version: 66.03
glider: 101
mission: 5
dive: 35
start: 4 6 108 4 30 6
data:
$ID,101
$MISSION,5
$DIVE,35
$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,-691321.94
$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,16
$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
$GPS1,042355,4743.613,-12631.565,40,1.8,42,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-60.4
$GPS2,042903,4743.596,-12631.526,15,1.8,15,18.8
$SPEED_LIMITS,0.165,0.247
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.172,-0.194
$KALMAN_X,12689.9,307.1,257.2,-79185.6,-1311.2
$KALMAN_Y,3372.3,254.0,-31.1,-48393.9,302.3
$MHEAD_RNG_PITCHd_Wd,202.7,137864,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,29,-1.81,-146.6,0.0,0.0,0,96,0.00,0.00,-65.03,0.000,2,0.000,0.000,34,2606,2220
$GC,100,-1.81,-146.6,3.2,-4.3,7,144,11.50,2.03,-27.10,0.000,4,0.156,0.100,2102,3630,3163
$GC,208,-1.81,-146.6,23.0,-20.5,16,214,0.00,1.88,0.00,0.000,6,0.000,0.048,2102,2583,3162
$GC,550,-1.81,-146.6,88.8,-18.7,66,552,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2582,3162
$GC,869,-1.81,-146.6,140.5,-15.4,96,870,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2583,3161
$GC,1180,-1.81,-146.6,186.6,-14.7,114,1184,0.00,2.47,0.00,0.000,4,0.000,0.051,2102,1197,3161
$GC,1236,-1.81,-146.6,195.1,-14.4,116,1242,0.00,2.50,0.00,0.000,6,0.000,0.045,2102,2604,3161
$GC,1552,-1.81,-146.6,239.9,-14.0,132,1554,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2604,3162
$GC,1862,-1.81,-146.6,282.8,-13.7,147,1866,0.00,2.53,0.00,0.000,4,0.000,0.053,2103,1197,3162
$GC,1929,-1.81,-146.6,292.2,-13.5,150,1933,0.00,2.50,0.00,0.000,6,0.000,0.049,2102,2599,3161
$GC,2245,-1.81,-146.6,335.6,-13.8,158,2249,0.00,2.53,0.00,0.000,4,0.000,0.057,2102,1199,3162
$GC,2284,-1.81,-146.6,340.9,-13.1,158,2288,0.00,2.53,0.00,0.000,6,0.000,0.052,2102,2607,3161
$GC,2604,-1.81,-146.6,384.4,-13.6,164,2605,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2607,3161
$GC,2909,-1.81,-146.6,425.4,-13.4,169,2914,0.00,2.60,0.00,0.000,4,0.000,0.071,2102,1206,3162
$GC,2977,-1.81,-146.6,435.0,-12.9,170,2981,0.00,2.60,0.00,0.000,6,0.000,0.070,2102,2605,3161
$GC,3338,-1.81,-146.6,482.8,-13.2,176,3339,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2605,3161
$GC,3640,-1.81,-146.6,520.8,-12.5,181,3644,0.00,2.72,0.00,0.000,4,0.000,0.095,2102,1206,3160
$GC,3707,-1.81,-146.6,529.1,-12.4,182,3712,0.00,2.70,0.00,0.000,6,0.000,0.091,2102,2598,3161
$GC,4067,-1.81,-146.6,573.4,-12.4,188,4068,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2598,3159
$GC,4370,-1.81,-146.6,611.8,-12.7,193,4374,0.00,2.67,0.00,0.000,4,0.000,0.089,2102,1207,3159
$GC,4403,-1.81,-146.6,616.2,-12.6,193,4408,0.00,2.67,0.00,0.000,6,0.000,0.085,2102,2603,3159
$GC,4730,-1.81,-146.6,656.7,-12.3,199,4735,0.00,2.67,0.00,0.000,4,0.000,0.087,2102,1206,3159
$GC,4820,-1.81,-146.6,667.7,-11.5,200,4824,0.00,2.67,0.00,0.000,6,0.000,0.084,2102,2603,3158
$GC,5158,-1.81,-146.6,706.8,-11.5,206,5162,0.00,2.67,0.00,0.000,4,0.000,0.087,2102,1207,3158
$GC,5220,-1.81,-146.6,714.2,-11.7,207,5225,0.00,2.65,0.00,0.000,6,0.000,0.084,2102,2602,3157
$GC,5587,-1.81,-146.6,755.1,-11.0,213,5592,0.00,2.67,0.00,0.000,4,0.000,0.087,2102,1201,3157
$GC,5643,-1.81,-146.6,761.3,-11.1,213,5649,0.00,2.67,0.00,0.000,6,0.000,0.084,2102,2603,3158
$GC,5953,-1.81,-146.6,794.0,-10.6,219,5954,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2603,3157
$GC,6257,-1.81,-146.6,827.7,-11.2,224,6262,0.00,2.67,0.00,0.000,4,0.000,0.087,2102,1205,3157
$GC,6336,-1.81,-146.6,836.9,-11.1,225,6341,0.00,2.67,0.00,0.000,6,0.000,0.084,2102,2603,3157
$GC,6686,-1.81,-146.6,875.5,-11.2,231,6690,0.00,2.67,0.00,0.000,4,0.000,0.086,2103,1202,3156
$GC,6730,-1.81,-146.6,880.6,-10.8,231,6735,0.00,2.67,0.00,0.000,6,0.000,0.084,2102,2603,3156
$GC,7045,-1.81,-146.6,914.5,-10.7,237,7049,0.00,2.67,0.00,0.000,4,0.000,0.086,2102,1202,3156
$GC,7089,-1.81,-146.6,919.2,-10.7,237,7094,0.00,2.67,0.00,0.000,6,0.000,0.083,2102,2603,3156
$GC,7406,-1.81,-146.6,951.4,-10.2,243,7407,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2603,3156
$GC,7710,-1.81,-146.6,982.2,-10.3,248,7714,0.00,2.67,0.00,0.000,4,0.000,0.085,2102,1205,3156
$GC,7765,-1.81,-146.6,988.2,-10.1,248,7771,0.00,2.67,0.00,0.000,6,0.000,0.083,2102,2605,3156
$STATE,7829,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7829,begin apogee
$GC,7838,-0.45,0.0,995.1,10.5,250,7968,1.40,0.00,126.15,1.468,6,0.074,0.000,2400,2212,2564
$STATE,7969,end apogee,CONTROL_FINISHED_OK
$STATE,7969,begin climb
$GC,7972,1.81,146.6,1000.1,0.0,252,8108,2.20,2.88,126.75,1.422,4,0.044,0.097,2901,791,1966
$GC,8369,1.81,146.6,974.1,10.6,258,8374,0.00,2.70,0.00,0.000,6,0.000,0.076,2901,2201,1967
$GC,8736,1.81,147.4,937.1,10.0,264,8740,0.00,2.78,0.00,0.000,4,0.000,0.093,2901,791,1966
$GC,8994,1.81,147.4,910.3,11.0,267,9000,0.00,2.67,0.00,0.000,6,0.000,0.074,2901,2201,1966
$GC,9304,1.81,147.4,878.1,10.4,273,9308,0.00,2.78,0.00,0.000,4,0.000,0.093,2901,785,1965
$GC,9562,1.81,147.4,851.0,10.4,276,9568,0.00,2.67,0.00,0.000,6,0.000,0.074,2901,2201,1965
$GC,9871,1.81,147.4,819.6,10.1,282,9876,0.00,2.75,0.00,0.000,4,0.000,0.091,2901,791,1965
$GC,10001,1.81,147.4,806.3,10.3,284,10006,0.00,2.67,0.00,0.000,6,0.000,0.073,2901,2203,1965
$GC,10368,1.82,154.9,771.0,9.6,290,10382,0.00,2.83,8.50,1.161,4,0.000,0.091,2901,789,1932
$GC,10637,1.82,154.9,742.2,10.9,294,10641,0.00,2.67,0.00,0.000,6,0.000,0.074,2902,2203,1932
$GC,11002,1.82,154.9,705.0,10.2,300,11007,0.00,2.75,0.00,0.000,4,0.000,0.091,2901,789,1932
$GC,11261,1.82,154.9,677.8,10.6,303,11267,0.00,2.65,0.00,0.000,6,0.000,0.072,2902,2201,1932
$GC,11571,1.82,158.1,647.3,9.9,309,11581,0.00,2.78,4.45,0.880,4,0.000,0.090,2901,788,1919
$GC,11730,1.84,167.2,631.6,9.6,311,11745,0.00,2.65,9.48,1.110,6,0.000,0.071,2902,2201,1882
$GC,12067,1.84,167.2,597.3,10.1,317,12071,0.00,2.75,0.00,0.000,4,0.000,0.090,2901,782,1881
$GC,12308,1.84,167.2,572.0,10.1,320,12312,0.00,2.65,0.00,0.000,6,0.000,0.070,2901,2202,1881
$GC,12629,1.84,172.2,540.5,9.8,326,12642,0.00,2.75,6.28,0.969,4,0.000,0.087,2901,791,1861
$GC,12840,1.86,185.4,519.6,9.4,329,12859,0.00,2.62,12.77,1.090,6,0.000,0.067,2901,2201,1807
$GC,13198,1.86,185.4,482.0,10.8,335,13203,0.00,2.70,0.00,0.000,4,0.000,0.082,2901,788,1807
$GC,13457,1.86,185.4,453.2,10.5,338,13463,0.00,2.60,0.00,0.000,6,0.000,0.060,2901,2205,1807
$GC,13767,1.86,185.4,421.4,10.3,344,13771,0.00,2.65,0.00,0.000,4,0.000,0.074,2901,785,1807
$GC,13924,1.86,185.4,404.8,10.8,346,13928,0.00,2.55,0.00,0.000,6,0.000,0.052,2901,2204,1807
$GC,14261,1.86,185.4,369.5,10.6,352,14266,0.00,2.62,0.00,0.000,4,0.000,0.067,2901,787,1808
$GC,14520,1.86,185.4,342.2,10.5,355,14526,0.00,2.53,0.00,0.000,6,0.000,0.048,2901,2203,1807
$GC,14830,1.86,185.4,310.8,10.1,361,14834,0.00,2.60,0.00,0.000,4,0.000,0.065,2901,789,1807
$GC,15088,1.86,185.4,282.6,11.3,368,15094,0.00,2.50,0.00,0.000,6,0.000,0.047,2901,2201,1807
$GC,15406,1.86,185.4,249.1,10.3,384,15410,0.00,2.60,0.00,0.000,4,0.000,0.064,2901,785,1807
$GC,15664,1.88,202.1,222.9,9.2,395,15684,0.00,2.50,15.55,0.927,6,0.000,0.044,2901,2203,1740
$GC,15997,1.88,202.1,188.4,10.4,411,16002,0.00,2.60,0.00,0.000,4,0.000,0.063,2901,788,1740
$GC,16256,1.90,216.6,160.7,9.3,422,16276,0.00,2.50,13.12,0.870,6,0.000,0.044,2901,2204,1680
$GC,16600,1.91,228.5,128.2,9.4,449,16617,0.00,2.65,11.50,0.833,4,0.000,0.060,2901,779,1631
$GC,16859,1.91,228.5,101.4,10.3,471,16866,0.00,2.50,0.00,0.000,6,0.000,0.043,2901,2203,1632
$GC,17191,2.00,303.3,72.6,6.5,511,17259,0.15,2.65,60.83,0.831,4,0.065,0.058,2940,783,1326
$GC,17335,2.00,303.3,57.1,12.9,536,17341,0.00,2.53,0.00,0.000,6,0.000,0.042,2940,2203,1326
$GC,17674,2.00,303.3,14.9,12.0,579,17679,0.00,2.60,0.00,0.000,4,0.000,0.060,2940,782,1326
$GC,17764,2.00,303.3,5.0,12.0,586,17770,0.00,2.50,0.00,0.000,6,0.000,0.043,2940,2202,1326
$STATE,17789,end climb,SURFACE_DEPTH_REACHED
$STATE,17789,begin surface coast
$FINISH,0.6,1.023105
$STATE,17801,end surface coast,CONTROL_FINISHED_OK
$STATE,17801,begin surface
$SM_CCo,17829,67.47,0.740,2,0,933,400.08
$SM_GC,1.36,0.00,0.00,67.47,0.000,0.000,0.740,32,2611,933,-11.35,0.28,400.08
$IRIDIUM_FIX,4726.11,-12626.59,300697,232322
$TT8_MAMPS,0.026078
$HUMID,1809
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.8,18.5
$24V_AH,23.2,8.664
$10V_AH,10.1,3.993
$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,29.750,169.225,395.375,67.475,0.000,24.935,27.209,128.042,9.000,0.000,0.000,15.847,1359.801,13355.594,613.327,2334.748,563.721,33.367,1748.813,0.000,2267.194,0.000,58.242
$DEVICE_MAMPS,155.701,99.710,1468.038,740.155,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,416.987,468.443,655.593,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28623,590
$CAP_FILE_SIZE,136077,0
$CFSIZE,260165632,256421888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$GPS,060408,093004,4742.511,-12634.196,41,2.0,49,18.8