version: 66.03
glider: 114
mission: 3
dive: 407
start: 11 18 108 3 49 18
data:
$ID,114
$MISSION,3
$DIVE,407
$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,-599583.06
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,410
$PITCH_MAX,3699
$C_PITCH,2790
$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,38
$R_STBD_OVSHOOT,45
$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
$GPS1,034053,2107.388,-15746.812,12,3.3,31,9.8
$_CALLS,1
$_XMS_NAKs,18
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-61.7
$GPS2,034823,2107.414,-15746.888,12,2.2,31,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,-0.009,0.232
$KALMAN_X,-113639.1,-346.4,315.4,125197.0,-1768.0
$KALMAN_Y,-124960.9,-216.6,123.0,108078.4,-1371.6
$MHEAD_RNG_PITCHd_Wd,347.9,7199,-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,27,-1.06,-165.5,0.0,0.0,0,100,0.00,0.00,-69.88,0.000,2,0.000,0.000,408,2053,2843
$GC,104,-1.06,-165.5,3.3,-3.7,13,134,11.98,2.42,-9.30,0.000,4,0.156,0.044,2549,3440,3411
$GC,182,-1.19,-165.5,19.2,-10.1,26,188,0.00,2.38,0.00,0.000,6,0.000,0.024,2549,2028,3411
$GC,459,-1.25,-165.5,39.5,-8.7,65,464,0.15,2.45,0.00,0.000,4,0.054,0.032,2507,3444,3411
$GC,522,-1.25,-165.5,45.9,-10.1,70,526,0.00,2.35,0.00,0.000,6,0.000,0.022,2507,2039,3411
$GC,790,-1.25,-165.5,71.6,-9.4,95,794,0.00,2.42,0.00,0.000,4,0.000,0.033,2507,3443,3411
$GC,819,-1.25,-165.5,74.5,-10.2,97,824,0.00,2.38,0.00,0.000,6,0.000,0.021,2507,2028,3411
$GC,1082,-1.28,-165.5,99.7,-9.4,121,1089,0.00,2.42,0.00,0.000,4,0.000,0.032,2507,3434,3411
$GC,1135,-1.38,-165.5,104.8,-9.1,125,1142,0.00,2.33,0.00,0.000,6,0.000,0.022,2507,2041,3411
$GC,1462,-1.46,-165.5,131.0,-6.7,156,1467,0.17,2.40,0.00,0.000,4,0.049,0.031,2460,3435,3412
$GC,1519,-1.51,-165.5,136.0,-9.5,160,1525,0.00,2.35,0.00,0.000,6,0.000,0.023,2459,2032,3412
$GC,1846,-1.51,-165.5,163.6,-7.9,191,1850,0.00,2.42,0.00,0.000,4,0.000,0.035,2459,3436,3412
$GC,1915,-1.57,-165.5,169.1,-7.6,196,1921,0.00,2.35,0.00,0.000,6,0.000,0.023,2459,2032,3412
$GC,2241,-1.57,-165.5,193.9,-7.2,227,2245,0.00,2.42,0.00,0.000,4,0.000,0.034,2459,3438,3412
$GC,2304,-1.63,-165.5,198.2,-6.4,232,2309,0.12,2.38,0.00,0.000,6,0.062,0.024,2428,2029,3412
$GC,2622,-1.63,-165.5,221.0,-7.8,248,2623,0.00,0.00,0.00,0.000,6,0.000,0.000,2428,2028,3412
$GC,2931,-1.63,-165.5,245.8,-8.4,263,2935,0.00,2.45,0.00,0.000,4,0.000,0.035,2428,3443,3412
$GC,3017,-1.63,-165.5,253.1,-7.8,267,3021,0.00,2.38,0.00,0.000,6,0.000,0.025,2427,2044,3412
$GC,3345,-1.63,-165.5,280.1,-8.6,283,3349,0.00,2.42,0.00,0.000,4,0.000,0.036,2428,3443,3411
$GC,3407,-1.67,-165.5,286.4,-9.7,286,3412,0.00,2.40,0.00,0.000,6,0.000,0.027,2428,2033,3410
$GC,3734,-1.67,-165.5,310.5,-5.8,298,3738,0.00,2.42,0.00,0.000,4,0.000,0.044,2428,639,3409
$GC,3757,-1.67,-165.5,312.0,-6.0,298,3761,0.00,2.38,0.00,0.000,6,0.000,0.028,2428,2033,3409
$GC,4099,-1.67,-165.5,335.7,-7.1,307,4104,0.00,2.47,0.00,0.000,4,0.000,0.042,2428,3450,3407
$GC,4173,-1.71,-165.5,341.3,-8.0,308,4177,0.00,2.42,0.00,0.000,6,0.000,0.031,2428,2039,3406
$GC,4505,-1.71,-165.5,366.2,-7.7,316,4509,0.00,2.47,0.00,0.000,4,0.000,0.041,2428,3445,3403
$GC,4550,-1.77,-165.5,369.7,-7.4,317,4555,0.12,2.42,0.00,0.000,6,0.071,0.031,2400,2031,3403
$GC,4876,-1.77,-165.5,398.3,-9.3,325,4881,0.00,2.50,0.00,0.000,4,0.000,0.041,2400,3452,3400
$GC,4906,-1.77,-165.5,401.6,-11.1,325,4910,0.00,2.42,0.00,0.000,6,0.000,0.030,2400,2042,3400
$GC,5239,-1.77,-165.5,433.0,-9.1,333,5243,0.00,2.47,0.00,0.000,4,0.000,0.041,2399,3447,3398
$GC,5289,-1.77,-165.5,437.7,-8.3,334,5293,0.00,2.42,0.00,0.000,6,0.000,0.030,2399,2038,3397
$STATE,5437,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5437,begin apogee
$GC,5445,-0.33,0.0,450.1,8.3,338,5578,1.52,0.00,129.30,0.936,6,0.091,0.000,2714,1932,2733
$STATE,5579,end apogee,CONTROL_FINISHED_OK
$STATE,5579,begin climb
$GC,5583,1.06,165.5,454.0,0.0,341,5723,1.38,2.60,130.15,0.914,4,0.048,0.052,3019,555,2058
$GC,5885,0.50,165.5,430.8,14.7,348,5891,0.65,2.45,0.00,0.000,6,0.136,0.030,2903,1953,2057
$GC,6211,0.24,176.5,406.2,6.5,356,6223,0.32,0.00,9.07,0.897,6,0.119,0.000,2842,1953,2012
$GC,6536,0.08,178.8,387.2,6.8,364,6541,0.17,2.50,0.00,0.000,4,0.122,0.043,2809,3358,2011
$GC,6587,0.01,187.7,383.7,6.6,365,6601,0.00,2.45,9.02,0.905,6,0.000,0.034,2809,1962,1967
$GC,6947,0.05,256.4,365.3,4.8,374,7006,0.00,2.65,53.78,0.911,4,0.000,0.054,2808,536,1686
$GC,7053,-0.01,267.5,359.2,6.5,376,7068,0.00,2.47,9.55,0.887,6,0.000,0.031,2808,1948,1641
$GC,7396,-0.06,277.2,337.4,6.5,384,7411,0.15,2.58,8.35,0.885,4,0.114,0.044,2777,3354,1602
$GC,7473,0.00,311.9,332.6,5.8,385,7508,0.00,2.47,27.42,0.889,6,0.000,0.033,2777,1939,1461
$GC,7853,0.04,329.9,307.4,6.3,395,7872,0.00,2.58,14.60,0.874,4,0.000,0.039,2777,3357,1388
$GC,7902,0.12,358.0,304.5,6.0,396,7933,0.17,2.47,22.92,0.873,6,0.073,0.031,2814,1948,1272
$GC,8246,0.06,358.0,278.0,8.2,411,8250,0.00,2.55,0.00,0.000,4,0.000,0.051,2814,538,1272
$GC,8274,0.01,358.0,275.3,9.0,412,8279,0.12,2.47,0.00,0.000,6,0.111,0.030,2792,1962,1272
$GC,8591,0.05,377.7,255.0,6.2,427,8613,0.00,2.50,15.90,0.838,4,0.000,0.041,2792,3355,1192
$GC,8641,0.05,377.7,251.7,6.9,429,8646,0.00,2.47,0.00,0.000,6,0.000,0.031,2792,1944,1193
$GC,8963,0.05,377.7,229.5,7.0,445,8968,0.00,2.47,0.00,0.000,4,0.000,0.038,2792,3358,1192
$GC,9007,0.13,405.9,226.9,6.0,447,9037,0.12,2.45,22.27,0.818,6,0.078,0.030,2819,1950,1078
$GC,9363,0.09,405.9,200.4,7.6,464,9366,0.00,2.53,0.00,0.000,4,0.000,0.049,2818,535,1078
$GC,9413,0.09,405.9,195.7,8.7,467,9419,0.00,2.45,0.00,0.000,6,0.000,0.026,2819,1965,1078
$GC,9741,0.09,405.9,170.2,8.1,498,9746,0.00,2.40,0.00,0.000,4,0.000,0.037,2819,3347,1078
$GC,9797,0.09,405.9,165.3,8.2,502,9803,0.00,2.42,0.00,0.000,6,0.000,0.029,2819,1939,1078
$GC,10126,0.09,405.9,141.1,6.9,533,10130,0.00,2.47,0.00,0.000,4,0.000,0.048,2819,542,1079
$GC,10143,0.09,405.9,139.5,7.4,534,10149,0.00,2.40,0.00,0.000,6,0.000,0.025,2819,1959,1079
$GC,10473,0.10,407.3,119.2,6.8,565,10477,0.00,2.40,0.00,0.000,4,0.000,0.035,2819,3352,1079
$GC,10507,0.17,419.4,116.5,6.5,567,10525,0.00,2.40,11.35,0.693,6,0.000,0.027,2819,1946,1022
$GC,10846,0.24,429.6,97.1,6.5,599,10857,0.10,0.00,8.77,0.673,6,0.073,0.000,2844,1945,980
$GC,11173,0.27,446.0,73.5,6.3,630,11195,0.00,2.50,13.18,0.637,4,0.000,0.032,2844,3347,913
$GC,11224,0.36,461.7,70.5,6.4,634,11243,0.12,2.40,12.45,0.637,6,0.064,0.025,2874,1938,849
$GC,11498,0.33,461.7,48.9,7.7,660,11502,0.00,2.45,0.00,0.000,4,0.000,0.044,2874,547,853
$GC,11531,0.33,461.7,45.5,10.0,662,11538,0.00,2.38,0.00,0.000,6,0.000,0.022,2874,1963,853
$GC,11800,0.43,518.4,22.7,5.1,696,11852,0.00,2.45,43.67,0.568,4,0.000,0.032,2874,3347,619
$GC,11888,0.43,518.4,16.1,9.3,711,11894,0.00,2.38,0.00,0.000,6,0.000,0.022,2874,1943,620
$STATE,12010,end climb,SURFACE_DEPTH_REACHED
$STATE,12011,begin surface coast
$FINISH,1.1,1.022963
$STATE,12097,end surface coast,CONTROL_FINISHED_OK
$STATE,12097,begin surface
$SM_CCo,12181,0.00,0.000,0,0,621,518.07
$SM_GC,1.69,10.88,0.00,0.00,0.039,0.000,0.000,411,2064,621,-10.90,0.68,518.07
$IRIDIUM_FIX,2057.14,-15748.75,120298,000004
$TT8_MAMPS,0.027612
$HUMID,1749
$INTERNAL_PRESSURE,7.94952
$TCM_TEMP,24.90
$XPDR_PINGS,18
$24V_AH,23.8,57.081
$10V_AH,10.2,34.657
$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,28.275,142.025,541.775,0.000,0.000,25.332,32.602,229.340,13.500,0.000,0.000,33.896,1374.501,8202.208,598.983,1799.758,655.308,33.375,1507.903,0.000,1747.575,0.000,59.986
$DEVICE_MAMPS,155.701,53.690,935.740,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,498.337,500.573,897.515,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38001,748
$CAP_FILE_SIZE,117486,0
$CFSIZE,260165632,234795008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,181108,071357,2108.725,-15747.484,38,4.9,57,9.8