version: 66.03
glider: 114
mission: 3
dive: 555
start: 12 8 108 20 53 0
data:
$ID,114
$MISSION,3
$DIVE,555
$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,-602686.25
$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,75
$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
$GPS1,204537,2101.962,-15748.211,34,1.2,34,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-61.6
$GPS2,205203,2101.967,-15748.246,10,1.9,10,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.214,0.090
$KALMAN_X,-195243.7,388.4,262.5,203781.5,-3601.2
$KALMAN_Y,-172990.9,-337.8,44.7,146231.4,-1400.5
$MHEAD_RNG_PITCHd_Wd,57.4,2335,-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,-165.5,0.0,0.0,0,113,0.00,0.00,-80.82,0.000,2,0.000,0.000,407,2081,2816
$GC,118,-1.06,-165.5,3.1,-3.0,15,147,11.95,2.55,-10.50,0.000,4,0.153,0.048,2550,630,3408
$GC,167,-0.55,-165.5,13.3,-17.7,23,174,0.55,2.33,0.00,0.000,6,0.063,0.021,2669,2010,3408
$GC,443,-1.03,-165.5,38.1,-10.7,65,448,0.45,2.45,0.00,0.000,4,0.058,0.030,2566,3444,3407
$GC,500,-1.46,-165.5,43.6,-8.2,69,507,0.43,2.38,0.00,0.000,6,0.054,0.021,2471,2025,3408
$GC,762,-1.38,-165.5,70.3,-10.1,94,766,0.00,2.45,0.00,0.000,4,0.000,0.034,2471,3442,3408
$GC,803,-1.32,-165.5,74.6,-10.5,97,808,0.15,2.35,0.00,0.000,6,0.092,0.022,2500,2042,3408
$GC,1068,-1.32,-165.5,101.5,-11.0,121,1072,0.00,2.42,0.00,0.000,4,0.000,0.033,2500,3444,3408
$GC,1136,-1.40,-165.5,108.7,-9.3,126,1142,0.00,2.38,0.00,0.000,6,0.000,0.022,2500,2031,3408
$GC,1463,-1.44,-165.5,133.8,-6.1,157,1468,0.12,2.42,0.00,0.000,4,0.061,0.032,2469,3437,3407
$GC,1527,-1.49,-165.5,138.1,-6.8,162,1531,0.00,2.35,0.00,0.000,6,0.000,0.022,2469,2036,3408
$GC,1852,-1.49,-165.5,159.9,-7.3,192,1860,0.00,2.42,0.00,0.000,4,0.000,0.033,2469,3443,3408
$GC,1871,-1.49,-165.5,161.7,-7.7,193,1877,0.00,2.35,0.00,0.000,6,0.000,0.022,2469,2041,3408
$GC,2197,-1.49,-165.5,190.3,-10.2,224,2201,0.00,2.42,0.00,0.000,4,0.000,0.035,2468,3444,3407
$GC,2256,-1.58,-165.5,196.4,-10.8,228,2262,0.10,2.38,0.00,0.000,6,0.067,0.024,2443,2028,3407
$GC,2583,-1.58,-165.5,228.9,-7.8,246,2588,0.00,2.45,0.00,0.000,4,0.000,0.035,2443,3444,3408
$GC,2657,-1.65,-165.5,234.5,-6.8,249,2662,0.00,2.38,0.00,0.000,6,0.000,0.025,2443,2036,3408
$GC,2974,-1.65,-165.5,255.2,-5.9,264,2978,0.00,2.42,0.00,0.000,4,0.000,0.036,2442,3435,3407
$GC,3054,-1.71,-165.5,260.8,-6.8,267,3060,0.12,2.38,0.00,0.000,6,0.063,0.025,2412,2034,3407
$GC,3375,-1.66,-165.5,291.6,-10.7,283,3379,0.00,2.45,0.00,0.000,4,0.000,0.038,2412,3442,3406
$GC,3438,-1.66,-165.5,298.2,-9.4,286,3442,0.00,2.40,0.00,0.000,6,0.000,0.033,2412,2032,3406
$GC,3787,-1.63,-165.5,323.0,-6.1,295,3792,0.12,2.47,0.00,0.000,4,0.100,0.038,2436,3445,3404
$GC,3816,-1.63,-165.5,324.7,-5.8,295,3820,0.00,2.40,0.00,0.000,6,0.000,0.028,2436,2038,3403
$GC,4147,-1.63,-165.5,347.3,-7.9,303,4152,0.00,2.45,0.00,0.000,4,0.000,0.039,2436,3437,3401
$GC,4170,-1.66,-165.5,349.5,-9.2,303,4175,0.00,2.40,0.00,0.000,6,0.000,0.028,2435,2033,3401
$GC,4514,-1.69,-165.5,379.1,-8.3,312,4518,0.00,2.47,0.00,0.000,4,0.000,0.039,2436,3444,3399
$GC,4536,-1.73,-165.5,381.0,-7.7,312,4540,0.00,2.42,0.00,0.000,6,0.000,0.029,2435,2029,3399
$GC,4873,-1.77,-165.5,405.0,-6.8,321,4878,0.15,2.47,0.00,0.000,4,0.068,0.040,2402,3435,3395
$GC,4958,-1.77,-165.5,412.1,-8.4,323,4963,0.00,2.40,0.00,0.000,6,0.000,0.030,2401,2043,3395
$GC,5285,-1.77,-165.5,438.2,-7.7,331,5289,0.00,2.45,0.00,0.000,4,0.000,0.042,2401,3434,3393
$GC,5325,-1.77,-165.5,441.8,-8.1,332,5329,0.00,2.42,0.00,0.000,6,0.000,0.030,2401,2028,3392
$STATE,5445,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5445,begin apogee
$GC,5454,-0.33,0.0,451.8,8.4,335,5589,1.52,0.00,130.68,0.934,6,0.091,0.000,2715,1933,2733
$STATE,5589,end apogee,CONTROL_FINISHED_OK
$STATE,5590,begin climb
$GC,5593,1.06,165.5,457.2,0.0,338,5734,1.38,2.58,132.32,0.917,4,0.051,0.052,3019,566,2058
$GC,5994,0.50,165.5,427.3,13.8,347,5999,0.65,2.40,0.00,0.000,6,0.144,0.029,2903,1942,2057
$GC,6314,0.22,165.5,402.7,7.0,355,6319,0.30,2.53,0.00,0.000,4,0.122,0.051,2845,564,2055
$GC,6469,0.05,176.0,392.0,6.5,358,6484,0.22,2.42,8.52,0.904,6,0.120,0.030,2804,1955,2015
$GC,6817,0.04,214.7,373.2,5.7,367,6850,0.00,0.00,30.70,0.920,6,0.000,0.000,2804,1955,1857
$GC,7142,0.03,242.8,352.0,6.0,375,7171,0.00,2.58,22.65,0.904,4,0.000,0.044,2804,3352,1743
$GC,7195,0.03,272.6,348.9,5.9,376,7227,0.00,2.45,24.98,0.893,6,0.000,0.032,2803,1963,1621
$GC,7554,0.13,361.3,333.1,4.2,385,7629,0.00,2.65,69.72,0.885,4,0.000,0.052,2803,535,1260
$GC,7647,0.14,386.1,327.9,6.1,386,7674,0.00,2.50,20.50,0.865,6,0.000,0.029,2804,1960,1159
$GC,8000,0.22,410.8,303.3,6.1,395,8026,0.17,2.53,20.02,0.857,4,0.080,0.042,2841,3359,1057
$GC,8100,0.16,410.8,295.5,7.7,397,8106,0.00,2.50,0.00,0.000,6,0.000,0.033,2843,1944,1057
$GC,8417,0.05,410.8,270.0,8.7,413,8422,0.17,2.53,0.00,0.000,4,0.113,0.039,2806,3362,1057
$GC,8446,0.02,410.8,267.5,8.2,414,8450,0.00,2.47,0.00,0.000,6,0.000,0.031,2807,1942,1057
$GC,8762,0.02,410.8,241.3,8.5,429,8766,0.00,2.50,0.00,0.000,4,0.000,0.038,2807,3359,1057
$GC,8796,0.02,410.8,238.4,8.4,430,8802,0.00,2.45,0.00,0.000,6,0.000,0.030,2807,1945,1057
$GC,9112,0.02,410.8,212.3,8.3,446,9117,0.00,2.50,0.00,0.000,4,0.000,0.037,2807,3366,1057
$GC,9146,0.02,410.8,209.4,8.0,447,9152,0.00,2.45,0.00,0.000,6,0.000,0.029,2807,1951,1057
$GC,9468,0.02,410.8,183.2,7.5,472,9472,0.00,2.47,0.00,0.000,4,0.000,0.036,2807,3362,1057
$GC,9511,0.05,410.8,180.2,7.2,475,9515,0.00,2.45,0.00,0.000,6,0.000,0.028,2807,1947,1057
$GC,9839,0.12,449.0,158.6,5.7,505,9875,0.00,2.55,30.77,0.742,4,0.000,0.048,2807,547,901
$GC,9901,0.24,485.5,155.2,5.7,510,9936,0.15,2.45,29.05,0.736,6,0.065,0.025,2842,1965,753
$GC,10262,0.24,485.5,125.7,9.0,544,10266,0.00,2.40,0.00,0.000,4,0.000,0.037,2842,3349,753
$GC,10325,0.27,485.5,119.8,9.2,549,10331,0.00,2.42,0.00,0.000,6,0.000,0.028,2842,1940,755
$GC,10654,0.29,494.3,93.3,6.6,580,10667,0.00,2.55,8.48,0.673,4,0.000,0.035,2842,3352,716
$GC,10696,0.29,494.3,90.0,7.6,583,10703,0.00,2.42,0.00,0.000,6,0.000,0.025,2842,1935,716
$GC,11025,0.39,524.3,71.6,5.9,614,11059,0.15,2.53,23.83,0.642,4,0.060,0.033,2882,3342,595
$GC,11095,0.39,524.3,66.2,8.0,620,11099,0.00,2.40,0.00,0.000,6,0.000,0.025,2883,1953,597
$GC,11360,0.34,524.3,43.7,8.2,644,11365,0.00,2.50,0.00,0.000,4,0.000,0.044,2882,538,599
$GC,11379,0.29,524.3,41.8,8.2,645,11384,0.15,2.40,0.00,0.000,6,0.091,0.022,2853,1955,598
$GC,11648,0.30,532.2,23.8,6.6,677,11661,0.00,2.47,7.78,0.598,4,0.000,0.032,2853,3354,562
$GC,11703,0.37,533.3,20.1,6.8,686,11709,0.00,2.40,0.00,0.000,6,0.000,0.024,2853,1946,562
$STATE,11917,end climb,SURFACE_DEPTH_REACHED
$STATE,11917,begin surface coast
$FINISH,0.9,1.023271
$STATE,11997,end surface coast,CONTROL_FINISHED_OK
$STATE,11997,begin surface
$SM_CCo,12081,0.00,0.000,0,0,564,532.06
$SM_GC,1.66,10.82,0.00,0.00,0.041,0.000,0.000,407,2065,564,-10.91,0.71,532.06
$IRIDIUM_FIX,2052.52,-15744.48,040398,171729
$TT8_MAMPS,0.027612
$HUMID,1814
$INTERNAL_PRESSURE,7.93976
$TCM_TEMP,24.60
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,451.8,63.0
$24V_AH,23.6,77.043
$10V_AH,10.2,46.998
$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,29.850,147.225,560.000,0.000,0.000,25.285,42.719,172.897,10.500,0.000,0.000,11.733,1362.509,8047.134,630.409,1810.709,615.489,33.373,1547.908,0.000,1774.626,0.000,60.485
$DEVICE_MAMPS,152.633,55.991,934.206,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,491.677,480.251,883.599,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37992,738
$CAP_FILE_SIZE,118384,0
$CFSIZE,260165632,226238464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091208,001538,2101.392,-15748.180,38,1.4,38,9.8