version: 66.03
glider: 101
mission: 5
dive: 385
start: 7 16 108 18 27 30
data:
$ID,101
$MISSION,5
$DIVE,385
$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,-698916.75
$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
$GPS1,182126,4805.979,-12545.532,39,1.7,39,18.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-65.3
$GPS2,182626,4805.944,-12545.486,11,1.7,11,18.9
$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,-0.005
$KALMAN_X,-39059.5,-218.6,-251.3,30512.8,1317.3
$KALMAN_Y,261519.9,352.7,88.2,-265373.4,-762.1
$MHEAD_RNG_PITCHd_Wd,249.7,209239,-12.5,-6.000
$D_GRID,401
$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,-117.3,0.0,0.0,0,69,0.00,0.00,-40.40,0.000,2,0.000,0.000,29,2558,1922
$GC,74,-1.28,-117.3,3.5,-5.2,4,127,11.30,2.08,-32.40,0.000,4,0.122,0.087,2215,3631,2952
$GC,167,-1.02,-117.3,15.3,-15.0,12,174,0.22,1.92,0.00,0.000,6,0.076,0.038,2275,2536,2952
$GC,496,-1.02,-117.3,44.4,-8.5,43,502,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2536,2952
$GC,822,-1.02,-117.3,71.0,-8.9,74,823,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2536,2953
$GC,1135,-1.02,-117.3,96.3,-7.0,94,1139,0.00,2.47,0.00,0.000,4,0.000,0.051,2274,1155,2953
$GC,1208,-1.07,-117.3,101.3,-6.8,97,1212,0.00,2.47,0.00,0.000,6,0.000,0.040,2275,2558,2953
$GC,1525,-1.14,-117.3,123.9,-6.8,112,1530,0.12,2.50,0.00,0.000,4,0.067,0.046,2244,1161,2953
$GC,1565,-1.14,-117.3,127.2,-8.6,114,1569,0.00,2.47,0.00,0.000,6,0.000,0.041,2244,2561,2953
$GC,1893,-1.14,-117.3,150.4,-6.4,130,1897,0.00,2.50,0.00,0.000,4,0.000,0.047,2244,1162,2953
$GC,1949,-1.14,-117.3,154.4,-6.9,131,1953,0.00,2.45,0.00,0.000,6,0.000,0.041,2244,2557,2953
$GC,2297,-1.14,-117.3,179.2,-7.0,140,2298,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2557,2953
$GC,2623,-1.14,-117.3,202.6,-7.4,148,2627,0.00,2.50,0.00,0.000,4,0.000,0.049,2244,1162,2952
$GC,2735,-1.14,-117.3,211.4,-7.9,150,2740,0.00,2.47,0.00,0.000,6,0.000,0.042,2244,2560,2952
$GC,3073,-1.14,-117.3,237.3,-7.5,159,3074,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2560,2952
$GC,3398,-1.14,-117.3,260.5,-7.0,167,3402,0.00,2.53,0.00,0.000,4,0.000,0.050,2244,1152,2952
$GC,3516,-1.14,-117.3,269.3,-7.4,169,3520,0.00,2.50,0.00,0.000,6,0.000,0.044,2244,2560,2951
$GC,3848,-1.14,-117.3,294.8,-7.8,177,3852,0.00,2.53,0.00,0.000,4,0.000,0.049,2244,1152,2951
$GC,3876,-1.14,-117.3,297.0,-8.0,177,3880,0.00,2.50,0.00,0.000,6,0.000,0.044,2244,2560,2950
$GC,4247,-1.14,-117.3,328.4,-8.5,182,4251,0.00,2.50,0.00,0.000,4,0.000,0.051,2244,1165,2950
$GC,4287,-1.18,-117.3,332.2,-9.5,182,4291,0.00,2.47,0.00,0.000,6,0.000,0.046,2244,2555,2950
$GC,4650,-1.22,-117.3,361.4,-7.9,187,4654,0.00,2.53,0.00,0.000,4,0.000,0.055,2244,1161,2950
$GC,4695,-1.27,-117.3,364.9,-7.3,187,4699,0.00,2.50,0.00,0.000,6,0.000,0.049,2244,2555,2949
$GC,5053,-1.31,-117.3,387.5,-6.2,192,5058,0.15,2.53,0.00,0.000,4,0.070,0.058,2205,1166,2949
$GC,5104,-1.26,-117.3,391.2,-7.0,192,5108,0.00,2.50,0.00,0.000,6,0.000,0.053,2205,2556,2949
$STATE,5291,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5292,begin apogee
$GC,5301,-0.45,0.0,404.3,6.9,195,5403,0.93,0.00,98.75,1.032,6,0.076,0.000,2400,2012,2473
$STATE,5404,end apogee,CONTROL_FINISHED_OK
$STATE,5404,begin climb
$GC,5407,1.28,117.3,405.3,0.0,196,5512,1.75,0.00,100.38,1.002,6,0.053,0.000,2781,2012,1994
$GC,5777,1.17,152.8,390.9,4.7,201,5811,0.12,0.00,31.65,0.983,6,0.091,0.000,2758,2012,1850
$GC,6100,1.09,174.2,374.0,5.2,205,6123,0.10,0.00,20.50,0.960,6,0.104,0.000,2739,2012,1762
$GC,6423,1.05,193.1,357.0,5.3,209,6447,0.00,2.72,18.12,0.948,4,0.000,0.069,2739,3408,1685
$GC,6505,0.98,193.4,352.2,6.0,209,6512,0.12,2.53,0.00,0.000,6,0.113,0.042,2717,1996,1685
$GC,6835,1.02,221.1,335.7,5.0,214,6866,0.00,2.72,25.52,0.956,4,0.000,0.067,2717,3418,1570
$GC,6994,1.02,221.1,326.0,6.7,215,6999,0.00,2.53,0.00,0.000,6,0.000,0.041,2717,1997,1570
$GC,7330,1.03,232.3,307.1,5.6,220,7348,0.00,2.70,11.23,0.892,4,0.000,0.067,2717,3414,1525
$GC,7511,1.03,232.3,295.7,6.5,222,7516,0.00,2.53,0.00,0.000,6,0.000,0.041,2717,1995,1526
$GC,7831,1.03,232.3,274.3,6.7,230,7835,0.00,2.65,0.00,0.000,4,0.000,0.066,2717,3415,1526
$GC,7918,1.03,232.3,268.5,7.0,232,7922,0.00,2.53,0.00,0.000,6,0.000,0.041,2717,1995,1526
$GC,8243,1.08,232.3,245.6,7.2,240,8247,0.00,2.65,0.00,0.000,4,0.000,0.067,2717,3416,1525
$GC,8316,1.08,232.3,239.6,8.6,241,8320,0.00,2.53,0.00,0.000,6,0.000,0.041,2717,1990,1525
$GC,8648,1.08,232.3,215.8,6.8,249,8652,0.00,2.65,0.00,0.000,4,0.000,0.065,2716,3418,1525
$GC,8720,1.08,232.3,210.9,7.5,250,8725,0.00,2.50,0.00,0.000,6,0.000,0.041,2717,1997,1525
$GC,9053,1.14,246.3,192.0,5.5,258,9073,0.15,2.70,13.60,0.867,4,0.061,0.065,2758,3418,1468
$GC,9184,1.07,246.3,182.5,7.7,260,9191,0.12,2.53,0.00,0.000,6,0.123,0.041,2737,1996,1467
$GC,9516,1.07,246.3,158.5,7.2,269,9517,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,1996,1468
$GC,9823,1.07,246.3,136.0,7.5,281,9828,0.00,2.62,0.00,0.000,4,0.000,0.064,2737,3410,1468
$GC,9977,1.07,246.3,124.9,7.1,288,9981,0.00,2.50,0.00,0.000,6,0.000,0.040,2737,1995,1468
$GC,10304,1.10,266.9,105.9,5.2,304,10329,0.00,2.72,19.17,0.827,4,0.000,0.062,2737,3429,1383
$GC,10483,1.10,266.9,94.6,7.2,312,10487,0.00,2.55,0.00,0.000,6,0.000,0.039,2737,1994,1384
$GC,10803,1.18,266.9,72.7,6.0,333,10805,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,1993,1384
$GC,11126,1.29,285.7,56.2,5.3,363,11149,0.17,2.67,16.92,0.788,4,0.056,0.061,2782,3419,1307
$GC,11286,1.29,285.7,45.5,6.5,377,11291,0.00,2.53,0.00,0.000,6,0.000,0.039,2783,1992,1307
$GC,11614,1.31,302.5,26.2,5.4,407,11636,0.00,2.67,15.73,0.762,4,0.000,0.061,2782,3415,1237
$GC,11829,1.39,320.6,13.8,5.3,426,11852,0.00,2.50,16.12,0.747,6,0.000,0.038,2783,1998,1166
$STATE,12061,end climb,SURFACE_DEPTH_REACHED
$STATE,12061,begin surface coast
$FINISH,1.2,1.024032
$STATE,12105,end surface coast,CONTROL_FINISHED_OK
$STATE,12105,begin surface
$SM_CCo,12132,25.48,0.665,2,0,1046,350.04
$SM_GC,2.21,0.00,0.00,25.48,0.000,0.000,0.665,29,2565,1046,-11.37,0.40,350.04
$IRIDIUM_FIX,4748.51,-12543.87,101097,151523
$TT8_MAMPS,0.026078
$HUMID,1958
$INTERNAL_PRESSURE,8.95542
$TCM_TEMP,16.60
$XPDR_PINGS,2
$24V_AH,23.2,63.296
$10V_AH,10.2,39.135
$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,27.850,108.175,387.700,25.475,0.000,32.987,45.979,107.400,3.500,0.000,0.000,12.006,959.884,9176.755,538.650,1325.549,486.152,33.369,1209.826,0.000,1301.826,0.000,20.020
$DEVICE_MAMPS,123.487,86.671,1031.615,664.989,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,315.160,349.401,483.243,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22311,452
$CAP_FILE_SIZE,91261,0
$CFSIZE,260165632,231956480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,160708,215138,4806.275,-12547.301,38,2.0,38,18.9