version: 66.03
glider: 101
mission: 5
dive: 188
start: 5 22 108 3 37 58
data:
$ID,101
$MISSION,5
$DIVE,188
$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,550
$T_MISSION,570
$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,120
$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,350
$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,-694626.88
$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,0.039999999
$PITCH_ADJ_DBAND,1
$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,30
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,294
$VBD_MAX,3583
$C_VBD,2473
$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
$GPS1,032708,4803.774,-12549.085,28,2.0,28,18.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-55.7
$GPS2,033653,4803.653,-12549.025,12,3.5,31,18.9
$SPEED_LIMITS,0.099,0.182
$TGT_NAME,CAPE_FLATTERY
$TGT_LATLONG,4809.000,-12540.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.179,0.070
$KALMAN_X,-29562.4,26.6,275.4,15874.7,-2564.0
$KALMAN_Y,146610.1,38.1,-491.5,-153800.2,4515.0
$MHEAD_RNG_PITCHd_Wd,49.7,14915,-12.5,-6.000
$D_GRID,714
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,26,-1.28,-117.3,0.0,0.0,0,68,0.00,0.00,-40.20,0.000,2,0.000,0.000,31,2556,1873
$GC,73,-1.28,-117.3,3.2,-4.4,4,130,11.77,2.58,-37.65,0.000,4,0.143,0.061,2212,1150,2953
$GC,328,-1.16,-117.3,32.8,-11.0,27,334,0.17,2.47,0.00,0.000,6,0.140,0.041,2241,2550,2953
$GC,657,-1.09,-117.3,67.2,-9.7,57,662,0.00,2.50,0.00,0.000,4,0.000,0.048,2241,1149,2953
$GC,815,-1.09,-117.3,81.2,-8.5,70,819,0.00,2.50,0.00,0.000,6,0.000,0.043,2241,2557,2953
$GC,1136,-1.09,-117.3,108.5,-8.6,86,1137,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,2557,2953
$GC,1446,-1.09,-117.3,135.0,-7.3,101,1450,0.00,2.53,0.00,0.000,4,0.000,0.048,2241,1143,2953
$GC,1628,-1.09,-117.3,146.8,-6.8,109,1632,0.00,2.47,0.00,0.000,6,0.000,0.043,2241,2551,2953
$GC,1965,-1.09,-117.3,171.3,-7.6,119,1970,0.00,2.53,0.00,0.000,4,0.000,0.049,2241,1141,2953
$GC,2033,-1.09,-117.3,176.2,-7.1,120,2037,0.00,2.50,0.00,0.000,6,0.000,0.043,2241,2552,2953
$GC,2371,-1.09,-117.3,196.7,-6.2,129,2375,0.00,2.50,0.00,0.000,4,0.000,0.049,2241,1148,2953
$GC,2456,-1.09,-117.3,202.7,-7.3,131,2461,0.00,2.50,0.00,0.000,6,0.000,0.044,2241,2558,2953
$GC,2782,-1.09,-117.3,226.3,-7.0,139,2787,0.00,2.53,0.00,0.000,4,0.000,0.050,2241,1147,2953
$GC,2884,-1.09,-117.3,233.3,-6.9,141,2888,0.00,2.50,0.00,0.000,6,0.000,0.044,2242,2556,2953
$GC,3232,-1.09,-117.3,256.6,-6.8,150,3236,0.00,2.53,0.00,0.000,4,0.000,0.051,2241,1146,2952
$GC,3293,-1.09,-117.3,261.1,-7.2,151,3298,0.00,2.50,0.00,0.000,6,0.000,0.045,2241,2555,2952
$GC,3636,-1.09,-117.3,283.8,-6.5,160,3641,0.00,2.53,0.00,0.000,4,0.000,0.052,2241,1147,2952
$GC,3723,-1.09,-117.3,289.4,-6.6,162,3727,0.00,2.50,0.00,0.000,6,0.000,0.047,2241,2550,2952
$GC,4047,-1.09,-117.3,312.8,-7.4,168,4051,0.00,2.53,0.00,0.000,4,0.000,0.053,2242,1146,2951
$GC,4132,-1.09,-117.3,319.6,-8.0,169,4137,0.00,2.53,0.00,0.000,6,0.000,0.048,2241,2556,2951
$GC,4460,-1.09,-117.3,346.1,-8.1,173,4464,0.00,2.55,0.00,0.000,4,0.000,0.057,2241,1148,2951
$GC,4572,-1.14,-117.3,355.8,-8.7,174,4577,0.00,2.53,0.00,0.000,6,0.000,0.051,2241,2556,2951
$GC,4952,-1.14,-117.3,388.1,-8.4,179,4956,0.00,2.58,0.00,0.000,4,0.000,0.062,2241,1148,2951
$GC,5054,-1.18,-117.3,397.0,-8.8,180,5058,0.00,2.55,0.00,0.000,6,0.000,0.055,2241,2556,2950
$GC,5446,-1.22,-117.3,426.8,-7.5,185,5450,0.00,2.58,0.00,0.000,4,0.000,0.067,2241,1154,2950
$GC,5525,-1.27,-117.3,432.8,-7.6,185,5531,0.00,2.55,0.00,0.000,6,0.000,0.061,2242,2549,2950
$GC,5857,-1.31,-117.3,454.8,-6.7,190,5862,0.12,2.62,0.00,0.000,4,0.072,0.074,2213,1148,2950
$GC,5930,-1.31,-117.3,460.6,-8.1,190,5934,0.00,2.60,0.00,0.000,6,0.000,0.067,2212,2553,2949
$GC,6259,-1.31,-117.3,486.6,-7.9,194,6260,0.00,0.00,0.00,0.000,6,0.000,0.000,2212,2553,2949
$GC,6582,-1.31,-117.3,514.5,-8.7,198,6586,0.00,2.70,0.00,0.000,4,0.000,0.091,2212,1157,2949
$GC,6711,-1.31,-117.3,525.8,-8.5,199,6716,0.00,2.65,0.00,0.000,6,0.000,0.083,2213,2544,2948
$GC,7074,-1.31,-117.3,553.8,-7.6,204,7075,0.00,0.00,0.00,0.000,6,0.000,0.000,2213,2544,2948
$GC,7397,-1.31,-117.3,576.0,-6.9,208,7398,0.00,0.00,0.00,0.000,6,0.000,0.000,2212,2544,2948
$GC,7718,-1.31,-117.3,597.3,-6.6,212,7723,0.00,2.67,0.00,0.000,4,0.000,0.086,2213,1148,2948
$GC,7825,-1.31,-117.3,603.7,-5.9,213,7830,0.00,2.67,0.00,0.000,6,0.000,0.079,2213,2556,2948
$GC,8211,-1.31,-117.3,623.8,-5.1,218,8215,0.00,2.67,0.00,0.000,4,0.000,0.084,2212,1147,2947
$GC,8334,-1.31,-117.3,631.6,-6.7,219,8339,0.00,2.67,0.00,0.000,6,0.000,0.080,2212,2555,2947
$GC,8703,-1.31,-117.3,655.3,-6.5,224,8707,0.00,2.67,0.00,0.000,4,0.000,0.083,2212,1154,2947
$GC,8962,-1.31,-117.3,674.3,-6.7,226,8968,0.00,2.65,0.00,0.000,6,0.000,0.078,2213,2551,2947
$GC,9292,-1.31,-117.3,693.6,-5.9,231,9296,0.00,2.65,0.00,0.000,4,0.000,0.082,2212,1154,2947
$GC,9494,-1.31,-117.3,706.6,-6.2,233,9498,0.00,2.65,0.00,0.000,6,0.000,0.077,2212,2552,2946
$STATE,9709,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9709,begin apogee
$GC,9718,-0.45,0.0,717.4,4.6,236,9822,0.88,0.00,100.40,1.268,6,0.074,0.000,2398,2015,2473
$STATE,9822,end apogee,CONTROL_FINISHED_OK
$STATE,9823,begin climb
$GC,9826,1.28,117.3,719.4,0.0,237,9936,1.75,2.90,101.28,1.245,4,0.054,0.100,2779,593,1994
$GC,9990,1.07,130.7,716.8,5.5,239,10010,0.25,2.65,13.43,1.118,6,0.124,0.064,2736,2010,1939
$GC,10363,0.95,130.7,691.1,7.0,244,10368,0.15,2.75,0.00,0.000,4,0.104,0.094,2704,3411,1939
$GC,10484,0.90,149.9,684.9,5.3,245,10508,0.00,2.60,18.10,1.167,6,0.000,0.058,2704,1991,1862
$GC,10862,0.93,178.2,666.5,5.0,250,10896,0.00,2.85,26.25,1.196,4,0.000,0.089,2704,3411,1745
$GC,10991,0.91,192.8,659.5,5.5,251,11011,0.00,2.60,15.40,1.143,6,0.000,0.057,2703,2002,1687
$GC,11358,0.91,194.9,637.8,5.9,256,11366,0.00,0.00,4.00,0.775,6,0.000,0.000,2704,2002,1678
$GC,11690,0.91,194.9,615.9,6.7,260,11695,0.00,2.75,0.00,0.000,4,0.000,0.089,2704,3411,1678
$GC,11757,0.91,194.9,611.1,7.0,260,11762,0.00,2.60,0.00,0.000,6,0.000,0.055,2704,1996,1678
$GC,12093,0.91,194.9,590.8,6.0,265,12094,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,1996,1678
$GC,12415,0.91,194.9,570.0,6.4,269,12419,0.00,2.75,0.00,0.000,4,0.000,0.087,2704,3411,1678
$GC,12510,0.93,209.3,564.2,5.5,270,12530,0.00,2.58,14.43,1.112,6,0.000,0.054,2703,1998,1619
$GC,12911,0.93,214.0,541.0,5.8,275,12922,0.00,2.78,5.80,0.920,4,0.000,0.086,2704,3412,1599
$GC,12956,0.93,214.0,537.6,7.6,275,12960,0.00,2.60,0.00,0.000,6,0.000,0.051,2704,1988,1600
$GC,13313,0.93,214.0,513.5,6.7,280,13317,0.00,2.75,0.00,0.000,4,0.000,0.084,2704,3413,1600
$GC,13386,0.93,214.0,508.4,7.1,280,13390,0.00,2.55,0.00,0.000,6,0.000,0.051,2703,1998,1600
$GC,13715,0.93,214.0,488.6,6.0,284,13719,0.00,2.70,0.00,0.000,4,0.000,0.081,2704,3412,1600
$GC,13765,0.93,214.0,485.5,6.1,284,13769,0.00,2.55,0.00,0.000,6,0.000,0.048,2704,1998,1600
$GC,14116,0.93,214.0,462.8,6.5,289,14120,0.00,2.70,0.00,0.000,4,0.000,0.078,2704,3418,1600
$GC,14178,0.93,214.0,458.1,8.0,289,14182,0.00,2.55,0.00,0.000,6,0.000,0.048,2704,1997,1600
$GC,14518,0.93,214.0,432.7,7.4,294,14522,0.00,2.67,0.00,0.000,4,0.000,0.074,2704,3415,1600
$GC,14579,0.93,214.0,427.5,8.5,294,14583,0.00,2.55,0.00,0.000,6,0.000,0.046,2704,1988,1600
$GC,14919,0.93,214.0,399.6,8.2,299,14924,0.00,2.67,0.00,0.000,4,0.000,0.071,2703,3417,1600
$GC,14959,0.93,214.0,396.3,8.2,299,14963,0.00,2.53,0.00,0.000,6,0.000,0.044,2703,1998,1600
$GC,15321,0.93,214.0,369.0,7.5,304,15322,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,1998,1600
$GC,15644,0.93,214.0,344.5,7.6,308,15648,0.00,2.65,0.00,0.000,4,0.000,0.068,2704,3419,1600
$GC,15745,0.93,214.0,336.4,7.1,309,15749,0.00,2.53,0.00,0.000,6,0.000,0.043,2704,1995,1600
$GC,16135,0.93,214.0,307.3,7.5,314,16139,0.00,2.62,0.00,0.000,4,0.000,0.067,2704,3417,1600
$GC,16180,0.93,214.0,303.7,7.4,314,16184,0.00,2.50,0.00,0.000,6,0.000,0.042,2704,1994,1600
$GC,16499,0.93,214.0,278.8,7.8,321,16500,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,1994,1600
$GC,16822,0.93,214.0,256.1,6.8,329,16827,0.00,2.65,0.00,0.000,4,0.000,0.066,2704,3422,1600
$GC,16867,0.93,214.0,252.6,7.3,330,16871,0.00,2.53,0.00,0.000,6,0.000,0.042,2704,1989,1600
$GC,17186,0.93,214.0,230.9,6.7,338,17187,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,1990,1600
$GC,17511,0.93,214.0,209.2,6.6,346,17515,0.00,2.62,0.00,0.000,4,0.000,0.066,2704,3415,1600
$GC,17606,0.93,214.0,202.7,6.7,348,17610,0.00,2.50,0.00,0.000,6,0.000,0.041,2704,1992,1600
$GC,17920,0.94,222.1,184.0,5.7,356,17934,0.00,2.67,9.05,0.841,4,0.000,0.064,2704,3418,1567
$GC,17992,0.94,222.1,179.5,6.5,357,17997,0.00,2.50,0.00,0.000,6,0.000,0.041,2704,1997,1567
$GC,18331,1.03,243.8,160.7,5.2,366,18353,0.00,0.00,20.00,0.879,6,0.000,0.000,2704,1997,1478
$GC,18637,1.12,263.6,145.7,5.3,375,18662,0.15,2.70,18.48,0.855,4,0.054,0.062,2749,3409,1398
$GC,18761,1.07,263.6,136.5,7.9,380,18766,0.00,2.47,0.00,0.000,6,0.000,0.039,2748,1998,1398
$GC,19078,1.07,263.6,110.8,8.2,395,19079,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,1998,1398
$GC,19387,1.07,263.6,87.8,8.0,410,19388,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,1998,1398
$GC,19703,1.07,263.6,65.6,6.4,435,19707,0.00,2.58,0.00,0.000,4,0.000,0.069,2748,600,1398
$GC,19736,1.07,263.6,63.1,7.3,437,19742,0.00,2.47,0.00,0.000,6,0.000,0.038,2748,2020,1398
$GC,20065,1.13,263.6,42.5,6.3,468,20069,0.00,2.53,0.00,0.000,4,0.000,0.065,2748,3407,1398
$GC,20173,1.13,263.6,34.6,6.6,477,20177,0.00,2.47,0.00,0.000,6,0.000,0.038,2748,1986,1398
$GC,20502,1.22,263.6,15.9,6.1,507,20506,0.00,2.60,0.00,0.000,4,0.000,0.060,2748,3402,1398
$STATE,20713,end climb,SURFACE_DEPTH_REACHED
$STATE,20713,begin surface coast
$FINISH,1.1,1.024685
$STATE,20735,end surface coast,CONTROL_FINISHED_OK
$STATE,20735,begin surface
$SM_CCo,20762,73.47,0.733,3,0,1046,350.04
$SM_GC,1.95,0.00,0.00,73.47,0.000,0.000,0.733,23,2525,1046,-11.39,-0.71,350.04
$IRIDIUM_FIX,4745.30,-12549.10,160897,030303
$TT8_MAMPS,0.026078
$HUMID,1839
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,19.00
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,700.3,55.9
$24V_AH,22.7,33.754
$10V_AH,10.2,21.519
$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,27.375,197.200,346.600,73.475,0.000,53.955,57.958,254.938,6.500,0.000,0.000,32.423,1308.018,16638.670,586.203,2117.635,794.213,33.374,1656.107,0.000,2038.677,0.000,42.095
$DEVICE_MAMPS,143.429,100.477,1267.851,733.252,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,366.045,415.514,425.407,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28590,527
$CAP_FILE_SIZE,146287,0
$CFSIZE,260165632,245026816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,220508,092656,4806.130,-12547.256,45,1.8,45,18.9