version: 66.03
glider: 101
mission: 5
dive: 191
start: 5 22 108 15 23 39
data:
$ID,101
$MISSION,5
$DIVE,191
$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,-694731.25
$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,23
$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
$GPS1,151728,4807.014,-12544.040,9,4.2,28,18.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-58.8
$GPS2,152235,4806.997,-12544.013,33,4.7,52,18.9
$SPEED_LIMITS,0.099,0.182
$TGT_NAME,CAPE_FLATTERY
$TGT_LATLONG,4809.000,-12540.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.151,-0.119
$KALMAN_X,-31832.9,342.6,348.4,23939.7,-496.4
$KALMAN_Y,151490.4,-505.4,-501.0,-151933.7,1378.9
$MHEAD_RNG_PITCHd_Wd,109.4,6192,-12.5,-6.000
$D_GRID,239
$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,23,begin dive
$GC,26,-1.28,-117.3,0.0,0.0,0,78,0.00,0.00,-49.88,0.000,2,0.000,0.000,29,2559,2051
$GC,83,-1.28,-117.3,3.1,-3.3,5,130,11.30,2.60,-28.62,0.000,4,0.123,0.066,2215,1147,2952
$GC,138,-1.09,-117.3,10.3,-13.8,10,143,0.22,2.50,0.00,0.000,6,0.119,0.041,2256,2553,2952
$GC,464,-1.09,-117.3,43.1,-9.0,40,467,0.00,2.03,0.00,0.000,4,0.000,0.077,2256,3633,2953
$GC,724,-1.09,-117.3,65.1,-7.3,63,728,0.00,1.90,0.00,0.000,6,0.000,0.041,2256,2537,2952
$GC,1052,-1.09,-117.3,94.2,-9.1,87,1053,0.00,0.00,0.00,0.000,6,0.000,0.000,2256,2537,2952
$GC,1360,-1.09,-117.3,116.2,-6.9,102,1364,0.00,2.45,0.00,0.000,4,0.000,0.051,2256,1157,2952
$GC,1423,-1.14,-117.3,121.3,-8.2,104,1429,0.00,2.45,0.00,0.000,6,0.000,0.042,2256,2551,2952
$GC,1739,-1.19,-117.3,143.6,-6.3,120,1741,0.00,0.00,0.00,0.000,6,0.000,0.000,2256,2551,2952
$GC,2046,-1.24,-117.3,165.5,-7.7,130,2051,0.12,2.50,0.00,0.000,4,0.069,0.048,2226,1152,2952
$GC,2108,-1.24,-117.3,171.6,-9.2,131,2112,0.00,2.47,0.00,0.000,6,0.000,0.041,2226,2557,2952
$GC,2451,-1.24,-117.3,202.3,-8.5,140,2455,0.00,2.47,0.00,0.000,4,0.000,0.050,2226,1162,2952
$GC,2586,-1.24,-117.3,214.2,-9.1,143,2590,0.00,2.45,0.00,0.000,6,0.000,0.044,2226,2550,2952
$STATE,2902,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2902,begin apogee
$GC,2911,-0.45,0.0,239.6,7.9,151,3010,0.80,0.00,96.03,0.916,6,0.072,0.000,2397,2000,2473
$STATE,3011,end apogee,CONTROL_FINISHED_OK
$STATE,3011,begin climb
$GC,3015,1.28,117.3,242.9,0.0,153,3120,1.70,2.67,96.22,0.883,4,0.051,0.068,2776,609,1994
$GC,3239,1.14,139.3,240.1,5.2,158,3264,0.15,2.50,19.90,0.836,6,0.127,0.040,2751,2017,1904
$GC,3592,1.04,139.3,220.1,6.1,166,3597,0.12,2.58,0.00,0.000,4,0.106,0.067,2728,3399,1903
$GC,3772,0.98,147.2,209.3,5.7,170,3786,0.00,2.47,7.88,0.766,6,0.000,0.041,2728,2002,1872
$GC,4096,0.92,147.2,190.3,6.1,178,4098,0.12,0.00,0.00,0.000,6,0.099,0.000,2703,2002,1872
$GC,4421,0.99,202.3,177.7,4.0,186,4471,0.00,0.00,48.88,0.869,6,0.000,0.000,2703,2002,1647
$GC,4785,1.04,202.3,156.0,6.5,195,4790,0.10,2.60,0.00,0.000,4,0.058,0.063,2735,3400,1648
$GC,4859,0.99,202.3,151.0,7.3,196,4863,0.00,2.47,0.00,0.000,6,0.000,0.041,2735,1999,1647
$GC,5175,1.00,216.0,132.0,5.5,210,5197,0.00,2.67,13.32,0.805,4,0.000,0.062,2736,3398,1591
$GC,5288,1.00,216.0,124.7,6.6,215,5293,0.00,2.47,0.00,0.000,6,0.000,0.041,2735,1998,1591
$GC,5617,1.00,216.0,104.5,6.9,231,5621,0.00,2.60,0.00,0.000,4,0.000,0.063,2735,3401,1591
$GC,5724,1.00,216.0,96.5,7.4,236,5728,0.00,2.47,0.00,0.000,6,0.000,0.039,2735,1989,1591
$GC,6042,1.00,216.0,76.0,7.6,253,6043,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,1989,1591
$GC,6364,1.09,248.8,55.8,4.8,283,6399,0.00,0.00,28.85,0.795,6,0.000,0.000,2735,1989,1458
$GC,6724,1.17,258.4,34.3,5.7,317,6739,0.00,2.65,9.82,0.726,4,0.000,0.061,2735,3403,1418
$GC,6843,1.35,330.1,29.2,3.4,327,6908,0.28,2.47,58.72,0.772,6,0.073,0.038,2792,1997,1127
$GC,7226,1.35,330.1,5.7,6.1,363,7231,0.00,2.60,0.00,0.000,4,0.000,0.064,2792,3408,1126
$STATE,7275,end climb,SURFACE_DEPTH_REACHED
$STATE,7275,begin surface coast
$FINISH,1.0,1.024673
$STATE,7288,end surface coast,CONTROL_FINISHED_OK
$STATE,7288,begin surface
$SM_CCo,7314,17.33,0.671,1,0,1046,350.04
$SM_GC,1.51,0.00,0.00,17.33,0.000,0.000,0.671,26,2529,1046,-11.38,-0.59,350.04
$IRIDIUM_FIX,4748.51,-12548.37,160897,131342
$TT8_MAMPS,0.025311
$HUMID,1841
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,226.7,50.0
$24V_AH,23.5,34.085
$10V_AH,10.2,21.682
$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,27.175,59.575,379.625,17.325,0.000,23.581,31.172,101.938,1.500,0.000,0.000,53.799,724.465,5072.249,456.805,1042.199,369.002,33.367,970.787,0.000,990.150,0.000,11.847
$DEVICE_MAMPS,126.555,76.700,915.798,671.125,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,258.398,278.167,451.241,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19105,368
$CAP_FILE_SIZE,62017,0
$CFSIZE,260165632,244985856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,220508,172728,4806.681,-12543.052,30,2.8,49,18.9