version: 66.03
glider: 114
mission: 3
dive: 397
start: 11 16 108 17 34 53
data:
$ID,114
$MISSION,3
$DIVE,397
$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,-599418.94
$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,35
$R_STBD_OVSHOOT,74
$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
$GPS1,172807,2108.602,-15748.897,38,1.2,44,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-64.1
$GPS2,173357,2108.656,-15748.863,12,1.8,12,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.014,-0.232
$KALMAN_X,-107076.5,856.8,-843.4,115192.1,701.0
$KALMAN_Y,-119257.8,696.9,-169.1,104053.4,-97.8
$MHEAD_RNG_PITCHd_Wd,166.7,12219,-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,-165.4,0.0,0.0,0,106,0.00,0.00,-75.82,0.000,2,0.000,0.000,407,2079,2911
$GC,110,-1.06,-165.5,3.7,-4.3,14,135,11.93,2.58,-7.95,0.000,4,0.155,0.047,2539,633,3410
$GC,183,-1.18,-165.5,19.0,-9.3,26,190,0.00,2.33,0.00,0.000,6,0.000,0.021,2539,2005,3410
$GC,454,-1.24,-165.5,39.8,-7.3,63,459,0.12,2.47,0.00,0.000,4,0.061,0.034,2509,3445,3410
$GC,545,-1.32,-165.5,47.9,-8.3,70,551,0.00,2.38,0.00,0.000,6,0.000,0.022,2509,2028,3410
$GC,807,-1.32,-165.5,75.7,-10.9,95,810,0.00,2.42,0.00,0.000,4,0.000,0.034,2508,3435,3410
$GC,876,-1.38,-165.5,82.9,-9.6,101,881,0.12,2.35,0.00,0.000,6,0.061,0.022,2478,2035,3410
$GC,1202,-1.38,-165.5,119.4,-8.8,131,1206,0.00,2.42,0.00,0.000,4,0.000,0.033,2478,3442,3410
$GC,1270,-1.45,-165.5,124.4,-6.6,136,1276,0.00,2.35,0.00,0.000,6,0.000,0.023,2478,2035,3410
$GC,1596,-1.45,-165.5,145.1,-5.9,167,1600,0.00,2.42,0.00,0.000,4,0.000,0.034,2478,3441,3411
$GC,1638,-1.51,-165.5,147.5,-5.6,170,1643,0.12,2.35,0.00,0.000,6,0.060,0.023,2446,2041,3411
$GC,1963,-1.51,-165.5,173.8,-8.5,200,1967,0.00,2.40,0.00,0.000,4,0.000,0.035,2446,3434,3411
$GC,2031,-1.56,-165.5,180.1,-8.6,205,2037,0.00,2.35,0.00,0.000,6,0.000,0.024,2446,2035,3411
$GC,2358,-1.56,-165.5,211.4,-10.1,231,2361,0.00,2.42,0.00,0.000,4,0.000,0.035,2446,3442,3411
$GC,2374,-1.56,-165.5,213.5,-9.8,231,2380,0.00,2.38,0.00,0.000,6,0.000,0.024,2446,2029,3411
$GC,2691,-1.56,-165.5,238.0,-7.8,247,2695,0.00,2.45,0.00,0.000,4,0.000,0.037,2446,3437,3411
$GC,2806,-1.60,-165.5,245.8,-5.6,252,2810,0.00,2.38,0.00,0.000,6,0.000,0.026,2446,2038,3411
$GC,3137,-1.63,-165.5,267.2,-6.3,268,3138,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,2037,3410
$GC,3443,-1.67,-165.5,288.2,-7.2,283,3448,0.12,2.42,0.00,0.000,4,0.064,0.039,2415,3432,3408
$GC,3530,-1.67,-165.5,295.2,-7.8,287,3534,0.00,2.38,0.00,0.000,6,0.000,0.028,2415,2043,3408
$GC,3875,-1.67,-165.5,326.1,-9.2,297,3879,0.00,2.45,0.00,0.000,4,0.000,0.040,2415,3441,3405
$GC,3908,-1.67,-165.5,329.3,-8.8,297,3914,0.00,2.40,0.00,0.000,6,0.000,0.029,2415,2037,3405
$GC,4240,-1.67,-165.5,358.7,-8.9,306,4244,0.00,2.47,0.00,0.000,4,0.000,0.041,2415,3443,3402
$GC,4302,-1.71,-165.5,364.1,-8.5,307,4306,0.00,2.42,0.00,0.000,6,0.000,0.030,2415,2028,3402
$GC,4648,-1.71,-165.5,391.4,-8.2,316,4652,0.00,2.47,0.00,0.000,4,0.000,0.042,2415,3434,3399
$GC,4689,-1.71,-165.5,395.0,-8.2,317,4694,0.00,2.40,0.00,0.000,6,0.000,0.029,2415,2038,3399
$GC,5015,-1.71,-165.5,423.4,-8.7,325,5019,0.00,2.45,0.00,0.000,4,0.000,0.041,2415,3432,3397
$GC,5049,-1.71,-165.5,426.7,-9.2,325,5053,0.00,2.40,0.00,0.000,6,0.000,0.031,2415,2037,3397
$STATE,5380,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5380,begin apogee
$GC,5389,-0.33,0.0,452.1,7.2,333,5522,1.40,0.00,129.15,0.934,6,0.091,0.000,2706,1930,2733
$STATE,5522,end apogee,CONTROL_FINISHED_OK
$STATE,5522,begin climb
$GC,5526,1.06,165.5,455.8,0.0,336,5666,1.35,2.62,130.48,0.913,4,0.046,0.039,3008,3347,2058
$GC,5805,0.57,165.5,435.1,12.8,342,5810,0.55,2.45,0.00,0.000,6,0.117,0.033,2908,1959,2057
$GC,6148,0.29,165.5,404.9,8.2,351,6153,0.30,2.58,0.00,0.000,4,0.120,0.052,2848,541,2055
$GC,6216,0.10,165.5,399.5,7.9,352,6221,0.25,2.45,0.00,0.000,6,0.114,0.029,2801,1955,2055
$GC,6555,0.20,263.8,385.0,3.9,361,6636,0.00,0.00,76.82,0.901,6,0.000,0.000,2802,1955,1657
$GC,6963,0.19,286.5,361.4,6.1,371,6987,0.00,2.55,18.08,0.889,4,0.000,0.043,2802,3345,1565
$GC,7034,0.19,308.9,357.2,6.2,372,7058,0.00,2.47,18.27,0.884,6,0.000,0.033,2801,1940,1472
$GC,7380,0.22,352.8,338.2,5.5,381,7422,0.12,2.55,34.58,0.878,4,0.081,0.040,2828,3346,1294
$GC,7457,0.14,352.8,332.0,9.4,382,7462,0.00,2.47,0.00,0.000,6,0.000,0.032,2828,1943,1294
$GC,7789,0.05,352.8,303.8,8.4,390,7791,0.17,0.00,0.00,0.000,6,0.104,0.000,2794,1943,1294
$GC,8097,0.05,352.8,279.0,8.8,403,8101,0.00,2.47,0.00,0.000,4,0.000,0.038,2794,3354,1293
$GC,8144,0.05,352.8,275.0,8.7,405,8149,0.00,2.45,0.00,0.000,6,0.000,0.031,2794,1950,1293
$GC,8472,0.05,352.8,252.1,7.4,421,8474,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,1950,1293
$GC,8781,0.13,400.3,230.7,5.4,436,8824,0.00,2.58,37.33,0.815,4,0.000,0.035,2794,3354,1101
$GC,8859,0.28,465.1,227.2,4.9,439,8916,0.20,2.47,51.15,0.798,6,0.067,0.029,2838,1937,836
$GC,9230,0.20,465.1,193.4,9.8,460,9234,0.00,2.50,0.00,0.000,4,0.000,0.036,2838,3356,836
$GC,9263,0.14,465.1,190.1,9.8,462,9271,0.15,2.42,0.00,0.000,6,0.098,0.028,2809,1950,836
$GC,9590,0.19,495.8,170.8,5.9,493,9622,0.00,2.53,24.33,0.745,4,0.000,0.035,2809,3347,710
$GC,9651,0.23,495.8,166.8,7.3,498,9657,0.00,2.42,0.00,0.000,6,0.000,0.027,2809,1939,711
$GC,9980,0.24,505.2,144.3,6.5,529,9995,0.10,2.53,8.40,0.709,4,0.077,0.033,2833,3349,672
$GC,10040,0.24,505.2,139.6,7.8,534,10047,0.00,2.42,0.00,0.000,6,0.000,0.026,2833,1940,675
$GC,10371,0.24,505.2,111.0,7.4,565,10375,0.00,2.45,0.00,0.000,4,0.000,0.034,2832,3351,677
$GC,10400,0.24,505.2,108.5,7.6,567,10404,0.00,2.40,0.00,0.000,6,0.000,0.025,2833,1945,677
$GC,10725,0.24,505.2,80.7,7.3,597,10730,0.00,2.42,0.00,0.000,4,0.000,0.032,2833,3353,677
$GC,10760,0.35,534.5,78.4,6.0,599,10791,0.10,2.38,24.20,0.637,6,0.071,0.025,2858,1952,553
$GC,11053,0.35,534.5,54.5,7.5,627,11057,0.00,2.42,0.00,0.000,4,0.000,0.032,2858,3353,554
$GC,11087,0.35,534.5,51.8,8.1,629,11093,0.00,2.40,0.00,0.000,6,0.000,0.025,2858,1936,554
$GC,11349,0.35,534.5,32.2,8.2,654,11353,0.00,2.42,0.00,0.000,4,0.000,0.031,2858,3353,555
$GC,11373,0.35,534.5,30.2,8.1,656,11377,0.00,2.38,0.00,0.000,6,0.000,0.023,2858,1945,556
$GC,11650,0.35,534.5,6.4,8.2,704,11656,0.00,2.42,0.00,0.000,4,0.000,0.032,2858,3353,557
$STATE,11667,end climb,SURFACE_DEPTH_REACHED
$STATE,11667,begin surface coast
$FINISH,4.7,1.022964
$STATE,11673,end surface coast,CONTROL_FINISHED_OK
$STATE,11673,begin surface
$SM_CCo,11760,0.00,0.000,0,0,557,533.77
$SM_GC,1.59,11.00,0.00,0.00,0.051,0.000,0.000,411,2030,557,-10.86,-0.28,533.77
$IRIDIUM_FIX,2101.76,-15747.88,100298,141421
$TT8_MAMPS,0.027612
$HUMID,1784
$INTERNAL_PRESSURE,7.93976
$TCM_TEMP,24.70
$XPDR_PINGS,6
$24V_AH,23.8,55.671
$10V_AH,10.2,33.814
$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,28.125,131.800,552.775,0.000,0.000,29.933,35.329,144.994,10.500,0.000,0.000,14.223,1295.365,7972.342,607.088,1677.097,557.081,33.376,1463.238,0.000,1649.668,0.000,60.418
$DEVICE_MAMPS,154.934,52.156,934.206,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,471.765,474.173,830.409,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38032,708
$CAP_FILE_SIZE,108197,0
$CFSIZE,260165632,235393024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,161108,205208,2107.131,-15748.617,36,0.9,36,9.8