version: 66.03
glider: 101
mission: 5
dive: 31
start: 4 5 108 8 16 12
data:
$ID,101
$MISSION,5
$DIVE,31
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$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,330
$T_MISSION,360
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,0.94999993
$RHO,1.023
$MASS,50300
$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,60
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,48.150002
$TGT_DEFAULT_LON,-125.67
$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,-691244.38
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,29
$PITCH_MAX,3302
$C_PITCH,2500
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,11
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,180
$ROLL_MAX,3635
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,294
$VBD_MAX,3583
$C_VBD,2564
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,10
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-14.435382
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,-1.3
$TCM_ROLL_OFFSET,-0.2
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,125
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,4
$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,0.0043762224
$SEABIRD_T_H,0.0006433985
$SEABIRD_T_I,2.5567888e-05
$SEABIRD_T_J,2.722762e-06
$SEABIRD_C_G,-10.209094
$SEABIRD_C_H,1.1488034
$SEABIRD_C_I,-0.0015548224
$SEABIRD_C_J,0.00021813136
$GPS1,081001,4750.407,-12619.171,37,1.6,42,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-65.8
$GPS2,081509,4750.372,-12619.227,12,1.8,12,18.8
$SPEED_LIMITS,0.165,0.247
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.197,-0.169
$KALMAN_X,14670.7,-128.9,-252.9,-65011.7,186.8
$KALMAN_Y,2745.4,-9.4,48.9,-35036.4,548.8
$MHEAD_RNG_PITCHd_Wd,210.5,157809,-17.9,-10.000
$D_GRID,1001
$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,-1.81,-146.6,0.0,0.0,0,80,0.00,0.00,-50.05,0.000,2,0.000,0.000,35,2601,2017
$GC,85,-1.81,-146.6,3.5,-4.9,5,132,11.62,1.98,-30.27,0.000,4,0.163,0.098,2098,3632,3161
$GC,248,-1.81,-146.6,35.9,-21.2,19,255,0.00,1.85,0.00,0.000,6,0.000,0.047,2098,2599,3160
$GC,586,-1.81,-146.6,95.9,-16.9,69,588,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2599,3160
$GC,905,-1.81,-146.6,145.6,-15.0,99,906,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2599,3160
$GC,1227,-1.81,-146.6,190.3,-13.6,116,1228,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2599,3160
$GC,1535,-1.81,-146.6,229.8,-12.5,131,1536,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2599,3160
$GC,1846,-1.81,-146.6,269.3,-13.3,146,1847,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2599,3160
$GC,2152,-1.81,-146.6,310.5,-13.4,159,2156,0.00,2.53,0.00,0.000,4,0.000,0.056,2098,1197,3160
$GC,2196,-1.81,-146.6,316.3,-12.6,159,2201,0.00,2.50,0.00,0.000,6,0.000,0.050,2098,2597,3160
$GC,2512,-1.81,-146.6,356.1,-12.6,165,2513,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2597,3160
$GC,2814,-1.81,-146.6,396.8,-13.5,170,2818,0.00,2.58,0.00,0.000,4,0.000,0.066,2098,1205,3160
$GC,2877,-1.81,-146.6,405.1,-14.0,171,2881,0.00,2.58,0.00,0.000,6,0.000,0.062,2098,2598,3159
$GC,3243,-1.81,-146.6,454.8,-13.7,177,3244,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2598,3159
$GC,3545,-1.81,-146.6,494.7,-13.1,182,3546,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2598,3158
$GC,3849,-1.81,-146.6,531.8,-12.2,187,3853,0.00,2.70,0.00,0.000,4,0.000,0.093,2098,1211,3158
$GC,3899,-1.81,-146.6,538.4,-12.5,187,3904,0.00,2.70,0.00,0.000,6,0.000,0.090,2098,2598,3158
$GC,4210,-1.81,-146.6,578.8,-13.1,192,4211,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2598,3157
$GC,4512,-1.81,-146.6,618.7,-13.1,197,4517,0.00,2.70,0.00,0.000,4,0.000,0.089,2098,1201,3157
$GC,4576,-1.81,-146.6,626.9,-13.2,198,4581,0.00,2.72,0.00,0.000,6,0.000,0.087,2098,2608,3157
$GC,4942,-1.81,-146.6,673.2,-12.5,204,4943,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2607,3157
$GC,5245,-1.81,-146.6,709.6,-11.9,209,5249,0.00,2.70,0.00,0.000,4,0.000,0.087,2098,1206,3156
$GC,5289,-1.81,-146.6,714.9,-11.9,209,5294,0.00,2.67,0.00,0.000,6,0.000,0.083,2098,2601,3156
$GC,5605,-1.81,-146.6,751.1,-11.5,215,5606,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2601,3156
$GC,5908,-1.81,-146.6,785.0,-11.3,220,5913,0.00,2.67,0.00,0.000,4,0.000,0.087,2098,1210,3155
$GC,5981,-1.81,-146.6,793.9,-12.1,221,5985,0.00,2.67,0.00,0.000,6,0.000,0.083,2098,2603,3155
$GC,6335,-1.81,-146.6,835.1,-11.7,227,6337,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2603,3155
$GC,6638,-1.81,-146.6,870.7,-11.8,232,6643,0.00,2.67,0.00,0.000,4,0.000,0.086,2098,1210,3155
$GC,6711,-1.81,-146.6,879.8,-12.3,233,6716,0.00,2.67,0.00,0.000,6,0.000,0.083,2098,2604,3155
$GC,7066,-1.81,-146.6,921.4,-11.7,239,7067,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2604,3155
$GC,7370,-1.81,-146.6,956.9,-11.7,244,7374,0.00,2.67,0.00,0.000,4,0.000,0.085,2098,1210,3154
$GC,7403,-1.81,-146.6,961.0,-11.3,244,7408,0.00,2.67,0.00,0.000,6,0.000,0.081,2098,2607,3154
$STATE,7667,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7668,begin apogee
$GC,7677,-0.45,0.0,991.0,11.3,249,7806,1.42,0.00,125.62,1.467,6,0.079,0.000,2398,2215,2564
$STATE,7807,end apogee,CONTROL_FINISHED_OK
$STATE,7807,begin climb
$GC,7810,1.81,146.6,996.2,0.0,251,7946,2.20,2.90,126.45,1.423,4,0.045,0.097,2897,789,1966
$GC,8061,1.81,146.6,985.7,10.0,254,8067,0.00,2.72,0.00,0.000,6,0.000,0.074,2897,2204,1966
$GC,8371,1.81,146.6,954.1,10.2,260,8376,0.00,2.80,0.00,0.000,4,0.000,0.093,2897,792,1966
$GC,8539,1.81,146.6,936.6,10.5,262,8544,0.00,2.70,0.00,0.000,6,0.000,0.074,2897,2202,1966
$GC,8865,1.81,146.6,903.2,10.3,268,8870,0.00,2.80,0.00,0.000,4,0.000,0.092,2897,783,1965
$GC,9084,1.82,153.8,879.9,9.7,271,9098,0.00,2.72,7.95,1.172,6,0.000,0.074,2897,2209,1935
$GC,9432,1.82,153.8,843.5,10.6,277,9437,0.00,2.80,0.00,0.000,4,0.000,0.093,2897,791,1935
$GC,9690,1.82,153.8,815.1,11.0,280,9696,0.00,2.70,0.00,0.000,6,0.000,0.073,2897,2210,1935
$GC,10000,1.82,153.8,783.3,10.2,286,10005,0.00,2.78,0.00,0.000,4,0.000,0.091,2897,789,1935
$GC,10157,1.82,153.8,766.7,11.1,288,10162,0.00,2.70,0.00,0.000,6,0.000,0.073,2897,2210,1935
$GC,10495,1.82,153.8,732.9,10.0,294,10500,0.00,2.78,0.00,0.000,4,0.000,0.091,2897,791,1935
$GC,10754,1.82,153.8,705.9,10.7,297,10760,0.00,2.67,0.00,0.000,6,0.000,0.071,2897,2204,1935
$GC,11064,1.83,164.7,676.3,9.5,303,11080,0.00,2.83,10.57,1.158,4,0.000,0.090,2897,790,1891
$GC,11198,1.83,164.7,662.4,10.1,305,11203,0.00,2.67,0.00,0.000,6,0.000,0.071,2897,2202,1891
$GC,11558,1.84,171.2,627.5,9.7,311,11572,0.00,2.83,7.10,1.045,4,0.000,0.090,2897,789,1866
$GC,11717,1.84,171.2,611.8,10.3,313,11722,0.00,2.67,0.00,0.000,6,0.000,0.071,2897,2201,1866
$GC,12060,1.84,174.5,577.6,9.8,319,12067,0.00,0.00,4.80,0.884,6,0.000,0.000,2897,2201,1852
$GC,12364,1.85,176.9,547.5,9.9,324,12373,0.00,2.80,4.35,0.828,4,0.000,0.089,2897,785,1841
$GC,12581,1.85,176.9,524.9,10.6,327,12585,0.00,2.65,0.00,0.000,6,0.000,0.067,2897,2201,1841
$GC,12924,1.85,176.9,489.4,10.4,333,12928,0.00,2.72,0.00,0.000,4,0.000,0.084,2897,788,1842
$GC,13008,1.85,176.9,480.4,11.0,334,13012,0.00,2.62,0.00,0.000,6,0.000,0.063,2897,2202,1842
$GC,13351,1.85,176.9,445.6,10.1,340,13352,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2203,1842
$GC,13654,1.85,180.5,415.8,9.8,345,13664,0.00,2.70,4.53,0.801,4,0.000,0.074,2897,789,1828
$GC,13919,1.86,189.0,389.4,9.6,349,13933,0.00,2.58,9.00,0.973,6,0.000,0.051,2897,2207,1793
$GC,14290,1.86,189.0,349.7,10.8,355,14294,0.00,2.65,0.00,0.000,4,0.000,0.067,2897,788,1792
$GC,14547,1.86,189.0,320.3,10.7,358,14553,0.00,2.55,0.00,0.000,6,0.000,0.048,2897,2208,1792
$GC,14860,1.86,189.0,286.6,10.5,368,14864,0.00,2.62,0.00,0.000,4,0.000,0.064,2897,788,1792
$GC,15118,1.86,189.0,259.6,10.0,379,15124,0.00,2.53,0.00,0.000,6,0.000,0.047,2897,2201,1793
$GC,15436,1.87,198.5,229.1,9.6,395,15451,0.00,2.67,9.43,0.890,4,0.000,0.064,2897,782,1754
$GC,15693,1.87,198.5,201.9,10.9,405,15699,0.00,2.53,0.00,0.000,6,0.000,0.046,2897,2201,1754
$GC,16010,1.87,198.5,169.4,10.6,421,16014,0.00,2.60,0.00,0.000,4,0.000,0.062,2897,788,1754
$GC,16155,1.87,198.5,153.6,10.0,427,16162,0.00,2.53,0.00,0.000,6,0.000,0.044,2897,2207,1754
$GC,16483,1.89,210.3,121.7,9.4,456,16499,0.00,2.65,11.38,0.836,4,0.000,0.060,2897,779,1706
$GC,16627,1.89,210.3,106.5,10.6,468,16632,0.00,2.55,0.00,0.000,6,0.000,0.044,2897,2203,1706
$GC,16955,1.98,284.7,78.2,6.5,500,17023,0.15,2.65,59.88,0.839,4,0.064,0.059,2937,789,1402
$GC,17171,1.98,284.7,55.0,12.3,538,17178,0.00,2.53,0.00,0.000,6,0.000,0.044,2937,2203,1402
$GC,17506,1.98,287.0,18.9,9.9,581,17511,0.00,2.62,0.00,0.000,4,0.000,0.060,2937,778,1402
$GC,17678,2.05,344.9,4.8,7.3,595,17717,0.00,2.53,33.67,0.775,2,0.000,0.044,2937,2202,1237
$STATE,17718,end climb,SURFACE_DEPTH_REACHED
$STATE,17718,begin surface coast
$FINISH,0.8,1.024188
$STATE,17740,end surface coast,CONTROL_FINISHED_OK
$STATE,17740,begin surface
$SM_CCo,17767,61.80,0.731,2,0,933,400.08
$SM_GC,1.39,0.00,0.00,61.80,0.000,0.000,0.731,32,2603,933,-11.35,0.08,400.08
$IRIDIUM_FIX,4732.49,-12614.37,300697,030325
$TT8_MAMPS,0.026078
$HUMID,1803
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,17.00
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.8,18.7
$24V_AH,23.2,7.992
$10V_AH,10.1,3.638
$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,29.950,144.100,414.725,61.800,0.000,27.953,25.347,129.443,9.250,0.000,0.000,12.236,1321.964,13543.022,592.316,2150.141,551.418,33.366,1638.208,0.000,2095.258,0.000,58.230
$DEVICE_MAMPS,162.604,98.176,1467.271,730.951,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,417.634,484.083,683.154,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31639,601
$CAP_FILE_SIZE,127231,0
$CFSIZE,260165632,256671744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$GPS,050408,131516,4748.609,-12622.666,43,2.4,62,18.8