version: 66.03
glider: 101
mission: 5
dive: 51
start: 4 9 108 21 16 41
data:
$ID,101
$MISSION,5
$DIVE,51
$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,412.5
$T_MISSION,450
$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,-691657.31
$T_RSLEEP,57
$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,2550
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,17
$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,0
$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
$GPS1,211026,4720.354,-12715.752,39,1.9,39,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-63.6
$GPS2,211539,4720.366,-12715.747,12,2.0,12,18.7
$SPEED_LIMITS,0.132,0.226
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.035,-0.235
$KALMAN_X,14366.9,462.7,64.2,-135486.2,-757.4
$KALMAN_Y,20167.3,-338.8,-1023.8,-106622.9,5569.1
$MHEAD_RNG_PITCHd_Wd,152.9,67430,-14.7,-8.000
$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,-1.51,-146.6,0.0,0.0,0,98,0.00,0.00,-67.60,0.000,2,0.000,0.000,34,2554,2270
$GC,103,-1.51,-146.6,3.6,-4.9,7,147,11.68,2.05,-26.60,0.000,4,0.152,0.096,2159,3631,3161
$GC,367,-1.51,-146.6,44.8,-16.0,33,374,0.00,1.95,0.00,0.000,6,0.000,0.044,2160,2532,3161
$GC,707,-1.51,-146.6,96.3,-14.9,84,708,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2532,3161
$GC,1025,-1.51,-146.6,140.0,-13.0,114,1027,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2532,3161
$GC,1337,-1.51,-146.6,178.0,-11.5,133,1341,0.00,2.08,0.00,0.000,4,0.000,0.080,2160,3630,3161
$GC,1377,-1.51,-146.6,182.9,-12.3,134,1383,0.00,1.90,0.00,0.000,6,0.000,0.048,2160,2556,3161
$GC,1693,-1.51,-146.6,217.7,-11.2,150,1694,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2556,3161
$GC,2003,-1.51,-146.6,252.5,-11.3,165,2007,0.00,2.50,0.00,0.000,4,0.000,0.057,2160,1160,3160
$GC,2053,-1.51,-146.6,258.2,-11.2,167,2057,0.00,2.47,0.00,0.000,6,0.000,0.047,2160,2552,3160
$GC,2369,-1.51,-146.6,291.3,-10.7,182,2373,0.00,2.53,0.00,0.000,4,0.000,0.055,2160,1152,3160
$GC,2426,-1.51,-146.6,297.7,-11.0,184,2432,0.00,2.50,0.00,0.000,6,0.000,0.048,2160,2555,3160
$GC,2756,-1.51,-146.6,333.2,-10.7,191,2757,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2555,3160
$GC,3059,-1.51,-146.6,364.5,-10.3,196,3060,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2555,3161
$GC,3362,-1.51,-146.6,396.1,-10.4,201,3367,0.00,2.58,0.00,0.000,4,0.000,0.067,2160,1160,3160
$GC,3441,-1.51,-146.6,404.5,-10.6,202,3446,0.00,2.55,0.00,0.000,6,0.000,0.061,2160,2553,3160
$GC,3790,-1.51,-146.6,441.0,-10.5,208,3791,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2553,3160
$GC,4094,-1.51,-146.6,472.8,-10.5,213,4095,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2553,3160
$GC,4397,-1.51,-146.6,504.1,-10.3,218,4401,0.00,2.72,0.00,0.000,4,0.000,0.095,2160,1157,3159
$GC,4470,-1.51,-146.6,511.5,-9.6,219,4474,0.00,2.67,0.00,0.000,6,0.000,0.088,2160,2544,3159
$GC,4824,-1.51,-146.6,546.0,-9.8,225,4825,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2544,3158
$GC,5128,-1.51,-146.6,576.0,-9.9,230,5129,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2543,3158
$GC,5431,-1.51,-146.6,605.4,-9.7,235,5436,0.00,2.67,0.00,0.000,4,0.000,0.090,2160,1159,3157
$GC,5520,-1.51,-146.6,614.1,-9.3,236,5525,0.00,2.67,0.00,0.000,6,0.000,0.084,2160,2555,3157
$GC,5858,-1.51,-146.6,644.9,-9.2,242,5859,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2555,3157
$GC,6161,-1.51,-146.6,672.3,-9.0,247,6162,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2556,3156
$GC,6464,-1.51,-146.6,699.9,-9.1,252,6472,0.00,2.65,0.00,0.000,4,0.000,0.087,2160,1167,3156
$GC,6513,-1.51,-146.6,704.4,-9.9,252,6517,0.00,2.65,0.00,0.000,6,0.000,0.081,2160,2558,3155
$GC,6835,-1.51,-146.6,733.6,-9.0,258,6836,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2558,3155
$GC,7137,-1.51,-146.6,760.1,-8.7,263,7141,0.00,2.67,0.00,0.000,4,0.000,0.087,2160,1164,3155
$GC,7175,-1.51,-146.6,763.6,-8.9,263,7180,0.00,2.65,0.00,0.000,6,0.000,0.080,2160,2559,3155
$GC,7497,-1.51,-146.6,790.3,-8.3,269,7498,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2559,3155
$GC,7801,-1.51,-146.6,815.8,-8.4,274,7802,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2558,3155
$GC,8103,-1.51,-146.6,841.3,-8.4,279,8104,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2559,3154
$GC,8407,-1.51,-146.6,866.2,-8.2,284,8412,0.00,2.67,0.00,0.000,4,0.000,0.086,2160,1163,3154
$GC,8464,-1.51,-146.6,870.9,-7.9,284,8470,0.00,2.65,0.00,0.000,6,0.000,0.080,2160,2558,3154
$GC,8774,-1.51,-146.6,896.1,-8.2,290,8778,0.00,2.67,0.00,0.000,4,0.000,0.086,2160,1162,3154
$GC,8841,-1.51,-146.6,902.0,-9.1,291,8845,0.00,2.65,0.00,0.000,6,0.000,0.081,2160,2554,3154
$GC,9202,-1.51,-146.6,931.8,-8.3,297,9204,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2554,3154
$GC,9504,-1.51,-146.6,955.8,-8.0,302,9509,0.00,2.67,0.00,0.000,4,0.000,0.086,2160,1157,3154
$GC,9561,-1.51,-146.6,960.7,-8.2,302,9567,0.00,2.65,0.00,0.000,6,0.000,0.080,2160,2553,3154
$GC,9871,-1.51,-146.6,985.0,-7.8,308,9872,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2553,3153
$STATE,9988,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9989,begin apogee
$GC,9997,-0.45,0.0,994.5,7.8,310,10127,1.12,0.00,126.43,1.473,6,0.078,0.000,2397,2023,2564
$STATE,10128,end apogee,CONTROL_FINISHED_OK
$STATE,10128,begin climb
$GC,10132,1.51,146.6,998.5,0.0,312,10269,1.95,2.95,127.88,1.427,4,0.053,0.105,2825,593,1966
$GC,10350,1.51,146.6,991.6,9.9,315,10355,0.00,2.67,0.00,0.000,6,0.000,0.066,2825,2007,1966
$GC,10683,1.51,146.6,962.9,8.6,321,10684,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2007,1966
$GC,10986,1.52,149.5,938.8,7.9,326,10996,0.00,2.88,4.25,0.915,4,0.000,0.100,2825,588,1955
$GC,11064,1.52,149.5,932.3,8.4,327,11069,0.00,2.67,0.00,0.000,6,0.000,0.066,2825,2009,1954
$GC,11413,1.53,158.5,905.5,7.7,333,11425,0.00,0.00,9.75,1.238,6,0.000,0.000,2825,2010,1917
$GC,11716,1.53,158.5,881.1,8.1,338,11720,0.00,2.83,0.00,0.000,4,0.000,0.098,2825,593,1917
$GC,11919,1.53,158.5,862.8,10.1,341,11923,0.00,2.65,0.00,0.000,6,0.000,0.065,2825,2009,1917
$GC,12279,1.53,158.5,828.4,9.7,347,12280,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2009,1917
$GC,12582,1.53,158.5,797.9,10.1,352,12586,0.00,2.80,0.00,0.000,4,0.000,0.097,2825,591,1916
$GC,12665,1.53,158.5,788.9,10.5,353,12670,0.00,2.62,0.00,0.000,6,0.000,0.064,2825,2000,1916
$GC,13009,1.53,158.5,755.7,9.6,359,13010,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2000,1916
$GC,13312,1.53,158.5,729.0,8.7,364,13313,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2001,1916
$GC,13616,1.53,162.6,705.2,7.8,369,13626,0.00,2.83,4.88,0.956,4,0.000,0.097,2825,591,1901
$GC,13711,1.53,162.6,697.1,8.0,370,13715,0.00,2.62,0.00,0.000,6,0.000,0.064,2825,2000,1901
$GC,14043,1.53,162.6,669.8,8.3,376,14044,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2000,1901
$GC,14346,1.53,162.6,643.2,8.7,381,14347,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2000,1901
$GC,14649,1.53,162.6,616.8,8.7,386,14650,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2002,1901
$GC,14952,1.53,162.6,590.5,8.7,391,14953,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2002,1901
$GC,15255,1.53,162.6,563.8,8.9,396,15256,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2003,1901
$GC,15558,1.53,162.6,537.6,8.6,401,15559,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2004,1901
$GC,15861,1.53,162.6,511.7,8.5,406,15866,0.00,2.75,0.00,0.000,4,0.000,0.093,2825,591,1901
$GC,15995,1.53,162.6,499.3,9.5,408,16000,0.00,2.58,0.00,0.000,6,0.000,0.058,2825,2001,1901
$GC,16356,1.53,162.6,468.4,8.5,414,16357,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2002,1901
$GC,16659,1.54,165.7,444.4,7.9,419,16669,0.00,2.75,4.93,0.855,4,0.000,0.083,2825,588,1888
$GC,16765,1.54,165.7,435.6,8.0,420,16770,0.00,2.58,0.00,0.000,6,0.000,0.051,2825,2008,1888
$GC,17087,1.54,167.8,410.3,7.9,426,17096,0.00,2.70,3.53,0.675,4,0.000,0.083,2825,3406,1879
$GC,17241,1.54,167.8,397.4,8.4,428,17245,0.00,2.53,0.00,0.000,6,0.000,0.048,2825,1996,1879
$GC,17590,1.55,178.5,370.1,7.6,434,17606,0.00,2.70,10.98,0.995,4,0.000,0.081,2825,594,1836
$GC,17696,1.55,178.5,361.5,8.0,435,17700,0.00,2.55,0.00,0.000,6,0.000,0.046,2825,2013,1835
$GC,18017,1.57,191.2,337.2,7.5,441,18036,0.00,2.78,11.95,0.982,4,0.000,0.073,2825,597,1783
$GC,18122,1.57,191.2,328.4,9.6,442,18126,0.00,2.53,0.00,0.000,6,0.000,0.044,2825,2010,1783
$GC,18448,1.57,191.2,301.2,8.4,448,18449,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2010,1784
$GC,18757,1.57,191.2,275.8,8.3,461,18758,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2010,1784
$GC,19066,1.59,205.7,251.8,7.4,476,19088,0.00,2.75,13.48,0.943,4,0.000,0.073,2825,597,1725
$GC,19150,1.59,205.7,244.7,8.2,479,19157,0.00,2.50,0.00,0.000,6,0.000,0.043,2825,2003,1725
$GC,19468,1.59,205.7,218.4,8.6,495,19470,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2004,1725
$GC,19776,1.59,205.7,191.7,9.1,510,19777,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2004,1725
$GC,20086,1.59,206.0,166.1,8.0,525,20090,0.00,2.62,0.00,0.000,4,0.000,0.069,2825,596,1725
$GC,20251,1.59,206.0,153.0,8.3,532,20255,0.00,2.47,0.00,0.000,6,0.000,0.042,2825,2005,1725
$GC,20578,1.59,207.0,127.4,8.0,560,20583,0.00,2.58,0.00,0.000,4,0.000,0.071,2825,3398,1725
$GC,20631,1.61,225.1,123.1,7.3,564,20654,0.12,2.50,17.27,0.867,6,0.075,0.042,2855,1980,1646
$GC,20973,1.67,271.3,98.2,6.2,596,21015,0.00,0.00,38.67,0.854,6,0.000,0.000,2855,1980,1457
$GC,21341,1.67,271.3,69.9,8.9,640,21346,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,1980,1457
$GC,21691,1.67,271.3,38.8,9.1,701,21692,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,1979,1457
$GC,22009,1.67,271.3,10.4,8.8,731,22014,0.00,2.65,0.00,0.000,4,0.000,0.066,2855,3408,1457
$STATE,22104,end climb,SURFACE_DEPTH_REACHED
$STATE,22104,begin surface coast
$FINISH,0.8,1.014945
$STATE,22116,end surface coast,CONTROL_FINISHED_OK
$STATE,22116,begin surface
$SM_CCo,22142,91.72,0.769,1,0,932,400.08
$SM_GC,1.66,0.00,0.00,91.72,0.000,0.000,0.769,21,2529,932,-11.40,-0.59,400.08
$IRIDIUM_FIX,4703.87,-12711.26,040797,151555
$TT8_MAMPS,0.026078
$HUMID,1812
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,16.90
$XPDR_PINGS,0
$24V_AH,23.1,11.410
$10V_AH,10.1,5.469
$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
$DEVICE_SECS,27.400,135.025,373.975,91.725,0.000,30.426,27.236,127.609,8.750,0.000,0.000,12.114,1493.172,17817.359,614.325,2043.060,593.559,33.362,1612.768,0.000,2001.971,0.000,56.623
$DEVICE_MAMPS,151.866,105.079,1473.407,769.301,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,527.847,577.353,820.793,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37915,740
$CAP_FILE_SIZE,134302,0
$CFSIZE,260165632,255438848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,100408,032837,4718.006,-12715.090,34,1.8,34,18.7