version: 66.03
glider: 114
mission: 3
dive: 557
start: 12 9 108 3 56 36
data:
$ID,114
$MISSION,3
$DIVE,557
$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,-602731.31
$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,70
$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
$GPS1,034925,2101.590,-15747.126,23,1.0,39,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-63.6
$GPS2,035539,2101.610,-15747.119,10,1.4,10,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.208,0.105
$KALMAN_X,-199175.7,525.7,309.5,209462.8,-2643.3
$KALMAN_Y,-176278.7,51.5,63.6,148442.3,-987.0
$MHEAD_RNG_PITCHd_Wd,53.5,1323,-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,-165.4,0.0,0.0,0,107,0.00,0.00,-75.32,0.000,2,0.000,0.000,407,2086,2783
$GC,111,-1.06,-165.5,3.1,-3.0,14,141,11.98,2.30,-11.40,0.000,4,0.155,0.046,2549,3412,3409
$GC,161,-0.58,-165.5,12.8,-17.6,22,168,0.52,2.33,0.00,0.000,6,0.070,0.021,2660,2029,3409
$GC,438,-1.08,-165.5,34.3,-9.1,67,443,0.45,2.42,0.00,0.000,4,0.057,0.039,2557,634,3409
$GC,663,-1.44,-165.5,52.8,-7.7,86,670,0.38,2.30,0.00,0.000,6,0.061,0.020,2475,2028,3409
$GC,928,-1.37,-165.5,81.6,-11.6,111,932,0.00,2.40,0.00,0.000,4,0.000,0.035,2474,3426,3409
$GC,1048,-1.37,-165.5,94.5,-9.7,121,1052,0.00,2.35,0.00,0.000,6,0.000,0.022,2474,2028,3409
$GC,1379,-1.37,-165.5,128.9,-9.2,152,1383,0.00,2.42,0.00,0.000,4,0.000,0.033,2474,3432,3409
$GC,1409,-1.37,-165.5,131.7,-9.9,154,1413,0.00,2.35,0.00,0.000,6,0.000,0.022,2474,2035,3409
$GC,1741,-1.37,-165.5,160.8,-8.4,185,1745,0.00,2.40,0.00,0.000,4,0.000,0.034,2474,3426,3410
$GC,1820,-1.46,-165.5,167.0,-7.3,191,1826,0.00,2.33,0.00,0.000,6,0.000,0.023,2474,2042,3410
$GC,2147,-1.51,-165.5,190.6,-6.9,222,2151,0.00,2.38,0.00,0.000,4,0.000,0.034,2474,3424,3410
$GC,2171,-1.56,-165.5,192.4,-6.8,224,2176,0.12,2.35,0.00,0.000,6,0.062,0.023,2443,2027,3410
$GC,2504,-1.56,-165.5,220.5,-8.3,244,2508,0.00,2.42,0.00,0.000,4,0.000,0.035,2443,3431,3410
$GC,2562,-1.61,-165.5,225.8,-8.6,246,2568,0.00,2.35,0.00,0.000,6,0.000,0.025,2443,2036,3410
$GC,2878,-1.61,-165.5,252.6,-8.1,262,2882,0.00,2.40,0.00,0.000,4,0.000,0.035,2443,3422,3410
$GC,2923,-1.68,-165.5,256.3,-8.5,264,2927,0.00,2.33,0.00,0.000,6,0.000,0.025,2443,2042,3410
$GC,3250,-1.68,-165.5,284.0,-8.9,280,3251,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,2042,3410
$GC,3558,-1.71,-165.5,309.2,-9.1,293,3563,0.12,2.42,0.00,0.000,4,0.066,0.038,2413,3427,3409
$GC,3637,-1.71,-165.5,318.8,-12.4,294,3643,0.00,2.38,0.00,0.000,6,0.000,0.027,2413,2032,3407
$GC,3969,-1.71,-165.5,351.5,-8.3,303,3971,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2030,3406
$GC,4294,-1.65,-165.5,378.8,-9.2,311,4298,0.00,2.45,0.00,0.000,4,0.000,0.041,2413,3425,3403
$GC,4368,-1.65,-165.5,384.2,-6.6,312,4372,0.00,2.38,0.00,0.000,6,0.000,0.029,2413,2039,3402
$GC,4700,-1.65,-165.5,411.2,-8.2,320,4704,0.00,2.45,0.00,0.000,4,0.000,0.041,2413,3428,3400
$GC,4756,-1.68,-165.5,415.9,-8.7,321,4760,0.00,2.40,0.00,0.000,6,0.000,0.030,2413,2030,3400
$GC,5105,-1.68,-165.5,443.5,-7.3,330,5110,0.00,2.45,0.00,0.000,4,0.000,0.041,2413,3424,3397
$GC,5134,-1.68,-165.5,445.9,-8.5,330,5138,0.00,2.40,0.00,0.000,6,0.000,0.030,2413,2029,3397
$STATE,5223,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5223,begin apogee
$GC,5231,-0.33,0.0,452.4,7.5,332,5366,1.45,0.00,131.18,0.935,6,0.089,0.000,2712,1933,2733
$STATE,5367,end apogee,CONTROL_FINISHED_OK
$STATE,5367,begin climb
$GC,5371,1.06,165.5,456.6,0.0,335,5512,1.38,2.58,132.30,0.917,4,0.048,0.041,3019,3324,2058
$GC,5735,0.55,165.5,427.1,13.7,343,5740,0.57,2.40,0.00,0.000,6,0.131,0.033,2915,1964,2056
$GC,6084,0.24,165.5,398.2,6.8,352,6089,0.35,2.58,0.00,0.000,4,0.120,0.052,2847,545,2055
$GC,6107,0.12,226.2,396.9,5.0,352,6166,0.15,2.42,47.70,0.901,6,0.121,0.030,2819,1940,1810
$GC,6493,0.13,286.7,379.1,5.0,362,6548,0.00,2.58,48.62,0.901,4,0.000,0.041,2820,3346,1564
$GC,6572,0.11,337.2,376.0,5.3,363,6619,0.00,2.47,40.58,0.889,6,0.000,0.034,2820,1948,1358
$GC,6946,0.08,363.7,352.2,6.0,373,6974,0.00,2.60,21.62,0.884,4,0.000,0.041,2818,3349,1250
$GC,7009,0.03,363.7,346.8,8.8,374,7014,0.00,2.47,0.00,0.000,6,0.000,0.032,2819,1944,1250
$GC,7353,-0.00,370.1,321.9,6.6,383,7365,0.15,2.50,5.88,0.854,4,0.114,0.038,2792,3350,1224
$GC,7395,0.07,413.0,319.9,5.5,384,7437,0.00,2.47,34.53,0.869,6,0.000,0.031,2792,1942,1049
$GC,7743,0.07,413.0,294.7,6.9,394,7747,0.00,2.50,0.00,0.000,4,0.000,0.039,2792,3350,1048
$GC,7765,0.07,413.0,292.7,8.4,395,7769,0.00,2.45,0.00,0.000,6,0.000,0.029,2792,1942,1048
$GC,8087,0.09,421.9,270.0,6.6,411,8101,0.00,2.55,7.90,0.831,4,0.000,0.037,2792,3348,1013
$GC,8137,0.17,441.8,266.3,6.2,413,8161,0.15,2.45,16.85,0.839,6,0.074,0.029,2824,1942,930
$GC,8487,0.11,441.8,241.3,7.3,430,8491,0.00,2.50,0.00,0.000,4,0.000,0.037,2824,3361,931
$GC,8543,0.11,441.8,236.6,7.7,432,8549,0.00,2.45,0.00,0.000,6,0.000,0.029,2824,1946,931
$GC,8859,0.11,461.7,214.0,6.2,448,8882,0.00,2.53,16.23,0.788,4,0.000,0.035,2824,3357,850
$GC,8916,0.11,461.7,209.9,7.0,450,8921,0.00,2.45,0.00,0.000,6,0.000,0.028,2824,1946,850
$GC,9238,0.11,463.0,184.7,6.8,474,9242,0.00,2.47,0.00,0.000,4,0.000,0.038,2824,3352,850
$GC,9284,0.11,463.0,181.2,7.2,477,9290,0.00,2.42,0.00,0.000,6,0.000,0.027,2824,1945,851
$GC,9612,0.11,463.0,159.3,7.3,508,9616,0.00,2.47,0.00,0.000,4,0.000,0.035,2824,3362,851
$GC,9641,0.11,463.0,157.1,7.2,510,9646,0.00,2.45,0.00,0.000,6,0.000,0.026,2824,1938,852
$GC,9971,0.15,483.7,136.2,6.2,540,9994,0.00,2.58,17.88,0.709,4,0.000,0.033,2824,3361,761
$GC,10019,0.20,490.5,132.9,6.6,544,10031,0.00,2.45,6.40,0.703,6,0.000,0.025,2824,1942,733
$GC,10352,0.25,490.5,110.5,6.9,575,10356,0.00,2.47,0.00,0.000,4,0.000,0.032,2824,3363,734
$GC,10375,0.30,490.5,108.7,7.0,576,10382,0.15,2.42,0.00,0.000,6,0.061,0.025,2860,1939,734
$GC,10701,0.30,490.5,84.0,7.6,607,10705,0.00,2.47,0.00,0.000,4,0.000,0.032,2861,3365,735
$GC,10742,0.34,490.5,80.7,8.1,610,10746,0.00,2.40,0.00,0.000,6,0.000,0.025,2861,1952,735
$GC,11076,0.34,490.5,54.0,8.2,641,11080,0.00,2.42,0.00,0.000,4,0.000,0.031,2861,3360,737
$GC,11105,0.34,490.5,51.4,8.3,643,11110,0.00,2.40,0.00,0.000,6,0.000,0.024,2860,1943,737
$GC,11367,0.34,490.5,31.4,7.6,667,11371,0.00,2.42,0.00,0.000,4,0.000,0.042,2860,551,737
$GC,11384,0.34,490.5,29.9,7.5,668,11391,0.00,2.35,0.00,0.000,6,0.000,0.021,2861,1962,738
$GC,11663,0.34,490.5,9.5,8.3,717,11670,0.00,2.35,0.00,0.000,4,0.000,0.031,2861,3343,738
$GC,11706,0.46,554.9,7.3,4.9,724,11736,0.12,2.35,24.73,0.568,2,0.064,0.025,2892,1952,610
$STATE,11737,end climb,SURFACE_DEPTH_REACHED
$STATE,11737,begin surface coast
$FINISH,1.0,1.023362
$STATE,11818,end surface coast,CONTROL_FINISHED_OK
$STATE,11819,begin surface
$SM_CCo,11903,0.00,0.000,0,0,612,520.28
$SM_GC,1.70,11.00,0.00,0.00,0.041,0.000,0.000,408,2077,612,-10.91,1.07,520.28
$IRIDIUM_FIX,2052.52,-15749.62,050398,000042
$TT8_MAMPS,0.027612
$HUMID,1799
$INTERNAL_PRESSURE,7.93976
$TCM_TEMP,24.70
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,452.4,66.3
$24V_AH,23.6,77.348
$10V_AH,10.2,47.172
$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,29.050,141.300,552.375,0.000,0.000,23.504,30.443,176.280,10.500,0.000,0.000,11.818,1356.090,7917.937,605.568,1785.549,611.295,33.377,1512.548,0.000,1753.041,0.000,63.160
$DEVICE_MAMPS,154.934,55.224,934.973,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,495.022,495.346,893.968,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37981,743
$CAP_FILE_SIZE,113499,0
$CFSIZE,260165632,226119680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091208,071628,2102.452,-15745.005,30,2.6,49,9.8