version: 66.03
glider: 101
mission: 5
dive: 190
start: 5 22 108 12 57 18
data:
$ID,101
$MISSION,5
$DIVE,190
$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,-694676.81
$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,20
$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
$GPS1,125108,4807.035,-12545.534,28,1.1,28,18.9
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-59.2
$GPS2,125615,4807.023,-12545.535,11,1.4,11,18.9
$SPEED_LIMITS,0.099,0.182
$TGT_NAME,CAPE_FLATTERY
$TGT_LATLONG,4809.000,-12540.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.187,-0.042
$KALMAN_X,-31462.1,133.6,-22.0,22261.9,-313.9
$KALMAN_Y,150544.6,-337.7,-85.3,-151521.1,1081.5
$MHEAD_RNG_PITCHd_Wd,83.8,7758,-12.5,-6.000
$D_GRID,278
$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,29,-1.28,-117.3,0.0,0.0,0,78,0.00,0.00,-47.70,0.000,2,0.000,0.000,30,2545,2026
$GC,83,-1.28,-117.3,3.7,-4.7,5,130,11.55,2.50,-30.23,0.000,4,0.133,0.062,2217,1150,2953
$GC,336,-1.19,-117.3,32.3,-11.9,27,341,0.12,2.47,0.00,0.000,6,0.143,0.041,2236,2548,2953
$GC,665,-1.13,-117.3,67.3,-10.0,57,669,0.00,2.50,0.00,0.000,4,0.000,0.048,2236,1148,2953
$GC,739,-1.13,-117.3,74.4,-8.7,63,743,0.00,2.50,0.00,0.000,6,0.000,0.042,2236,2557,2953
$GC,1068,-1.13,-117.3,103.5,-9.8,82,1072,0.00,2.53,0.00,0.000,4,0.000,0.048,2237,1143,2953
$GC,1198,-1.13,-117.3,116.5,-10.1,88,1202,0.00,2.50,0.00,0.000,6,0.000,0.042,2236,2556,2953
$GC,1525,-1.13,-117.3,143.0,-7.4,104,1526,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,2556,2953
$GC,1831,-1.13,-117.3,165.2,-7.3,114,1835,0.00,2.53,0.00,0.000,4,0.000,0.049,2236,1144,2953
$GC,1904,-1.13,-117.3,170.9,-7.8,115,1908,0.00,2.47,0.00,0.000,6,0.000,0.041,2236,2551,2953
$GC,2235,-1.13,-117.3,196.8,-8.1,123,2240,0.00,2.50,0.00,0.000,4,0.000,0.049,2236,1149,2953
$GC,2286,-1.13,-117.3,201.1,-8.3,124,2290,0.00,2.47,0.00,0.000,6,0.000,0.042,2236,2553,2952
$GC,2602,-1.13,-117.3,225.1,-8.0,132,2606,0.00,2.53,0.00,0.000,4,0.000,0.051,2236,1143,2953
$GC,2708,-1.13,-117.3,234.0,-8.2,134,2713,0.00,2.50,0.00,0.000,6,0.000,0.044,2237,2554,2952
$GC,3051,-1.13,-117.3,260.6,-7.7,143,3053,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,2555,2952
$STATE,3292,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3292,begin apogee
$GC,3301,-0.45,0.0,279.4,7.6,149,3401,0.77,0.00,96.57,0.945,6,0.073,0.000,2401,1991,2474
$STATE,3401,end apogee,CONTROL_FINISHED_OK
$STATE,3401,begin climb
$GC,3405,1.28,117.3,282.5,0.0,151,3507,1.73,0.00,97.65,0.910,6,0.051,0.000,2779,1991,1994
$GC,3821,1.23,181.6,273.4,3.6,162,3881,0.00,2.72,54.85,0.904,4,0.000,0.067,2779,3412,1732
$GC,4035,1.12,181.6,261.9,6.3,167,4040,0.17,2.53,0.00,0.000,6,0.109,0.042,2747,1999,1731
$GC,4361,1.06,181.6,242.0,6.1,175,4365,0.00,2.62,0.00,0.000,4,0.000,0.065,2748,3407,1731
$GC,4473,0.99,198.3,235.0,5.4,177,4495,0.15,2.50,16.05,0.864,6,0.123,0.041,2720,1996,1664
$GC,4815,0.99,198.3,212.6,7.6,186,4819,0.00,2.62,0.00,0.000,4,0.000,0.064,2720,3408,1664
$GC,4855,0.99,198.3,209.4,8.8,187,4859,0.00,2.50,0.00,0.000,6,0.000,0.041,2720,1998,1664
$GC,5179,0.99,198.3,186.4,6.3,195,5184,0.00,2.62,0.00,0.000,4,0.000,0.064,2721,3415,1664
$GC,5236,1.01,213.6,183.2,5.4,196,5256,0.00,2.50,15.02,0.849,6,0.000,0.041,2720,1998,1602
$GC,5583,1.01,213.6,160.8,7.0,204,5588,0.00,2.62,0.00,0.000,4,0.000,0.064,2720,3413,1602
$GC,5689,1.01,213.6,152.9,7.3,206,5694,0.00,2.50,0.00,0.000,6,0.000,0.041,2720,2000,1602
$GC,6017,1.02,215.7,133.6,5.9,221,6022,0.00,0.00,3.58,0.551,6,0.000,0.000,2720,2000,1593
$GC,6326,1.04,234.8,114.9,5.3,236,6351,0.00,2.70,17.92,0.821,4,0.000,0.062,2720,3412,1515
$GC,6455,1.09,273.8,108.9,4.6,241,6495,0.00,2.50,34.12,0.826,6,0.000,0.040,2720,1998,1355
$GC,6813,1.17,273.8,87.0,6.8,259,6818,0.15,2.62,0.00,0.000,4,0.054,0.061,2759,3415,1355
$GC,6854,1.17,273.8,84.1,7.1,261,6859,0.00,2.50,0.00,0.000,6,0.000,0.040,2759,1998,1355
$GC,7182,1.17,273.8,63.5,7.1,289,7188,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1998,1355
$GC,7509,1.21,273.8,40.8,6.2,320,7510,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1999,1355
$GC,7830,1.29,281.5,23.4,5.7,350,7845,0.00,2.70,7.65,0.704,4,0.000,0.061,2759,3417,1325
$GC,8023,1.38,281.5,12.5,6.6,367,8028,0.17,2.50,0.00,0.000,6,0.074,0.038,2795,1993,1324
$STATE,8197,end climb,SURFACE_DEPTH_REACHED
$STATE,8197,begin surface coast
$FINISH,1.0,1.021866
$STATE,8233,end surface coast,CONTROL_FINISHED_OK
$STATE,8233,begin surface
$SM_CCo,8260,58.88,0.700,4,0,1046,350.04
$SM_GC,1.93,0.00,0.00,58.88,0.000,0.000,0.700,28,2559,1046,-11.37,0.25,350.04
$IRIDIUM_FIX,4748.51,-12548.37,160897,090944
$TT8_MAMPS,0.026078
$HUMID,1845
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,16.00
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,251.2,68.0
$24V_AH,23.5,33.981
$10V_AH,10.2,21.631
$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,27.475,73.275,343.425,58.875,0.000,31.077,29.483,135.928,2.000,0.000,0.000,11.243,784.303,5878.070,504.748,1078.299,418.625,33.370,1043.177,0.000,1063.770,0.000,13.492
$DEVICE_MAMPS,143.429,66.729,944.944,699.504,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,269.005,291.945,447.767,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19124,386
$CAP_FILE_SIZE,68534,0
$CFSIZE,260165632,245014528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,220508,151728,4807.014,-12544.040,9,4.2,28,18.9