version: 66.04
glider: 114
mission: 4
dive: 15
start: 7 3 109 21 7 58
data:
$ID,114
$MISSION,4
$DIVE,15
$D_SURF,4
$D_FLARE,3
$D_TGT,400
$D_ABORT,500
$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,155
$T_MISSION,170
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,50
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52290
$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,430
$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,-609910.12
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,410
$PITCH_MAX,3699
$C_PITCH,2530
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,15
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,160
$ROLL_MAX,3940
$ROLL_DEG,40
$C_ROLL_DIVE,2000
$C_ROLL_CLIMB,1990
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-20
$R_STBD_OVSHOOT,-20
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,435
$VBD_MAX,3961
$C_VBD,2777
$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
$PHONE_SUPPLY,2
$PRESSURE_YINT,-10.062535
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,1
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2
$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
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044139405
$SEABIRD_T_H,0.0006546143
$SEABIRD_T_I,2.8137214e-05
$SEABIRD_T_J,3.1112556e-06
$SEABIRD_C_G,-10.003699
$SEABIRD_C_H,1.1230496
$SEABIRD_C_I,-0.0013255846
$SEABIRD_C_J,0.00018004949
$GPS1,210000,2109.670,-15800.199,36,1.1,41,9.8
$_CALLS,1
$_XMS_NAKs,27
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-62.6
$GPS2,210708,2109.657,-15800.194,13,1.6,13,9.8
$SPEED_LIMITS,0.072,0.245
$TGT_NAME,SOUTH1
$TGT_LATLONG,2057.000,-15839.515
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.207,-0.132
$KALMAN_X,3592.7,170.7,209.8,-17337.4,398.9
$KALMAN_Y,5904.1,-100.9,-92.9,-15493.8,697.1
$MHEAD_RNG_PITCHd_Wd,227.8,71935,-15.7,-8.602
$D_GRID,400
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.30,-146.0,0.0,0.0,0,93,0.00,0.00,-74.68,0.000,2,0.000,0.000,409,2018,3261
$GC,97,-1.30,-146.0,4.0,-7.5,13,117,10.98,2.55,-1.70,0.000,4,0.178,0.051,2246,575,3375
$GC,237,-1.30,-146.0,38.4,-16.7,33,241,0.00,2.45,0.00,0.000,6,0.000,0.025,2245,2019,3375
$GC,504,-1.30,-146.0,77.7,-13.1,58,508,0.00,2.42,0.00,0.000,4,0.000,0.038,2246,3420,3376
$GC,522,-1.30,-146.0,80.3,-14.8,59,526,0.00,2.42,0.00,0.000,6,0.000,0.025,2246,1985,3377
$GC,784,-1.30,-146.0,115.5,-14.2,83,788,0.00,2.47,0.00,0.000,4,0.000,0.045,2246,579,3377
$GC,812,-1.30,-146.0,119.7,-14.3,85,818,0.00,2.42,0.00,0.000,6,0.000,0.025,2246,2012,3377
$GC,1073,-1.30,-146.0,150.7,-11.8,110,1077,0.00,2.55,0.00,0.000,4,0.000,0.046,2245,577,3378
$GC,1096,-1.30,-146.0,153.6,-12.4,112,1100,0.00,2.42,0.00,0.000,6,0.000,0.025,2245,2013,3378
$GC,1357,-1.30,-146.0,183.8,-11.0,136,1362,0.00,2.55,0.00,0.000,4,0.000,0.047,2245,582,3378
$GC,1403,-1.30,-146.0,188.5,-10.8,139,1410,0.00,2.42,0.00,0.000,6,0.000,0.025,2245,2016,3378
$GC,1661,-1.30,-146.0,211.1,-9.0,158,1665,0.00,2.55,0.00,0.000,4,0.000,0.048,2246,587,3378
$GC,1712,-1.30,-146.0,216.1,-10.1,160,1716,0.00,2.42,0.00,0.000,6,0.000,0.026,2245,2017,3378
$GC,2033,-1.30,-146.0,247.0,-9.6,176,2037,0.00,2.58,0.00,0.000,4,0.000,0.051,2246,579,3379
$GC,2088,-1.30,-146.0,252.4,-9.5,178,2095,0.00,2.45,0.00,0.000,6,0.000,0.028,2245,2018,3379
$GC,2405,-1.30,-146.0,281.1,-8.9,194,2409,0.00,2.45,0.00,0.000,4,0.000,0.043,2245,3421,3378
$GC,2423,-1.30,-146.0,282.6,-8.5,195,2427,0.00,2.45,0.00,0.000,6,0.000,0.030,2246,1989,3378
$GC,2770,-1.30,-146.0,310.6,-7.6,209,2774,0.00,2.53,0.00,0.000,4,0.000,0.055,2246,583,3376
$GC,2821,-1.30,-146.0,314.8,-8.2,210,2825,0.00,2.45,0.00,0.000,6,0.000,0.029,2246,2013,3376
$GC,3134,-1.30,-146.0,342.8,-9.3,218,3135,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2013,3374
$GC,3459,-1.30,-146.0,371.9,-8.9,226,3463,0.00,2.58,0.00,0.000,4,0.000,0.058,2246,592,3371
$GC,3537,-1.30,-146.0,378.7,-8.0,227,3543,0.00,2.45,0.00,0.000,6,0.000,0.031,2246,2014,3372
$STATE,3825,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3825,begin apogee
$GC,3833,-0.33,0.0,400.0,7.6,235,3953,1.08,0.00,116.22,0.826,6,0.119,0.000,2454,2014,2777
$STATE,3953,end apogee,CONTROL_FINISHED_OK
$STATE,3953,begin climb
$GC,3957,1.30,146.0,403.6,0.0,238,4079,1.75,0.00,117.55,0.796,6,0.087,0.000,2810,2014,2180
$GC,4405,1.30,146.0,360.8,11.7,249,4409,0.00,2.67,0.00,0.000,4,0.000,0.058,2810,576,2173
$GC,4516,1.30,146.0,346.3,12.7,251,4521,0.00,2.50,0.00,0.000,6,0.000,0.031,2810,2002,2172
$GC,4853,1.30,146.0,312.7,10.2,260,4858,0.00,2.62,0.00,0.000,4,0.000,0.058,2810,582,2169
$GC,4966,1.30,146.0,299.4,11.7,262,4970,0.00,2.47,0.00,0.000,6,0.000,0.031,2811,2001,2167
$GC,5288,1.30,146.0,266.5,10.3,278,5292,0.00,2.62,0.00,0.000,4,0.000,0.057,2810,574,2167
$GC,5440,1.30,146.0,250.6,10.3,285,5444,0.00,2.47,0.00,0.000,6,0.000,0.031,2811,1999,2166
$GC,5768,1.30,146.0,217.9,11.1,301,5772,0.00,2.60,0.00,0.000,4,0.000,0.057,2810,582,2165
$GC,5862,1.30,146.0,207.5,11.1,305,5866,0.00,2.45,0.00,0.000,6,0.000,0.031,2811,2001,2164
$GC,6192,1.36,182.6,182.0,7.1,332,6225,0.00,2.70,28.15,0.698,4,0.000,0.055,2811,580,2031
$GC,6265,1.36,182.6,175.2,10.4,338,6271,0.00,2.47,0.00,0.000,6,0.000,0.030,2810,2003,2027
$GC,6527,1.36,182.6,150.1,9.1,363,6532,0.00,2.60,0.00,0.000,4,0.000,0.054,2810,576,2025
$GC,6572,1.36,182.6,145.6,9.5,366,6579,0.00,2.45,0.00,0.000,6,0.000,0.028,2811,2003,2025
$GC,6835,1.37,185.6,125.5,8.5,391,6839,0.00,2.60,0.00,0.000,4,0.000,0.053,2811,571,2024
$GC,6935,1.37,185.6,114.4,10.6,399,6941,0.00,2.45,0.00,0.000,6,0.000,0.027,2810,2007,2024
$GC,7197,1.37,185.6,92.3,8.7,424,7201,0.00,2.58,0.00,0.000,4,0.000,0.051,2811,579,2024
$GC,7230,1.37,185.6,88.7,10.7,426,7236,0.00,2.42,0.00,0.000,6,0.000,0.026,2811,2007,2024
$GC,7493,1.46,236.0,68.4,6.6,451,7541,0.17,2.62,42.53,0.570,4,0.078,0.050,2852,579,1814
$GC,7617,1.46,236.0,55.9,11.2,461,7623,0.00,2.45,0.00,0.000,6,0.000,0.025,2852,2013,1810
$GC,7879,1.46,236.0,31.5,9.4,486,7883,0.00,2.42,0.00,0.000,4,0.000,0.037,2852,3413,1810
$GC,7914,1.46,236.0,28.0,9.8,490,7921,0.00,2.45,0.00,0.000,6,0.000,0.028,2852,1980,1809
$GC,8126,1.47,240.5,9.2,8.4,527,8139,0.00,2.55,4.82,0.370,4,0.000,0.050,2852,575,1795
$STATE,8177,end climb,SURFACE_DEPTH_REACHED
$STATE,8177,begin surface coast
$FINISH,0.6,1.010121
$STATE,8211,end surface coast,CONTROL_FINISHED_OK
$STATE,8212,begin surface
$SM_CCo,8238,92.80,0.500,0,0,1023,430.01
$SM_GC,1.35,0.00,0.00,92.80,0.000,0.000,0.500,408,2036,1023,-9.76,1.05,430.01
$IRIDIUM_FIX,2101.76,-15758.18,270998,181849
$TT8_MAMPS,0.027612
$HUMID,1571
$INTERNAL_PRESSURE,9.59795
$TCM_TEMP,24.20
$XPDR_PINGS,5
$24V_AH,23.7,4.356
$10V_AH,10.2,2.469
$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,Compass2
$DEVICE_SECS,25.150,105.300,309.275,92.800,0.000,29.363,28.202,252.192,1.250,0.000,0.000,15.360,959.098,5524.283,503.841,1238.691,529.986,33.338,1131.156,0.000,1224.663,0.000,0.541,0.000
$DEVICE_MAMPS,177.944,58.292,826.059,500.084,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,360.818,364.940,557.099,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28623,542
$CAP_FILE_SIZE,77852,0
$CFSIZE,260165632,222842880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030709,232732,2109.227,-15800.987,7,1.9,7,9.8