version: 66.03
glider: 101
mission: 5
dive: 200
start: 5 23 108 8 59 12
data:
$ID,101
$MISSION,5
$DIVE,200
$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,-694999.5
$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,28
$R_STBD_OVSHOOT,19
$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
$GPS1,085258,4806.099,-12543.177,488,3.2,507,18.9
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-59.0
$GPS2,085811,4806.054,-12543.128,13,3.7,32,18.9
$SPEED_LIMITS,0.099,0.182
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.192,-0.011
$KALMAN_X,-29036.3,-289.2,-110.5,23332.4,667.3
$KALMAN_Y,148412.5,-21.8,97.6,-151690.7,-808.7
$MHEAD_RNG_PITCHd_Wd,247.8,211782,-12.5,-6.000
$D_GRID,320
$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,-117.3,0.0,0.0,0,88,0.00,0.00,-59.90,0.000,2,0.000,0.000,26,2546,2256
$GC,93,-1.28,-117.3,3.6,-3.8,6,129,11.25,2.05,-18.95,0.000,4,0.123,0.088,2214,3616,2953
$GC,188,-1.08,-117.3,18.6,-13.2,14,195,0.17,1.90,0.00,0.000,6,0.078,0.041,2264,2537,2953
$GC,517,-1.08,-117.3,49.1,-8.5,45,523,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,2537,2953
$GC,843,-1.08,-117.3,76.3,-7.6,76,844,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,2536,2952
$GC,1163,-1.08,-117.3,98.3,-6.5,94,1168,0.00,2.47,0.00,0.000,4,0.000,0.052,2264,1156,2952
$GC,1294,-1.13,-117.3,106.4,-6.2,100,1298,0.00,2.47,0.00,0.000,6,0.000,0.041,2264,2554,2953
$GC,1622,-1.17,-117.3,127.4,-6.6,116,1626,0.00,2.47,0.00,0.000,4,0.000,0.049,2264,1164,2952
$GC,1668,-1.23,-117.3,130.5,-6.7,118,1673,0.15,2.45,0.00,0.000,6,0.099,0.041,2236,2553,2952
$GC,1995,-1.23,-117.3,154.2,-8.0,133,1996,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,2554,2952
$GC,2320,-1.23,-117.3,181.3,-8.4,141,2325,0.00,2.47,0.00,0.000,4,0.000,0.049,2236,1164,2952
$GC,2433,-1.23,-117.3,191.0,-8.8,143,2437,0.00,2.42,0.00,0.000,6,0.000,0.042,2236,2550,2952
$GC,2770,-1.23,-117.3,215.8,-7.8,152,2771,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,2551,2952
$GC,3095,-1.23,-117.3,241.9,-7.5,160,3099,0.00,2.50,0.00,0.000,4,0.000,0.051,2236,1152,2951
$GC,3184,-1.23,-117.3,248.7,-7.6,162,3189,0.00,2.47,0.00,0.000,6,0.000,0.045,2236,2550,2951
$GC,3504,-1.23,-117.3,272.8,-7.9,170,3508,0.00,2.50,0.00,0.000,4,0.000,0.051,2236,1157,2951
$GC,3571,-1.23,-117.3,278.4,-7.9,171,3575,0.00,2.47,0.00,0.000,6,0.000,0.045,2236,2556,2951
$GC,3948,-1.23,-117.3,307.6,-7.6,180,3952,0.00,2.50,0.00,0.000,4,0.000,0.053,2236,1164,2950
$GC,4009,-1.23,-117.3,312.3,-7.1,180,4013,0.00,2.47,0.00,0.000,6,0.000,0.047,2236,2555,2950
$STATE,4184,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4184,begin apogee
$GC,4194,-0.45,0.0,325.4,7.4,183,4293,0.77,0.00,96.45,0.980,6,0.076,0.000,2399,2013,2473
$STATE,4294,end apogee,CONTROL_FINISHED_OK
$STATE,4294,begin climb
$GC,4298,1.28,117.3,328.4,0.0,184,4403,1.75,2.67,97.30,0.943,4,0.054,0.071,2782,603,1994
$GC,4566,1.09,122.2,321.9,5.8,187,4577,0.22,2.53,5.53,0.719,6,0.129,0.041,2742,2016,1975
$GC,4925,1.06,172.7,306.5,4.2,192,4974,0.00,2.70,43.65,0.934,4,0.000,0.071,2742,3407,1767
$GC,5038,0.97,182.5,300.8,5.6,193,5054,0.15,2.50,9.82,0.837,6,0.107,0.042,2714,1997,1729
$GC,5380,1.01,220.9,284.1,4.6,201,5421,0.00,2.70,35.10,0.927,4,0.000,0.066,2715,3409,1571
$GC,5513,1.01,220.9,276.7,6.1,204,5518,0.00,2.53,0.00,0.000,6,0.000,0.042,2714,1999,1571
$GC,5838,1.02,225.8,257.7,5.8,212,5849,0.00,2.65,5.80,0.749,4,0.000,0.065,2714,3403,1551
$GC,5917,1.02,225.8,252.4,6.7,213,5923,0.00,2.50,0.00,0.000,6,0.000,0.042,2714,2000,1551
$GC,6249,1.02,225.8,228.6,7.3,222,6251,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2000,1551
$GC,6574,1.02,225.8,203.9,7.6,230,6578,0.00,2.62,0.00,0.000,4,0.000,0.065,2714,3414,1551
$GC,6692,1.02,225.8,194.8,7.7,232,6696,0.00,2.50,0.00,0.000,6,0.000,0.041,2714,1999,1551
$GC,7024,1.02,225.8,173.3,6.2,240,7028,0.00,2.60,0.00,0.000,4,0.000,0.064,2714,3408,1551
$GC,7069,1.04,239.8,170.6,5.5,241,7088,0.00,2.50,13.68,0.855,6,0.000,0.041,2714,1996,1494
$GC,7433,1.08,239.8,147.5,6.6,250,7437,0.00,2.62,0.00,0.000,4,0.000,0.063,2714,3409,1494
$GC,7512,1.08,239.8,142.3,7.0,253,7517,0.00,2.50,0.00,0.000,6,0.000,0.041,2714,1995,1494
$GC,7829,1.14,247.2,123.4,5.7,269,7844,0.15,2.67,7.45,0.759,4,0.057,0.062,2752,3402,1464
$GC,7971,1.09,247.2,112.7,8.1,275,7975,0.00,2.47,0.00,0.000,6,0.000,0.040,2752,1997,1464
$GC,8294,1.09,247.2,87.9,8.5,291,8295,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,1997,1464
$GC,8609,1.09,247.2,65.3,6.1,316,8613,0.00,2.60,0.00,0.000,4,0.000,0.062,2752,3408,1465
$GC,8746,1.11,259.2,57.2,5.6,327,8764,0.00,2.47,12.27,0.775,6,0.000,0.039,2752,1993,1415
$GC,9084,1.11,259.2,38.2,6.4,359,9089,0.00,2.62,0.00,0.000,4,0.000,0.063,2752,3414,1415
$GC,9186,1.11,259.2,30.2,7.1,367,9192,0.00,2.47,0.00,0.000,6,0.000,0.039,2752,1997,1415
$GC,9515,1.23,292.0,11.1,4.8,398,9548,0.00,2.72,27.83,0.780,4,0.000,0.061,2752,3412,1281
$STATE,9665,end climb,SURFACE_DEPTH_REACHED
$STATE,9668,begin surface coast
$FINISH,0.8,1.024753
$STATE,9700,end surface coast,CONTROL_FINISHED_OK
$STATE,9700,begin surface
$SM_CCo,9726,47.85,0.720,2,0,1045,350.04
$SM_GC,1.70,0.00,0.00,47.85,0.000,0.000,0.720,22,2522,1045,-11.40,-0.79,350.04
$IRIDIUM_FIX,4748.51,-12539.38,170897,060604
$TT8_MAMPS,0.026078
$HUMID,1834
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,19.00
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,301.6,75.7
$24V_AH,23.5,35.026
$10V_AH,10.2,22.138
$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,26.775,90.350,354.875,47.850,0.000,25.729,29.102,124.279,2.750,0.000,0.000,33.445,863.808,7088.616,498.593,1237.904,426.402,33.362,1119.120,0.000,1195.530,0.000,16.693
$DEVICE_MAMPS,128.856,88.205,980.226,720.213,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,290.929,313.221,459.788,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22267,414
$CAP_FILE_SIZE,77915,0
$CFSIZE,260165632,244666368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,230508,114335,4805.734,-12544.745,16,3.3,35,18.9