version: 66.03
glider: 114
mission: 3
dive: 392
start: 11 16 108 0 15 40
data:
$ID,114
$MISSION,3
$DIVE,392
$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,-599319.06
$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,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
$GPS1,000838,2106.918,-15745.241,37,1.0,37,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-63.0
$GPS2,001444,2106.882,-15745.185,11,1.3,16,9.8
$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,-106972.6,-60.5,527.6,120976.8,-1000.1
$KALMAN_Y,-117408.1,160.1,526.4,98757.9,-2459.7
$MHEAD_RNG_PITCHd_Wd,352.7,10124,-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,-165.5,0.0,0.0,0,106,0.00,0.00,-75.90,0.000,2,0.000,0.000,407,2073,2794
$GC,110,-1.06,-165.5,3.3,-3.9,14,140,11.93,2.53,-10.60,0.000,4,0.154,0.049,2541,638,3409
$GC,199,-1.23,-165.5,17.6,-7.7,29,206,0.15,2.30,0.00,0.000,6,0.054,0.021,2504,2015,3409
$GC,475,-1.23,-165.5,45.9,-10.2,65,479,0.00,2.45,0.00,0.000,4,0.000,0.035,2504,3442,3409
$GC,584,-1.30,-165.5,56.6,-9.9,74,588,0.00,2.38,0.00,0.000,6,0.000,0.022,2504,2027,3409
$GC,846,-1.30,-165.5,78.5,-8.1,98,850,0.00,2.45,0.00,0.000,4,0.000,0.034,2504,3445,3409
$GC,897,-1.30,-165.5,82.7,-8.1,102,901,0.00,2.38,0.00,0.000,6,0.000,0.022,2504,2032,3409
$GC,1227,-1.36,-165.5,103.1,-6.4,132,1231,0.00,2.42,0.00,0.000,4,0.000,0.033,2504,3444,3410
$GC,1274,-1.48,-165.5,106.5,-6.9,136,1278,0.20,2.38,0.00,0.000,6,0.050,0.022,2456,2030,3410
$GC,1600,-1.44,-165.5,141.2,-10.9,166,1601,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2029,3410
$GC,1920,-1.44,-165.5,173.4,-8.9,196,1924,0.00,2.42,0.00,0.000,4,0.000,0.034,2455,3437,3411
$GC,2051,-1.47,-165.5,184.1,-7.3,207,2056,0.00,2.35,0.00,0.000,6,0.000,0.024,2455,2041,3410
$GC,2378,-1.47,-165.5,205.7,-6.7,233,2383,0.00,2.42,0.00,0.000,4,0.000,0.035,2455,3445,3410
$GC,2430,-1.54,-165.5,209.6,-6.8,235,2434,0.00,2.38,0.00,0.000,6,0.000,0.024,2455,2035,3410
$GC,2746,-1.54,-165.5,229.5,-5.9,250,2750,0.00,2.42,0.00,0.000,4,0.000,0.035,2455,3443,3410
$GC,2793,-1.59,-165.5,232.2,-6.0,252,2797,0.00,2.38,0.00,0.000,6,0.000,0.025,2455,2040,3410
$GC,3120,-1.59,-165.5,257.7,-9.1,268,3123,0.00,2.40,0.00,0.000,4,0.000,0.037,2455,3433,3410
$GC,3171,-1.66,-165.5,262.2,-8.1,270,3176,0.17,2.38,0.00,0.000,6,0.058,0.025,2413,2028,3410
$GC,3492,-1.66,-165.5,296.7,-10.5,286,3496,0.00,2.45,0.00,0.000,4,0.000,0.038,2413,3435,3408
$GC,3577,-1.66,-165.5,304.8,-8.6,289,3581,0.00,2.38,0.00,0.000,6,0.000,0.026,2413,2042,3408
$GC,3902,-1.66,-165.5,332.0,-7.9,297,3906,0.00,2.42,0.00,0.000,4,0.000,0.039,2413,3433,3406
$GC,3949,-1.66,-165.5,335.1,-6.7,298,3953,0.00,2.38,0.00,0.000,6,0.000,0.028,2413,2038,3406
$GC,4279,-1.66,-165.5,356.8,-7.0,306,4283,0.00,2.45,0.00,0.000,4,0.000,0.040,2413,3439,3403
$GC,4324,-1.66,-165.5,360.5,-8.4,307,4328,0.00,2.40,0.00,0.000,6,0.000,0.029,2413,2035,3403
$GC,4644,-1.66,-165.5,389.8,-9.7,315,4649,0.00,2.45,0.00,0.000,4,0.000,0.041,2413,3433,3401
$GC,4736,-1.66,-165.5,398.9,-10.2,317,4740,0.00,2.40,0.00,0.000,6,0.000,0.030,2414,2038,3400
$GC,5061,-1.66,-165.5,429.3,-9.0,325,5065,0.00,2.47,0.00,0.000,4,0.000,0.042,2413,3442,3397
$GC,5101,-1.66,-165.5,432.7,-8.1,326,5105,0.00,2.42,0.00,0.000,6,0.000,0.030,2413,2033,3398
$STATE,5341,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5342,begin apogee
$GC,5350,-0.33,0.0,450.4,7.0,332,5482,1.40,0.00,128.60,0.943,6,0.087,0.000,2705,1928,2733
$STATE,5483,end apogee,CONTROL_FINISHED_OK
$STATE,5483,begin climb
$GC,5487,1.06,165.5,453.9,0.0,335,5625,1.40,2.58,129.77,0.917,4,0.049,0.039,3011,3348,2057
$GC,5745,0.56,165.5,433.5,14.8,341,5750,0.57,2.45,0.00,0.000,6,0.130,0.033,2907,1961,2057
$GC,6083,0.27,165.5,403.2,8.1,350,6088,0.32,2.58,0.00,0.000,4,0.116,0.054,2843,541,2055
$GC,6173,0.07,165.5,396.5,6.9,352,6178,0.25,2.45,0.00,0.000,6,0.114,0.030,2797,1953,2055
$GC,6494,0.22,288.1,384.6,3.2,360,6595,0.15,2.55,95.35,0.902,4,0.076,0.044,2833,3356,1557
$GC,6642,0.11,288.1,376.0,8.0,363,6647,0.15,2.50,0.00,0.000,6,0.287,0.034,2807,1945,1557
$GC,6979,0.12,328.9,355.8,5.6,372,7020,0.00,2.62,31.85,0.885,4,0.000,0.041,2807,3357,1392
$GC,7050,0.08,331.1,351.4,6.8,373,7054,0.00,2.50,0.00,0.000,6,0.000,0.033,2807,1942,1391
$GC,7388,0.06,351.8,329.5,6.2,382,7412,0.00,2.58,18.40,0.873,4,0.000,0.041,2806,3341,1298
$GC,7433,0.06,379.0,327.0,6.0,383,7461,0.00,2.47,22.08,0.872,6,0.000,0.031,2806,1940,1188
$GC,7801,0.01,379.0,301.5,6.9,392,7806,0.12,2.53,0.00,0.000,4,0.113,0.039,2784,3359,1188
$GC,7829,0.03,392.2,299.6,6.4,392,7845,0.00,2.47,11.02,0.853,6,0.000,0.031,2784,1944,1134
$GC,8168,0.10,432.1,278.6,5.6,409,8208,0.00,2.58,31.77,0.848,4,0.000,0.038,2784,3349,971
$GC,8233,0.25,501.2,275.5,4.8,412,8297,0.22,2.47,54.67,0.832,6,0.064,0.031,2833,1944,689
$GC,8607,0.16,501.2,236.8,11.6,430,8612,0.00,2.50,0.00,0.000,4,0.000,0.038,2833,3354,690
$GC,8649,0.08,501.2,231.4,12.9,432,8654,0.17,2.47,0.00,0.000,6,0.098,0.030,2800,1938,690
$GC,8975,0.08,501.2,202.6,6.9,448,8980,0.00,2.50,0.00,0.000,4,0.000,0.036,2800,3362,690
$GC,9021,0.16,522.6,199.5,6.2,450,9049,0.00,2.45,18.08,0.772,6,0.000,0.029,2800,1942,602
$GC,9367,0.16,522.6,172.8,8.8,483,9372,0.00,2.47,0.00,0.000,4,0.000,0.034,2800,3357,603
$GC,9402,0.22,522.6,169.7,8.4,485,9408,0.12,2.42,0.00,0.000,6,0.069,0.027,2828,1950,603
$GC,9728,0.18,522.6,138.8,8.6,516,9732,0.00,2.45,0.00,0.000,4,0.000,0.034,2829,3355,603
$GC,9768,0.18,522.6,135.2,8.7,519,9773,0.00,2.42,0.00,0.000,6,0.000,0.026,2828,1944,604
$GC,10099,0.20,533.4,112.4,6.5,549,10114,0.00,2.50,9.90,0.680,4,0.000,0.033,2829,3364,557
$GC,10161,0.28,533.4,107.3,7.7,554,10167,0.00,2.42,0.00,0.000,6,0.000,0.025,2828,1948,558
$GC,10492,0.43,582.4,87.7,5.4,585,10525,0.17,2.47,26.60,0.637,4,0.059,0.031,2873,3353,419
$GC,10543,0.38,582.4,82.9,9.9,589,10549,0.00,2.40,0.00,0.000,6,0.000,0.024,2873,1948,419
$GC,10873,0.34,582.4,51.7,8.5,620,10877,0.00,2.42,0.00,0.000,4,0.000,0.031,2873,3355,420
$GC,10907,0.34,582.4,48.3,8.1,622,10914,0.00,2.38,0.00,0.000,6,0.000,0.024,2873,1950,420
$GC,11175,0.29,582.4,25.8,9.0,651,11182,0.15,0.00,0.57,0.750,6,0.090,0.000,2843,1950,419
$GC,11455,0.34,582.4,6.6,6.9,700,11461,0.00,2.42,0.00,0.000,4,0.000,0.031,2843,3365,420
$STATE,11481,end climb,SURFACE_DEPTH_REACHED
$STATE,11482,begin surface coast
$FINISH,3.5,1.022941
$STATE,11499,end surface coast,CONTROL_FINISHED_OK
$STATE,11500,begin surface
$SM_CCo,11585,0.00,0.000,0,0,420,567.38
$SM_GC,1.73,10.90,0.00,0.00,0.049,0.000,0.000,410,2023,420,-10.86,-0.48,567.38
$IRIDIUM_FIX,2057.14,-15744.48,090298,202008
$TT8_MAMPS,0.027612
$HUMID,1765
$INTERNAL_PRESSURE,7.94952
$TCM_TEMP,25.00
$XPDR_PINGS,8
$24V_AH,23.8,54.927
$10V_AH,10.2,33.387
$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,28.575,137.150,578.675,0.000,0.000,26.104,40.526,154.670,11.000,0.000,0.000,17.736,1310.049,7695.980,628.159,1747.519,568.106,33.365,1518.159,0.000,1708.438,0.000,60.390
$DEVICE_MAMPS,286.858,53.690,942.643,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,471.581,471.128,842.454,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38006,708
$CAP_FILE_SIZE,111495,0
$CFSIZE,260165632,235692032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,161108,032953,2107.661,-15746.117,9,4.8,28,9.8