version: 66.03
glider: 101
mission: 5
dive: 383
start: 7 16 108 13 16 21
data:
$ID,101
$MISSION,5
$DIVE,383
$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,-698877.5
$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,31
$R_STBD_OVSHOOT,18
$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
$GPS1,131017,4806.481,-12542.973,35,2.3,54,18.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-63.0
$GPS2,131517,4806.458,-12542.945,12,6.2,31,18.9
$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,-0.006
$KALMAN_X,-39513.3,-501.4,76.2,34062.4,498.8
$KALMAN_Y,262622.3,-146.8,5.3,-264941.2,-790.3
$MHEAD_RNG_PITCHd_Wd,249.3,212404,-12.5,-6.000
$D_GRID,273
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,27,-1.28,-117.3,0.0,0.0,0,68,0.00,0.00,-39.70,0.000,2,0.000,0.000,28,2565,1910
$GC,73,-1.28,-117.3,3.4,-4.6,4,127,11.32,2.03,-33.85,0.000,4,0.123,0.087,2217,3621,2953
$GC,185,-1.04,-117.3,17.4,-15.3,14,190,0.28,1.90,0.00,0.000,6,0.079,0.038,2274,2516,2953
$GC,520,-1.04,-117.3,51.0,-9.9,45,524,0.00,2.40,0.00,0.000,4,0.000,0.047,2274,1161,2953
$GC,589,-1.04,-117.3,56.2,-6.1,50,595,0.00,2.45,0.00,0.000,6,0.000,0.038,2274,2556,2954
$GC,915,-1.04,-117.3,80.0,-6.3,81,916,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2556,2954
$GC,1224,-1.08,-117.3,99.2,-5.9,96,1225,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2556,2955
$GC,1534,-1.13,-117.3,121.7,-7.6,111,1538,0.00,2.50,0.00,0.000,4,0.000,0.048,2274,1161,2954
$GC,1689,-1.21,-117.3,132.7,-6.7,118,1694,0.17,2.47,0.00,0.000,6,0.098,0.041,2241,2561,2954
$GC,2015,-1.21,-117.3,157.4,-7.6,132,2020,0.00,2.50,0.00,0.000,4,0.000,0.047,2241,1159,2954
$GC,2066,-1.21,-117.3,161.2,-7.1,133,2071,0.00,2.45,0.00,0.000,6,0.000,0.041,2240,2552,2954
$GC,2381,-1.21,-117.3,184.2,-7.3,141,2385,0.00,2.47,0.00,0.000,4,0.000,0.048,2241,1163,2953
$GC,2454,-1.21,-117.3,190.3,-8.3,142,2458,0.00,2.45,0.00,0.000,6,0.000,0.042,2241,2553,2953
$GC,2786,-1.21,-117.3,214.8,-7.0,150,2790,0.00,2.47,0.00,0.000,4,0.000,0.049,2240,1161,2953
$GC,2887,-1.21,-117.3,222.9,-8.5,152,2891,0.00,2.45,0.00,0.000,6,0.000,0.043,2241,2551,2952
$GC,3235,-1.21,-117.3,249.6,-7.9,161,3245,0.00,2.47,0.00,0.000,4,0.000,0.049,2241,1165,2952
$GC,3280,-1.21,-117.3,253.0,-7.2,161,3285,0.00,2.45,0.00,0.000,6,0.000,0.044,2241,2550,2952
$STATE,3567,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3567,begin apogee
$GC,3576,-0.45,0.0,273.8,7.2,169,3677,0.75,0.00,97.65,0.933,6,0.071,0.000,2400,2014,2473
$STATE,3678,end apogee,CONTROL_FINISHED_OK
$STATE,3678,begin climb
$GC,3682,1.28,117.3,276.7,0.0,171,3790,1.73,2.72,98.12,0.899,4,0.052,0.067,2777,607,1994
$GC,3860,1.13,141.4,275.3,5.1,176,3889,0.17,2.50,21.58,0.854,6,0.123,0.039,2748,2009,1896
$GC,4228,1.04,141.4,251.8,6.5,185,4233,0.10,2.60,0.00,0.000,4,0.109,0.069,2730,3407,1896
$GC,4464,0.99,164.5,238.7,5.2,190,4491,0.00,2.47,21.00,0.870,6,0.000,0.041,2730,2006,1802
$GC,4817,1.05,211.8,223.5,4.3,199,4866,0.00,2.72,41.72,0.886,4,0.000,0.066,2730,3404,1609
$GC,4971,1.05,211.8,215.4,6.3,202,4975,0.00,2.50,0.00,0.000,6,0.000,0.041,2730,1992,1609
$GC,5314,1.05,211.8,193.0,6.6,211,5318,0.00,2.62,0.00,0.000,4,0.000,0.064,2730,3405,1609
$GC,5404,1.05,211.8,186.8,6.9,213,5408,0.00,2.50,0.00,0.000,6,0.000,0.041,2730,1987,1609
$GC,5723,1.05,211.8,164.2,7.3,221,5727,0.00,2.62,0.00,0.000,4,0.000,0.064,2730,3405,1609
$GC,5796,1.05,211.8,158.5,8.0,222,5800,0.00,2.47,0.00,0.000,6,0.000,0.040,2730,2001,1609
$GC,6111,1.06,220.3,137.7,5.7,234,6125,0.00,2.67,8.77,0.777,4,0.000,0.064,2729,3406,1574
$GC,6245,1.06,220.3,130.2,6.1,240,6249,0.00,2.47,0.00,0.000,6,0.000,0.039,2730,2000,1574
$GC,6572,1.06,220.3,108.8,7.5,256,6577,0.00,2.60,0.00,0.000,4,0.000,0.062,2730,3408,1574
$GC,6668,1.06,220.3,100.9,8.3,260,6672,0.00,2.47,0.00,0.000,6,0.000,0.039,2730,1997,1573
$GC,6985,1.08,238.5,80.5,5.3,275,7007,0.00,2.70,16.80,0.800,4,0.000,0.061,2730,3402,1500
$GC,7066,1.12,274.4,76.6,4.7,281,7102,0.00,2.47,30.98,0.803,6,0.000,0.038,2730,1992,1354
$GC,7424,1.28,317.5,59.0,4.4,314,7468,0.17,2.67,36.60,0.788,4,0.056,0.062,2778,3406,1177
$GC,7661,1.28,317.5,40.4,8.8,335,7665,0.00,2.50,0.00,0.000,6,0.000,0.038,2778,1991,1177
$GC,7992,1.34,317.5,18.7,6.1,365,7997,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1992,1177
$STATE,8293,end climb,SURFACE_DEPTH_REACHED
$STATE,8293,begin surface coast
$FINISH,1.2,1.024146
$STATE,8330,end surface coast,CONTROL_FINISHED_OK
$STATE,8330,begin surface
$SM_CCo,8357,27.95,0.711,1,0,1046,350.04
$SM_GC,2.21,0.00,0.00,27.95,0.000,0.000,0.711,30,2555,1046,-11.37,0.14,350.04
$IRIDIUM_FIX,4748.51,-12539.38,101097,111104
$TT8_MAMPS,0.026078
$HUMID,1948
$INTERNAL_PRESSURE,8.96519
$TCM_TEMP,17.90
$XPDR_PINGS,1
$24V_AH,23.3,63.066
$10V_AH,10.2,39.015
$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,27.200,81.750,373.225,27.950,0.000,31.088,27.147,106.026,2.000,0.000,0.000,32.195,801.125,5862.047,460.935,1174.570,411.312,33.365,1064.532,0.000,1132.466,0.000,13.397
$DEVICE_MAMPS,123.487,86.671,933.439,711.009,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,276.381,303.414,462.842,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19101,397
$CAP_FILE_SIZE,70828,0
$CFSIZE,260165632,232054784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,160708,153751,4806.156,-12544.338,37,2.9,56,18.9