version: 66.03
glider: 114
mission: 3
dive: 532
start: 12 5 108 12 43 24
data:
$ID,114
$MISSION,3
$DIVE,532
$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,-602274.06
$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,35
$R_STBD_OVSHOOT,61
$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
$GPS1,123238,2109.104,-15749.035,28,0.9,28,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-61.0
$GPS2,124226,2109.048,-15748.935,15,2.0,20,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,-0.138,0.187
$KALMAN_X,-166532.6,2.1,451.2,174077.7,331.4
$KALMAN_Y,-154892.5,97.8,121.7,140731.6,-1029.0
$MHEAD_RNG_PITCHd_Wd,313.7,2547,-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,-165.5,0.0,0.0,0,101,0.00,0.00,-70.40,0.000,2,0.000,0.000,411,2039,2865
$GC,105,-1.06,-165.5,3.5,-3.9,13,135,12.00,2.42,-9.10,0.000,4,0.154,0.050,2551,3411,3410
$GC,228,-1.21,-165.5,20.7,-7.9,34,235,0.12,2.33,0.00,0.000,6,0.062,0.021,2521,2021,3410
$GC,497,-1.21,-165.5,43.0,-8.1,68,501,0.00,2.42,0.00,0.000,4,0.000,0.035,2521,3421,3410
$GC,560,-1.28,-165.5,49.2,-10.0,73,565,0.00,2.33,0.00,0.000,6,0.000,0.022,2521,2036,3410
$GC,823,-1.28,-165.5,74.6,-9.8,97,827,0.00,2.40,0.00,0.000,4,0.000,0.034,2521,3424,3410
$GC,868,-1.36,-165.5,78.7,-8.6,100,875,0.12,2.33,0.00,0.000,6,0.062,0.022,2491,2033,3410
$GC,1130,-1.36,-165.5,99.5,-7.4,125,1134,0.00,2.40,0.00,0.000,4,0.000,0.034,2491,3424,3410
$GC,1175,-1.41,-165.5,102.8,-7.0,128,1181,0.00,2.33,0.00,0.000,6,0.000,0.022,2491,2031,3411
$GC,1501,-1.44,-165.5,125.8,-6.7,159,1506,0.00,2.40,0.00,0.000,4,0.000,0.035,2491,3419,3411
$GC,1592,-1.52,-165.5,132.5,-7.7,166,1599,0.15,2.30,0.00,0.000,6,0.057,0.022,2454,2041,3411
$GC,1918,-1.52,-165.5,161.4,-9.1,197,1922,0.00,2.38,0.00,0.000,4,0.000,0.034,2454,3420,3411
$GC,1947,-1.52,-165.5,164.0,-8.7,199,1951,0.00,2.33,0.00,0.000,6,0.000,0.023,2454,2038,3411
$GC,2274,-1.52,-165.5,193.3,-8.6,229,2278,0.00,2.38,0.00,0.000,4,0.000,0.034,2454,3416,3411
$GC,2303,-1.52,-165.5,196.0,-8.7,231,2307,0.00,2.33,0.00,0.000,6,0.000,0.023,2454,2036,3411
$GC,2620,-1.52,-165.5,222.7,-8.5,248,2625,0.00,2.40,0.00,0.000,4,0.000,0.035,2454,3423,3411
$GC,2685,-1.59,-165.5,228.5,-8.8,251,2689,0.00,2.35,0.00,0.000,6,0.000,0.025,2454,2035,3411
$GC,3022,-1.62,-165.5,253.1,-6.5,267,3025,0.00,2.40,0.00,0.000,4,0.000,0.036,2454,3419,3411
$GC,3069,-1.71,-165.5,256.7,-7.3,269,3074,0.15,2.35,0.00,0.000,6,0.060,0.025,2418,2033,3411
$GC,3397,-1.71,-165.5,286.0,-8.7,285,3398,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,2033,3410
$GC,3706,-1.71,-165.5,311.0,-8.6,297,3710,0.00,2.42,0.00,0.000,4,0.000,0.038,2418,3424,3409
$GC,3785,-1.71,-165.5,317.7,-7.8,298,3791,0.00,2.35,0.00,0.000,6,0.000,0.028,2418,2045,3409
$GC,4119,-1.67,-165.5,341.6,-7.0,307,4123,0.00,2.40,0.00,0.000,4,0.000,0.040,2418,3415,3407
$GC,4161,-1.67,-165.5,345.2,-8.5,308,4166,0.00,2.38,0.00,0.000,6,0.000,0.028,2417,2027,3406
$GC,4487,-1.67,-165.5,373.5,-8.7,316,4490,0.00,2.42,0.00,0.000,4,0.000,0.041,2418,3414,3404
$GC,4549,-1.67,-165.5,378.7,-8.1,317,4553,0.00,2.35,0.00,0.000,6,0.000,0.029,2417,2041,3403
$GC,4897,-1.67,-165.5,405.3,-7.6,326,4901,0.00,2.42,0.00,0.000,4,0.000,0.041,2418,3417,3400
$GC,4953,-1.71,-165.5,410.0,-7.5,327,4961,0.00,2.38,0.00,0.000,6,0.000,0.030,2418,2034,3400
$GC,5269,-1.71,-165.5,436.4,-8.5,335,5273,0.00,2.42,0.00,0.000,4,0.000,0.042,2418,3411,3398
$GC,5303,-1.71,-165.5,439.3,-8.0,335,5309,0.00,2.38,0.00,0.000,6,0.000,0.031,2418,2031,3398
$STATE,5470,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5470,begin apogee
$GC,5479,-0.33,0.0,452.7,8.0,340,5613,1.45,0.00,130.85,0.933,6,0.090,0.000,2716,1935,2733
$STATE,5614,end apogee,CONTROL_FINISHED_OK
$STATE,5614,begin climb
$GC,5618,1.06,165.5,457.8,0.0,343,5758,1.35,2.55,131.57,0.914,4,0.049,0.040,3016,3319,2058
$GC,5903,0.56,165.5,443.2,11.3,349,5908,0.55,2.38,0.00,0.000,6,0.143,0.033,2917,1971,2057
$GC,6241,0.27,171.3,419.4,6.6,358,6252,0.32,2.62,4.93,0.867,4,0.127,0.053,2854,537,2034
$GC,6317,0.09,190.4,414.9,6.3,359,6338,0.22,2.42,15.70,0.906,6,0.123,0.030,2812,1930,1956
$GC,6656,0.09,244.6,397.9,5.2,368,6705,0.00,2.62,43.03,0.917,4,0.000,0.044,2813,3354,1735
$GC,6752,0.06,265.8,392.0,6.2,370,6777,0.00,2.50,17.95,0.898,6,0.000,0.033,2813,1938,1648
$GC,7110,-0.02,265.8,368.5,7.1,379,7112,0.12,0.00,0.00,0.000,6,0.123,0.000,2790,1938,1647
$GC,7436,-0.04,271.6,346.1,6.6,387,7445,0.00,2.53,5.03,0.878,4,0.000,0.038,2789,3350,1625
$GC,7463,-0.04,271.6,344.1,7.3,387,7467,0.00,2.47,0.00,0.000,6,0.000,0.031,2790,1939,1625
$GC,7795,0.05,321.5,324.3,5.3,395,7837,0.00,0.00,39.80,0.884,6,0.000,0.000,2790,1939,1422
$GC,8160,0.16,383.7,307.0,5.0,404,8216,0.15,2.58,49.72,0.866,4,0.077,0.038,2826,3354,1168
$GC,8271,0.12,383.7,299.5,7.6,406,8275,0.00,2.47,0.00,0.000,6,0.000,0.032,2827,1942,1167
$GC,8593,0.04,383.7,271.2,8.9,422,8598,0.15,2.53,0.00,0.000,4,0.109,0.049,2796,541,1168
$GC,8621,0.04,383.7,268.8,8.2,423,8625,0.00,2.45,0.00,0.000,6,0.000,0.028,2796,1954,1168
$GC,8944,0.06,392.2,246.5,6.6,439,8958,0.00,2.53,7.60,0.822,4,0.000,0.041,2791,3350,1133
$GC,9005,0.12,393.6,242.4,6.8,441,9011,0.00,2.45,0.00,0.000,6,0.000,0.030,2796,1943,1133
$GC,9322,0.12,393.6,221.3,7.0,457,9324,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,1941,1134
$GC,9632,0.12,396.4,200.2,6.7,472,9641,0.00,2.50,4.18,0.768,4,0.000,0.035,2795,3354,1117
$GC,9689,0.19,396.4,196.2,7.1,476,9694,0.15,2.45,0.00,0.000,6,0.070,0.028,2830,1939,1117
$GC,10015,0.17,403.0,175.7,6.6,506,10028,0.00,2.50,6.43,0.752,4,0.000,0.035,2829,3361,1089
$GC,10053,0.17,403.0,172.8,8.4,509,10057,0.00,2.45,0.00,0.000,6,0.000,0.028,2829,1950,1088
$GC,10379,0.17,403.0,146.2,8.3,539,10383,0.00,2.50,0.00,0.000,4,0.000,0.047,2829,541,1089
$GC,10408,0.17,403.0,143.8,8.3,541,10412,0.00,2.42,0.00,0.000,6,0.000,0.025,2830,1962,1089
$GC,10734,0.20,422.2,123.1,6.3,571,10756,0.00,2.42,15.73,0.696,4,0.000,0.035,2830,3343,1010
$GC,10815,0.24,422.2,117.5,7.3,578,10819,0.00,2.40,0.00,0.000,6,0.000,0.027,2829,1946,1010
$GC,11146,0.31,459.6,95.7,5.7,609,11182,0.12,2.53,29.17,0.660,4,0.068,0.034,2860,3348,859
$GC,11224,0.31,459.6,90.5,7.2,616,11228,0.00,2.42,0.00,0.000,6,0.000,0.026,2860,1945,860
$GC,11553,0.31,459.6,69.8,7.1,646,11558,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,1945,861
$GC,11815,0.31,459.6,49.9,8.1,671,11819,0.00,2.42,0.00,0.000,4,0.000,0.032,2860,3348,862
$GC,11856,0.35,459.6,46.5,8.3,674,11860,0.00,2.38,0.00,0.000,6,0.000,0.025,2860,1948,862
$GC,12119,0.46,521.4,29.2,5.0,699,12177,0.12,2.55,47.85,0.574,4,0.064,0.041,2892,543,606
$GC,12191,0.39,521.4,21.8,11.2,711,12198,0.00,2.40,0.00,0.000,6,0.000,0.022,2891,1960,607
$STATE,12374,end climb,SURFACE_DEPTH_REACHED
$STATE,12374,begin surface coast
$FINISH,1.1,1.021553
$STATE,12446,end surface coast,CONTROL_FINISHED_OK
$STATE,12447,begin surface
$SM_CCo,12531,0.00,0.000,0,0,609,521.02
$SM_GC,1.74,11.07,0.00,0.00,0.044,0.000,0.000,411,2060,609,-10.89,0.57,521.02
$IRIDIUM_FIX,2101.76,-15750.89,010398,121237
$TT8_MAMPS,0.027612
$HUMID,1778
$INTERNAL_PRESSURE,7.94952
$TCM_TEMP,24.60
$XPDR_PINGS,11
$24V_AH,23.6,73.634
$10V_AH,10.2,45.027
$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,28.350,136.150,549.525,0.000,0.000,55.871,56.756,263.136,11.750,0.000,0.000,22.128,1374.869,8600.114,606.831,1793.821,745.052,33.375,1505.872,0.000,1755.260,0.000,60.554
$DEVICE_MAMPS,154.167,55.991,932.672,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,504.192,492.445,902.551,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38070,756
$CAP_FILE_SIZE,118035,0
$CFSIZE,260165632,227618816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051208,161331,2110.094,-15749.348,36,1.1,36,9.8