version: 66.03
glider: 114
mission: 3
dive: 514
start: 12 2 108 23 9 54
data:
$ID,114
$MISSION,3
$DIVE,514
$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,-601893.31
$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,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
$GPS1,230256,2103.967,-15747.267,44,1.1,44,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-60.3
$GPS2,230857,2103.977,-15747.271,11,1.2,11,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT4
$TGT_LATLONG,2106.914,-15748.775
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,0.014,0.232
$KALMAN_X,-160054.7,367.0,508.2,170053.3,-1510.5
$KALMAN_Y,-146553.2,-46.3,171.1,123091.8,-274.0
$MHEAD_RNG_PITCHd_Wd,353.6,6029,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,29,-1.06,-165.5,0.0,0.0,0,102,0.00,0.00,-69.97,0.000,2,0.000,0.000,409,2087,2869
$GC,106,-1.06,-165.5,3.8,-4.5,13,136,11.98,2.33,-9.00,0.000,4,0.154,0.049,2550,3398,3410
$GC,243,-1.20,-165.5,21.4,-7.3,36,250,0.10,2.30,0.00,0.000,6,0.065,0.021,2525,2024,3410
$GC,512,-1.24,-165.5,44.6,-8.3,69,516,0.00,2.40,0.00,0.000,4,0.000,0.033,2525,3415,3410
$GC,565,-1.34,-165.5,49.0,-7.9,73,570,0.12,2.33,0.00,0.000,6,0.059,0.021,2495,2032,3410
$GC,827,-1.34,-165.5,74.2,-9.0,97,831,0.00,2.38,0.00,0.000,4,0.000,0.033,2494,3412,3410
$GC,913,-1.38,-165.5,82.3,-9.5,104,917,0.00,2.30,0.00,0.000,6,0.000,0.022,2495,2044,3410
$GC,1244,-1.38,-165.5,110.8,-8.7,134,1248,0.00,2.35,0.00,0.000,4,0.000,0.033,2495,3414,3411
$GC,1297,-1.47,-165.5,115.9,-8.5,138,1302,0.12,2.33,0.00,0.000,6,0.059,0.022,2463,2026,3411
$GC,1622,-1.47,-165.5,152.3,-10.4,168,1623,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2026,3411
$GC,1944,-1.47,-165.5,178.8,-7.8,198,1948,0.00,2.38,0.00,0.000,4,0.000,0.033,2463,3409,3410
$GC,1984,-1.47,-165.5,182.4,-8.3,201,1989,0.00,2.30,0.00,0.000,6,0.000,0.023,2463,2041,3411
$GC,2311,-1.47,-165.5,210.1,-9.4,226,2312,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2041,3411
$GC,2619,-1.47,-165.5,232.4,-6.7,241,2623,0.00,2.35,0.00,0.000,4,0.000,0.034,2463,3404,3411
$GC,2670,-1.56,-165.5,236.3,-7.1,243,2674,0.00,2.30,0.00,0.000,6,0.000,0.024,2463,2036,3411
$GC,2987,-1.60,-165.5,257.2,-7.1,258,2991,0.00,2.38,0.00,0.000,4,0.000,0.035,2463,3413,3411
$GC,3029,-1.68,-165.5,260.4,-7.2,260,3034,0.17,2.33,0.00,0.000,6,0.056,0.025,2421,2035,3411
$GC,3365,-1.65,-165.5,289.0,-7.1,276,3369,0.00,2.38,0.00,0.000,4,0.000,0.036,2421,3406,3411
$GC,3387,-1.65,-165.5,290.9,-7.0,277,3391,0.00,2.33,0.00,0.000,6,0.000,0.025,2421,2030,3411
$GC,3726,-1.65,-165.5,316.1,-7.8,289,3729,0.00,2.40,0.00,0.000,4,0.000,0.038,2421,3408,3409
$GC,3833,-1.70,-165.5,324.7,-8.1,291,3837,0.00,2.33,0.00,0.000,6,0.000,0.028,2421,2043,3409
$GC,4148,-1.70,-165.5,350.8,-8.1,299,4152,0.00,2.38,0.00,0.000,4,0.000,0.038,2421,3404,3407
$GC,4193,-1.74,-165.5,354.6,-7.7,300,4197,0.00,2.35,0.00,0.000,6,0.000,0.028,2421,2028,3407
$GC,4513,-1.74,-165.5,380.0,-8.2,308,4517,0.00,2.42,0.00,0.000,4,0.000,0.039,2421,3413,3404
$GC,4563,-1.79,-165.5,384.6,-8.3,309,4567,0.00,2.35,0.00,0.000,6,0.000,0.030,2421,2032,3403
$GC,4889,-1.79,-165.5,410.4,-7.6,317,4893,0.00,2.40,0.00,0.000,4,0.000,0.040,2421,3403,3401
$GC,4951,-1.84,-165.5,415.2,-7.2,318,4956,0.15,2.35,0.00,0.000,6,0.071,0.031,2388,2036,3400
$GC,5294,-1.78,-165.5,445.9,-9.2,327,5298,0.00,2.40,0.00,0.000,4,0.000,0.041,2388,3401,3399
$STATE,5337,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5337,begin apogee
$GC,5348,-0.33,0.0,450.4,9.0,328,5483,1.55,0.00,130.65,0.936,6,0.091,0.000,2710,1944,2733
$STATE,5483,end apogee,CONTROL_FINISHED_OK
$STATE,5483,begin climb
$GC,5487,1.06,165.5,456.4,0.0,331,5626,1.42,2.65,131.75,0.918,4,0.050,0.052,3022,541,2058
$GC,5685,0.49,165.5,452.8,11.6,336,5691,0.70,2.40,0.00,0.000,6,0.146,0.030,2900,1912,2058
$GC,6000,0.24,180.9,431.6,6.4,344,6019,0.28,2.62,12.38,0.894,4,0.140,0.044,2848,3343,1995
$GC,6049,0.15,229.7,428.7,5.4,345,6094,0.12,2.47,39.05,0.909,6,0.139,0.034,2827,1943,1795
$GC,6418,0.08,256.6,407.8,6.0,354,6446,0.00,2.62,21.80,0.909,4,0.000,0.041,2827,3355,1685
$GC,6461,-0.03,256.6,404.8,7.0,355,6466,0.22,2.50,0.00,0.000,6,0.120,0.032,2787,1946,1685
$GC,6786,-0.03,258.9,383.1,6.8,363,6790,0.00,2.50,0.00,0.000,4,0.000,0.040,2787,3351,1684
$GC,6827,-0.03,258.9,380.2,6.9,364,6831,0.00,2.47,0.00,0.000,6,0.000,0.033,2787,1945,1684
$GC,7152,0.08,323.1,362.0,4.9,372,7211,0.00,2.62,52.30,0.906,4,0.000,0.040,2787,3357,1415
$GC,7230,0.18,379.4,358.2,5.2,373,7282,0.20,2.50,45.10,0.892,6,0.071,0.032,2829,1941,1186
$GC,7606,0.09,379.4,329.8,7.9,383,7607,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1940,1186
$GC,7927,-0.01,379.4,302.4,8.4,391,7932,0.17,2.53,0.00,0.000,4,0.108,0.038,2795,3358,1186
$GC,7972,0.00,384.5,299.1,6.7,392,7982,0.00,2.47,5.00,0.844,6,0.000,0.031,2794,1941,1165
$GC,8294,0.05,410.2,279.0,6.1,407,8320,0.00,2.55,20.77,0.852,4,0.000,0.037,2795,3356,1059
$GC,8356,0.09,431.5,275.4,6.2,410,8380,0.00,2.47,17.67,0.841,6,0.000,0.030,2795,1946,973
$GC,8710,0.09,431.5,253.2,7.3,427,8711,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,1946,973
$GC,9018,0.09,431.5,231.7,7.5,442,9022,0.00,2.47,0.00,0.000,4,0.000,0.036,2795,3359,973
$GC,9065,0.15,431.5,227.9,8.5,444,9070,0.12,2.45,0.00,0.000,6,0.077,0.028,2822,1945,973
$GC,9392,0.15,431.5,201.3,6.9,460,9393,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1945,973
$GC,9710,0.15,431.5,179.5,8.1,488,9714,0.00,2.45,0.00,0.000,4,0.000,0.033,2822,3353,973
$GC,9744,0.15,431.5,176.9,7.7,490,9750,0.00,2.40,0.00,0.000,6,0.000,0.027,2822,1951,974
$GC,10073,0.22,468.5,159.0,5.7,521,10109,0.00,0.00,29.52,0.720,6,0.000,0.000,2822,1951,822
$GC,10429,0.22,468.5,133.3,7.2,555,10433,0.00,2.45,0.00,0.000,4,0.000,0.032,2822,3360,822
$GC,10463,0.30,494.5,131.1,6.0,557,10491,0.15,2.42,20.92,0.690,6,0.064,0.025,2858,1939,717
$GC,10810,0.25,494.5,106.2,7.2,590,10811,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1939,719
$GC,11127,0.25,494.5,85.3,7.0,620,11131,0.00,2.47,0.00,0.000,4,0.000,0.032,2858,3366,720
$GC,11162,0.29,494.5,82.5,7.7,622,11168,0.00,2.40,0.00,0.000,6,0.000,0.025,2858,1951,720
$GC,11492,0.29,494.5,56.0,9.2,653,11496,0.00,2.42,0.00,0.000,4,0.000,0.032,2858,3355,721
$GC,11510,0.29,494.5,54.0,8.9,654,11514,0.00,2.40,0.00,0.000,6,0.000,0.023,2858,1943,721
$GC,11778,0.29,494.5,33.0,7.2,679,11782,0.00,2.45,0.00,0.000,4,0.000,0.031,2858,3366,722
$GC,11812,0.34,502.7,30.6,6.6,681,11829,0.00,2.40,8.25,0.589,6,0.000,0.024,2857,1944,682
$GC,12102,0.34,502.7,10.7,7.0,731,12107,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1944,685
$STATE,12179,end climb,SURFACE_DEPTH_REACHED
$STATE,12179,begin surface coast
$FINISH,1.0,1.009743
$STATE,12253,end surface coast,CONTROL_FINISHED_OK
$STATE,12257,begin surface
$SM_CCo,12341,0.00,0.000,0,0,685,502.37
$SM_GC,1.61,10.82,0.00,0.00,0.042,0.000,0.000,411,2091,685,-10.89,1.44,502.37
$IRIDIUM_FIX,2054.83,-15749.62,260298,191943
$TT8_MAMPS,0.027612
$HUMID,1772
$INTERNAL_PRESSURE,7.96906
$TCM_TEMP,24.80
$XPDR_PINGS,11
$24V_AH,23.6,71.161
$10V_AH,10.2,43.509
$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,28.425,126.150,535.175,0.000,0.000,20.752,28.573,168.898,11.750,0.000,0.000,13.414,1379.010,8377.182,584.282,1768.673,592.841,33.379,1468.794,0.000,1743.036,0.000,60.094
$DEVICE_MAMPS,154.167,52.156,935.740,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,505.945,509.712,893.995,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38007,758
$CAP_FILE_SIZE,111878,0
$CFSIZE,260165632,228679680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031208,023655,2105.414,-15747.431,22,1.0,40,9.8