524,0.20,2.30,0.00,0.000,6,0.052,0.022,2491,2031,3410
$GC,784,-1.23,-165.5,69.8,-10.7,97,788,0.00,2.38,0.00,0.000,4,0.000,0.033,2491,3414,3410
$GC,814,-1.18,-165.5,73.5,-12.0,99,821,0.15,2.30,0.00,0.000,6,0.094,0.021,2520,2035,3410
$GC,1080,-1.22,-165.5,96.1,-8.9,124,1086,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2034,3410
$GC,1409,-1.28,-165.5,121.5,-7.0,155,1413,0.00,2.35,0.00,0.000,4,0.000,0.032,2520,3404,3410
$GC,1490,-1.43,-165.5,126.7,-5.4,161,1496,0.22,2.28,0.00,0.000,6,0.049,0.023,2466,2039,3411
$GC,1815,-1.43,-165.5,152.1,-8.5,192,1819,0.00,2.35,0.00,0.000,4,0.000,0.033,2466,3410,3411
$GC,1833,-1.43,-165.5,153.7,-8.8,193,1837,0.00,2.30,0.00,0.000,6,0.000,0.022,2466,2034,3411
$GC,2160,-1.43,-165.5,177.5,-6.4,223,2164,0.00,2.38,0.00,0.000,4,0.000,0.033,2466,3414,3411
$GC,2194,-1.48,-165.5,179.9,-6.5,225,2201,0.00,2.30,0.00,0.000,6,0.000,0.023,2466,2038,3411
$GC,2519,-1.52,-165.5,203.4,-7.4,254,2523,0.00,2.35,0.00,0.000,4,0.000,0.034,2466,3404,3411
$GC,2604,-1.60,-165.5,209.6,-7.2,258,2609,0.15,2.30,0.00,0.000,6,0.058,0.024,2429,2040,3411
$GC,2935,-1.60,-165.5,240.3,-9.4,274,2939,0.00,2.35,0.00,0.000,4,0.000,0.035,2428,3404,3411
$GC,2985,-1.60,-165.5,245.4,-8.9,276,2989,0.00,2.30,0.00,0.000,6,0.000,0.025,2428,2033,3410
$GC,3306,-1.60,-165.5,272.9,-8.5,292,3310,0.00,2.38,0.00,0.000,4,0.000,0.036,2428,3403,3411
$GC,3397,-1.64,-165.5,280.2,-7.9,296,3401,0.00,2.33,0.00,0.000,6,0.000,0.026,2428,2032,3410
$GC,3745,-1.64,-165.5,311.7,-8.9,310,3749,0.00,2.40,0.00,0.000,4,0.000,0.038,2428,3411,3409
$GC,3778,-1.64,-165.5,315.0,-9.0,310,3784,0.00,2.33,0.00,0.000,6,0.000,0.028,2429,2043,3409
$GC,4112,-1.64,-165.5,341.0,-7.9,319,4117,0.00,2.38,0.00,0.000,4,0.000,0.039,2429,3401,3406
$GC,4146,-1.64,-165.5,344.1,-8.2,319,4152,0.00,2.33,0.00,0.000,6,0.000,0.028,2429,2038,3405
$GC,4480,-1.64,-165.5,371.6,-8.7,328,4484,0.00,2.40,0.00,0.000,4,0.000,0.040,2429,3410,3403
$GC,4526,-1.70,-165.5,375.8,-9.2,329,4530,0.00,2.35,0.00,0.000,6,0.000,0.030,2429,2036,3403
$GC,4845,-1.70,-165.5,402.3,-8.3,337,4849,0.00,2.40,0.00,0.000,4,0.000,0.041,2429,3410,3401
$GC,4896,-1.74,-165.5,406.6,-8.0,338,4901,0.12,2.35,0.00,0.000,6,0.074,0.030,2401,2030,3400
$GC,5221,-1.74,-165.5,434.6,-8.6,346,5222,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2030,3398
$STATE,5425,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5425,begin apogee
$GC,5433,-0.33,0.0,452.6,8.8,351,5566,1.48,0.00,129.12,0.926,6,0.091,0.000,2706,1935,2733
$STATE,5567,end apogee,CONTROL_FINISHED_OK
$STATE,5567,begin climb
$GC,5570,1.06,165.5,458.5,0.0,354,5710,1.35,2.55,130.32,0.906,4,0.048,0.039,3006,3311,2058
$GC,5798,0.56,165.5,451.4,10.8,359,5804,0.55,2.38,0.00,0.000,6,0.130,0.033,2907,1964,2057
$GC,6148,0.27,165.5,425.1,7.5,368,6153,0.32,2.58,0.00,0.000,4,0.123,0.053,2844,546,2056
$GC,6221,0.08,165.5,419.9,7.3,369,6226,0.25,2.38,0.00,0.000,6,0.230,0.030,2798,1913,2055
$GC,6554,0.12,228.3,403.7,5.0,377,6608,0.00,2.65,48.28,0.912,4,0.000,0.044,2797,3350,1802
$GC,6645,0.09,241.8,398.7,6.4,379,6663,0.00,2.47,11.52,0.892,6,0.000,0.034,2797,1951,1747
$GC,7008,0.11,287.2,378.2,5.5,388,7050,0.00,2.55,36.28,0.901,4,0.000,0.041,2798,3350,1562
$GC,7102,0.20,339.2,373.5,5.3,390,7149,0.12,2.47,41.12,0.888,6,0.077,0.034,2823,1950,1350
$GC,7466,0.10,339.2,350.2,6.8,399,7470,0.00,2.50,0.00,0.000,4,0.000,0.041,2825,3349,1350
$GC,7506,0.03,339.2,346.9,7.9,400,7511,0.17,2.47,0.00,0.000,6,0.104,0.033,2790,1944,1350
$GC,7831,0.06,359.1,326.4,6.2,408,7854,0.00,2.60,16.45,0.871,4,0.000,0.040,2791,3350,1267
$GC,7874,0.06,359.1,323.6,6.8,409,7878,0.00,2.47,0.00,0.000,6,0.000,0.031,2791,1948,1267
$GC,8199,0.06,359.1,300.0,7.3,417,8200,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,1948,1267
$GC,8508,0.06,359.1,277.4,7.1,432,8512,0.00,2.47,0.00,0.000,4,0.000,0.039,2791,3352,1267
$GC,8548,0.06,359.1,274.4,7.3,434,8552,0.00,2.45,0.00,0.000,6,0.000,0.031,2791,1945,1267
$GC,8875,0.14,404.5,253.6,5.5,450,8917,0.00,2.53,35.67,0.823,4,0.000,0.037,2791,3352,1083
$GC,8952,0.20,420.5,249.0,6.3,453,8972,0.15,2.45,13.25,0.815,6,0.071,0.029,2824,1949,1017
$GC,9297,0.14,421.2,222.8,6.8,470,9302,0.00,2.47,0.00,0.000,4,0.000,0.038,2824,3352,1017
$GC,9326,0.07,421.2,220.4,7.6,471,9331,0.15,2.45,0.00,0.000,6,0.099,0.028,2795,1936,1017
$GC,9643,0.09,433.2,202.4,6.5,486,9658,0.00,2.53,10.85,0.776,4,0.000,0.035,2795,3354,965
$GC,9676,0.11,441.6,200.0,6.6,486,9692,0.00,2.42,7.38,0.769,6,0.000,0.027,2795,1952,932
$GC,10012,0.26,510.8,180.0,4.8,518,10075,0.15,2.55,53.58,0.742,4,0.064,0.035,2836,3355,649
$GC,10113,0.23,510.8,172.1,9.8,527,10117,0.00,2.45,0.00,0.000,6,0.000,0.027,2836,1949,652
$GC,10442,0.16,510.8,138.3,10.1,557,10446,0.00,2.47,0.00,0.000,4,0.000,0.035,2836,3361,653
$GC,10472,0.10,510.8,135.1,10.1,559,10477,0.17,2.45,0.00,0.000,6,0.089,0.026,2801,1939,653
$GC,10798,0.21,530.3,114.9,6.2,589,10821,0.10,2.55,17.10,0.673,4,0.072,0.032,2826,3353,570
$GC,10851,0.25,530.3,110.9,8.1,593,10857,0.00,2.42,0.00,0.000,6,0.000,0.025,2826,1942,571
$GC,11179,0.30,530.3,88.0,7.7,624,11184,0.00,2.45,0.00,0.000,4,0.000,0.032,2826,3355,572
$GC,11213,0.39,530.3,85.1,7.3,626,11221,0.17,2.40,0.00,0.000,6,0.058,0.025,2869,1949,572
$GC,11540,0.35,530.3,54.7,8.7,657,11541,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,1948,573
$GC,11794,0.35,530.3,33.1,8.0,681,11798,0.00,2.45,0.00,0.000,4,0.000,0.042,2869,546,574
$GC,11813,0.35,530.3,31.4,8.5,682,11817,0.00,2.38,0.00,0.000,6,0.000,0.021,2869,1963,574
$GC,12089,0.35,530.3,9.2,7.6,729,12095,0.00,2.35,0.00,0.000,4,0.000,0.032,2869,3340,575
$GC,12138,0.40,538.4,6.0,6.6,737,12151,0.00,2.40,7.68,0.562,6,0.000,0.023,2869,1917,537
$STATE,12155,end climb,SURFACE_DEPTH_REACHED
$STATE,12155,begin surface coast
$FINISH,0.9,1.022259
$STATE,12241,end surface coast,CONTROL_FINISHED_OK
$STATE,12243,begin surface
$SM_CCo,12327,0.00,0.000,0,0,537,538.68
$SM_GC,1.54,10.82,0.00,0.00,0.040,0.000,0.000,411,2073,537,-10.85,0.93,538.68
$IRIDIUM_FIX,2052.52,-15747.49,050298,111150
$TT8_MAMPS,0.026845
$HUMID,1756
$INTERNAL_PRESSURE,7.94952
$TCM_TEMP,24.90
$XPDR_PINGS,12
$ALTIM_BOTTOM_PING,452.6,67.5
$24V_AH,23.8,50.415
$10V_AH,10.2,30.710
$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,28.700,140.450,558.600,0.000,0.000,48.884,78.939,236.314,12.250,0.000,0.000,15.970,1388.603,8367.535,600.341,1799.664,734.107,33.373,1509.666,0.000,1766.563,0.000,60.493
$DEVICE_MAMPS,230.100,55.224,925.769,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,503.328,492.703,897.453,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38003,755
$CAP_FILE_SIZE,118627,0
$CFSIZE,260165632,237572096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111108,143855,2103.459,-15747.090,35,1.8,35,9.8