version: 66.03
glider: 114
mission: 3
dive: 523
start: 12 4 108 6 4 20
data:
$ID,114
$MISSION,3
$DIVE,523
$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,-602092.19
$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,36
$R_STBD_OVSHOOT,68
$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
$GPS1,055647,2104.423,-15748.158,10,4.0,29,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-61.4
$GPS2,060325,2104.463,-15748.191,41,0.9,41,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.134,-0.190
$KALMAN_X,-162379.4,-745.8,-347.9,172762.6,-327.8
$KALMAN_Y,-148227.1,-158.6,-149.7,126102.7,-188.7
$MHEAD_RNG_PITCHd_Wd,134.9,4538,-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,30,-1.06,-165.5,0.0,0.0,0,108,0.00,0.00,-75.20,0.000,2,0.000,0.000,408,2072,2778
$GC,112,-1.06,-165.5,3.2,-3.4,14,142,11.98,2.53,-11.25,0.000,4,0.153,0.047,2552,631,3409
$GC,201,-1.24,-165.5,15.9,-7.5,29,208,0.15,2.33,0.00,0.000,6,0.053,0.021,2515,2019,3408
$GC,478,-1.24,-165.5,40.4,-8.5,68,483,0.00,2.45,0.00,0.000,4,0.000,0.037,2515,3438,3409
$GC,580,-1.30,-165.5,48.5,-7.7,76,587,0.00,2.35,0.00,0.000,6,0.000,0.022,2515,2036,3408
$GC,843,-1.30,-165.5,69.2,-7.5,101,847,0.00,2.42,0.00,0.000,4,0.000,0.034,2515,3440,3408
$GC,873,-1.34,-165.5,71.4,-7.8,103,877,0.00,2.38,0.00,0.000,6,0.000,0.021,2515,2027,3408
$GC,1136,-1.39,-165.5,91.1,-8.9,127,1140,0.12,2.42,0.00,0.000,4,0.058,0.032,2483,3436,3408
$GC,1210,-1.45,-165.5,98.7,-10.4,133,1214,0.00,2.35,0.00,0.000,6,0.000,0.022,2483,2036,3409
$GC,1536,-1.45,-165.5,126.9,-8.0,163,1540,0.00,2.40,0.00,0.000,4,0.000,0.033,2483,3431,3409
$GC,1603,-1.53,-165.5,132.0,-6.5,168,1610,0.12,2.33,0.00,0.000,6,0.062,0.023,2453,2040,3409
$GC,1929,-1.53,-165.5,163.1,-10.4,199,1933,0.00,2.40,0.00,0.000,4,0.000,0.034,2453,3431,3409
$GC,2019,-1.56,-165.5,172.2,-9.6,206,2026,0.00,2.35,0.00,0.000,6,0.000,0.024,2453,2030,3409
$GC,2345,-1.56,-165.5,198.9,-7.3,237,2349,0.00,2.42,0.00,0.000,4,0.000,0.034,2453,3436,3409
$GC,2395,-1.62,-165.5,202.8,-7.7,239,2399,0.00,2.35,0.00,0.000,6,0.000,0.024,2453,2033,3409
$GC,2718,-1.62,-165.5,229.2,-7.7,255,2722,0.00,2.42,0.00,0.000,4,0.000,0.035,2453,3437,3409
$GC,2740,-1.62,-165.5,230.8,-7.0,256,2744,0.00,2.35,0.00,0.000,6,0.000,0.023,2453,2039,3409
$GC,3062,-1.66,-165.5,255.7,-8.1,272,3067,0.10,2.42,0.00,0.000,4,0.068,0.035,2426,3441,3409
$GC,3080,-1.66,-165.5,257.3,-8.2,273,3084,0.00,2.38,0.00,0.000,6,0.000,0.025,2426,2035,3409
$GC,3408,-1.66,-165.5,283.9,-7.7,289,3412,0.00,2.42,0.00,0.000,4,0.000,0.037,2426,3430,3408
$GC,3459,-1.70,-165.5,288.2,-7.6,291,3463,0.00,2.35,0.00,0.000,6,0.000,0.026,2426,2041,3408
$GC,3778,-1.70,-165.5,313.2,-8.0,303,3783,0.00,2.42,0.00,0.000,4,0.000,0.038,2426,3431,3407
$GC,3835,-1.70,-165.5,318.0,-8.5,304,3839,0.00,2.38,0.00,0.000,6,0.000,0.027,2426,2035,3406
$GC,4184,-1.70,-165.5,348.0,-8.9,313,4188,0.00,2.45,0.00,0.000,4,0.000,0.039,2426,3433,3403
$GC,4257,-1.74,-165.5,354.9,-9.0,314,4261,0.00,2.38,0.00,0.000,6,0.000,0.028,2426,2041,3402
$GC,4590,-1.74,-165.5,380.7,-6.6,322,4593,0.00,2.42,0.00,0.000,4,0.000,0.040,2426,3428,3400
$GC,4649,-1.80,-165.5,384.3,-6.7,323,4653,0.12,2.38,0.00,0.000,6,0.073,0.028,2398,2039,3400
$GC,4962,-1.76,-165.5,409.8,-8.1,331,4963,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,2038,3398
$GC,5288,-1.73,-165.5,435.9,-8.8,339,5292,0.00,2.45,0.00,0.000,4,0.000,0.043,2398,3425,3395
$GC,5406,-1.73,-165.5,446.0,-8.4,341,5410,0.00,2.38,0.00,0.000,6,0.000,0.031,2397,2040,3395
$STATE,5456,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5456,begin apogee
$GC,5464,-0.33,0.0,450.4,8.4,343,5598,1.52,0.00,130.05,0.936,6,0.097,0.000,2712,1930,2733
$STATE,5599,end apogee,CONTROL_FINISHED_OK
$STATE,5599,begin climb
$GC,5603,1.06,165.5,455.7,0.0,346,5744,1.38,2.58,131.52,0.913,4,0.048,0.051,3019,563,2058
$GC,6004,0.50,165.5,422.5,13.7,355,6009,0.65,2.40,0.00,0.000,6,0.138,0.031,2903,1933,2057
$GC,6323,0.23,165.5,394.8,8.2,363,6328,0.30,2.55,0.00,0.000,4,0.119,0.044,2844,3364,2054
$GC,6364,0.07,165.5,391.9,7.0,364,6369,0.20,2.47,0.00,0.000,6,0.122,0.034,2809,1958,2054
$GC,6690,0.13,250.0,377.1,4.3,372,6762,0.00,2.62,65.95,0.904,4,0.000,0.054,2809,541,1713
$GC,6838,0.09,271.3,368.9,6.2,375,6862,0.00,2.47,18.00,0.884,6,0.000,0.030,2809,1952,1625
$GC,7190,0.09,303.0,348.8,5.9,384,7220,0.00,2.55,25.20,0.885,4,0.000,0.044,2808,3357,1497
$GC,7277,0.05,303.0,342.7,7.6,386,7282,0.00,2.47,0.00,0.000,6,0.000,0.034,2809,1942,1496
$GC,7598,0.04,326.2,323.3,6.1,394,7622,0.00,2.60,18.50,0.873,4,0.000,0.042,2808,3348,1403
$GC,7646,-0.01,326.2,319.8,7.4,395,7651,0.10,2.47,0.00,0.000,6,0.127,0.032,2792,1942,1402
$GC,7966,-0.01,326.2,296.9,7.4,404,7967,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,1942,1402
$GC,8275,0.07,375.4,278.4,5.4,419,8320,0.00,2.60,38.92,0.846,4,0.000,0.040,2791,3353,1202
$GC,8363,0.12,383.5,273.6,6.6,423,8377,0.10,2.47,7.60,0.831,6,0.087,0.031,2813,1941,1169
$GC,8698,0.08,383.5,248.3,7.9,439,8702,0.00,2.53,0.00,0.000,4,0.000,0.051,2813,537,1169
$GC,8725,0.08,383.5,245.8,8.1,440,8730,0.00,2.45,0.00,0.000,6,0.000,0.028,2813,1954,1168
$GC,9042,0.08,383.5,222.5,7.9,455,9046,0.00,2.45,0.00,0.000,4,0.000,0.041,2813,3353,1168
$GC,9089,0.08,383.5,218.7,8.3,457,9093,0.00,2.45,0.00,0.000,6,0.000,0.031,2813,1947,1169
$GC,9406,0.08,383.5,198.1,6.9,473,9410,0.00,2.47,0.00,0.000,4,0.000,0.037,2813,3358,1168
$GC,9428,0.08,383.5,196.4,6.9,474,9434,0.00,2.42,0.00,0.000,6,0.000,0.028,2813,1948,1169
$GC,9757,0.11,399.6,175.7,6.3,505,9774,0.00,0.00,13.15,0.752,6,0.000,0.000,2813,1948,1103
$GC,10098,0.23,470.2,156.9,4.7,537,10162,0.12,2.55,55.08,0.719,4,0.071,0.035,2842,3354,816
$GC,10191,0.23,470.2,150.0,8.4,545,10197,0.00,2.45,0.00,0.000,6,0.000,0.027,2842,1942,816
$GC,10521,0.19,470.2,124.2,8.1,576,10525,0.00,2.47,0.00,0.000,4,0.000,0.034,2842,3357,816
$GC,10555,0.19,470.2,120.8,9.0,578,10561,0.00,2.42,0.00,0.000,6,0.000,0.026,2842,1946,816
$GC,10885,0.19,470.2,94.1,7.9,609,10889,0.00,2.45,0.00,0.000,4,0.000,0.033,2842,3355,817
$GC,10925,0.19,470.2,90.3,8.4,612,10929,0.00,2.42,0.00,0.000,6,0.000,0.025,2842,1937,817
$GC,11251,0.23,489.9,68.4,6.2,642,11274,0.00,2.50,16.40,0.624,4,0.000,0.031,2842,3358,734
$GC,11303,0.29,489.9,64.6,7.9,646,11309,0.00,2.42,0.00,0.000,6,0.000,0.025,2843,1940,734
$GC,11569,0.34,491.3,47.2,6.8,671,11574,0.10,2.45,0.00,0.000,4,0.070,0.036,2868,3354,735
$GC,11598,0.34,491.3,44.7,7.8,673,11602,0.00,2.40,0.00,0.000,6,0.000,0.024,2868,1948,735
$GC,11865,0.34,491.3,23.8,7.4,704,11872,0.00,2.47,0.00,0.000,4,0.000,0.042,2868,537,736
$GC,11902,0.34,491.3,21.0,7.7,710,11908,0.00,2.40,0.00,0.000,6,0.000,0.022,2868,1968,737
$STATE,12121,end climb,SURFACE_DEPTH_REACHED
$STATE,12121,begin surface coast
$FINISH,0.9,1.023040
$STATE,12201,end surface coast,CONTROL_FINISHED_OK
$STATE,12201,begin surface
$SM_CCo,12285,0.00,0.000,0,0,737,489.62
$SM_GC,1.69,10.88,0.00,0.00,0.043,0.000,0.000,411,2062,737,-10.89,0.62,489.62
$IRIDIUM_FIX,2059.45,-15748.75,280298,020206
$TT8_MAMPS,0.027612
$HUMID,1783
$INTERNAL_PRESSURE,7.95929
$TCM_TEMP,24.60
$XPDR_PINGS,5
$24V_AH,23.6,72.455
$10V_AH,10.2,44.269
$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,27.950,141.775,520.375,0.000,0.000,23.172,28.911,171.968,10.250,0.000,0.000,43.210,1407.149,8200.662,579.767,1898.056,595.095,33.377,1514.138,0.000,1829.765,0.000,57.445
$DEVICE_MAMPS,153.400,65.962,935.740,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,509.063,511.431,916.310,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41118,763
$CAP_FILE_SIZE,117168,0
$CFSIZE,260165632,228134912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041208,093007,2102.997,-15747.942,7,1.5,23,9.8