version: 66.03
glider: 5
mission: 3
dive: 5
start: 6 7 108 4 5 13
data:
$ID,5
$MISSION,3
$DIVE,5
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,50
$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,330
$T_MISSION,360
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-3
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,12
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,52
$TGT_DEFAULT_LON,-7
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-76778.016
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,432
$PITCH_MAX,3760
$C_PITCH,2700
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,159
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,390
$VBD_MAX,3851
$C_VBD,2832
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0016
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,3
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-24.477776
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,150
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,3
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,2
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043890956
$SEABIRD_T_H,0.00065287336
$SEABIRD_T_I,2.754709e-05
$SEABIRD_T_J,3.0424237e-06
$SEABIRD_C_G,-10.354986
$SEABIRD_C_H,1.1996267
$SEABIRD_C_I,-0.0023424325
$SEABIRD_C_J,0.0002635108
$GPS1,035838,6133.945,-834.206,32,1.2,32,-9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-63.5
$GPS2,040333,6133.969,-834.256,15,1.3,15,-9.0
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.239,-0.112
$KALMAN_X,-6082.5,-118.3,-191.7,-9387.9,-3028.6
$KALMAN_Y,11437.5,23.4,1009.3,4323.8,4710.6
$MHEAD_RNG_PITCHd_Wd,253.8,34807,-18.1,-10.000
$D_GRID,842
$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,25,-1.44,-146.6,0.0,0.0,0,120,0.00,0.00,-92.55,0.000,6,0.000,0.000,423,2156,3431
$GC,123,-1.44,-146.6,2.7,-3.3,4,139,10.12,2.60,0.00,0.000,4,0.137,0.059,2377,733,3433
$GC,270,-1.24,-146.6,40.2,-19.0,9,277,0.25,2.55,0.00,0.000,6,0.097,0.054,2426,2150,3434
$GC,587,-1.17,-146.6,98.7,-19.9,25,591,0.00,2.60,0.00,0.000,4,0.000,0.074,2426,3560,3434
$GC,721,-1.11,-146.6,121.6,-16.0,31,726,0.15,2.55,0.00,0.000,6,0.098,0.051,2457,2139,3434
$GC,1043,-1.11,-146.6,158.5,-9.5,47,1044,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2121,3435
$GC,1352,-1.11,-146.6,189.3,-10.5,62,1353,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2121,3435
$GC,1661,-1.11,-146.6,222.7,-11.0,77,1665,0.00,2.67,0.00,0.000,4,0.000,0.075,2457,3563,3436
$GC,1705,-1.11,-146.6,227.7,-11.1,79,1709,0.00,2.55,0.00,0.000,6,0.000,0.054,2457,2151,3436
$GC,2025,-1.11,-146.6,260.5,-10.4,95,2030,0.00,2.62,0.00,0.000,4,0.000,0.075,2457,3557,3436
$GC,2076,-1.15,-146.6,266.2,-11.2,97,2080,0.00,2.55,0.00,0.000,6,0.000,0.054,2457,2143,3436
$GC,2391,-1.15,-146.6,303.1,-12.0,112,2396,0.00,2.65,0.00,0.000,4,0.000,0.074,2456,3556,3435
$GC,2419,-1.15,-146.6,306.8,-13.1,113,2423,0.00,2.55,0.00,0.000,6,0.000,0.054,2457,2145,3436
$GC,2735,-1.15,-146.6,343.4,-12.1,128,2736,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2126,3436
$GC,3044,-1.15,-146.6,380.5,-12.3,143,3048,0.00,2.65,0.00,0.000,4,0.000,0.076,2457,3559,3436
$GC,3077,-1.15,-146.6,384.8,-12.9,144,3083,0.00,2.55,0.00,0.000,6,0.000,0.056,2457,2149,3436
$GC,3392,-1.15,-146.6,422.9,-11.1,160,3397,0.00,2.65,0.00,0.000,4,0.000,0.077,2457,3557,3436
$GC,3448,-1.20,-146.6,429.5,-11.6,162,3454,0.00,2.55,0.00,0.000,6,0.000,0.055,2457,2142,3436
$GC,3764,-1.20,-146.6,467.2,-12.2,178,3768,0.00,2.65,0.00,0.000,4,0.000,0.076,2457,3557,3436
$GC,3808,-1.26,-146.6,472.8,-12.5,180,3813,0.15,2.55,0.00,0.000,6,0.055,0.055,2418,2145,3436
$GC,4130,-1.19,-146.6,517.0,-13.5,196,4135,0.12,2.67,0.00,0.000,4,0.105,0.077,2441,3564,3436
$GC,4202,-1.19,-146.6,526.5,-11.9,199,4206,0.00,2.58,0.00,0.000,6,0.000,0.057,2441,2142,3435
$GC,4518,-1.19,-146.6,560.6,-9.4,214,4522,0.00,2.65,0.00,0.000,4,0.000,0.079,2441,3556,3435
$GC,4613,-1.19,-146.6,569.8,-9.1,218,4617,0.00,2.55,0.00,0.000,6,0.000,0.056,2441,2146,3435
$GC,4928,-1.19,-146.6,603.6,-11.6,233,4933,0.00,2.67,0.00,0.000,4,0.000,0.079,2442,3560,3436
$GC,4968,-1.19,-146.6,609.8,-15.6,235,4973,0.00,2.55,0.00,0.000,6,0.000,0.058,2442,2149,3435
$GC,5296,-1.19,-146.6,652.9,-14.0,251,5298,0.00,0.00,0.00,0.000,6,0.000,0.000,2441,2126,3435
$GC,5605,-1.19,-146.6,695.7,-11.2,266,5609,0.00,2.58,0.00,0.000,4,0.000,0.078,2441,749,3435
$GC,5661,-1.19,-146.6,703.2,-14.7,268,5667,0.00,2.58,0.00,0.000,6,0.000,0.064,2441,2148,3435
$GC,5977,-1.19,-146.6,741.8,-9.7,284,5982,0.00,2.65,0.00,0.000,4,0.000,0.087,2441,3559,3434
$GC,6040,-1.19,-146.6,748.2,-9.7,287,6045,0.00,2.58,0.00,0.000,6,0.000,0.066,2442,2154,3434
$GC,6366,-1.19,-146.6,780.1,-10.4,303,6371,0.00,2.72,0.00,0.000,4,0.000,0.094,2441,3558,3434
$GC,6389,-1.19,-146.6,782.1,-8.5,304,6393,0.00,2.62,0.00,0.000,6,0.000,0.073,2441,2151,3434
$GC,6709,-1.19,-146.6,815.3,-11.8,320,6714,0.00,2.75,0.00,0.000,4,0.000,0.097,2441,3558,3432
$GC,6788,-1.19,-146.6,824.7,-11.4,323,6795,0.00,2.65,0.00,0.000,6,0.000,0.074,2442,2142,3431
$STATE,6915,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6915,begin apogee
$GC,6921,-0.33,0.0,844.4,16.9,330,7051,0.88,0.00,126.12,1.450,6,0.094,0.000,2622,2127,2832
$STATE,7052,end apogee,CONTROL_FINISHED_OK
$STATE,7052,begin climb
$GC,7055,1.44,146.6,849.3,0.0,336,7187,1.83,2.80,124.32,1.386,4,0.073,0.100,3010,745,2234
$GC,7272,1.25,146.6,839.1,11.7,346,7277,0.20,2.72,0.00,0.000,6,0.107,0.081,2976,2153,2234
$GC,7589,1.28,195.8,810.2,7.8,361,7636,0.00,2.83,42.40,1.361,4,0.000,0.099,2975,3565,2033
$GC,7676,1.38,256.1,803.3,7.3,365,7736,0.12,2.72,52.10,1.345,6,0.065,0.077,3005,2148,1787
$GC,8058,1.33,256.1,761.0,10.5,384,8063,0.00,2.83,0.00,0.000,4,0.000,0.101,3005,3561,1785
$GC,8125,1.33,256.1,753.2,12.4,387,8130,0.00,2.70,0.00,0.000,6,0.000,0.077,3005,2147,1785
$GC,8447,1.33,257.3,721.3,9.9,403,8448,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2133,1784
$GC,8756,1.36,271.9,690.4,9.3,418,8775,0.00,0.00,14.25,1.282,6,0.000,0.000,3005,2133,1722
$GC,9085,1.36,271.9,649.7,14.1,434,9090,0.00,2.75,0.00,0.000,4,0.000,0.091,3005,3561,1721
$GC,9152,1.36,271.9,640.8,12.3,437,9157,0.00,2.65,0.00,0.000,6,0.000,0.069,3005,2148,1721
$GC,9474,1.36,271.9,601.2,12.3,453,9475,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2133,1721
$GC,9783,1.36,271.9,569.3,10.2,468,9787,0.00,2.70,0.00,0.000,4,0.000,0.081,3005,3563,1721
$GC,9838,1.36,271.9,562.9,11.6,470,9844,0.00,2.60,0.00,0.000,6,0.000,0.061,3005,2148,1721
$GC,10154,1.36,271.9,528.9,10.7,486,10158,0.00,2.60,0.00,0.000,4,0.000,0.077,3005,739,1722
$GC,10181,1.36,271.9,525.8,11.0,487,10185,0.00,2.62,0.00,0.000,6,0.000,0.064,3005,2162,1722
$GC,10496,1.36,271.9,488.5,12.6,502,10498,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2161,1723
$GC,10806,1.36,271.9,446.0,14.0,517,10810,0.00,2.65,0.00,0.000,4,0.000,0.074,3005,741,1724
$GC,10838,1.36,271.9,441.4,13.4,518,10844,0.00,2.58,0.00,0.000,6,0.000,0.060,3005,2151,1724
$GC,11154,1.36,271.9,402.9,11.1,534,11155,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2149,1725
$GC,11463,1.36,274.8,370.1,9.9,549,11473,0.00,2.65,4.90,0.786,4,0.000,0.074,3005,740,1710
$GC,11496,1.38,284.5,366.9,9.6,550,11511,0.00,2.60,9.52,0.944,6,0.000,0.058,3005,2160,1672
$GC,11836,1.44,293.2,336.0,9.6,567,11846,0.00,0.00,8.98,0.916,6,0.000,0.000,3005,2159,1636
$GC,12142,1.51,293.2,299.5,12.9,582,12147,0.10,2.65,0.00,0.000,4,0.058,0.072,3034,739,1636
$GC,12188,1.51,293.2,292.7,15.5,584,12192,0.00,2.58,0.00,0.000,6,0.000,0.058,3034,2148,1637
$GC,12508,1.51,293.2,248.8,13.6,600,12513,0.00,2.60,0.00,0.000,4,0.000,0.072,3034,3565,1637
$GC,12548,1.51,293.2,243.2,14.5,602,12553,0.00,2.58,0.00,0.000,6,0.000,0.055,3034,2146,1637
$GC,12875,1.51,293.2,199.2,13.3,618,12880,0.00,2.62,0.00,0.000,4,0.000,0.073,3032,3558,1638
$GC,12903,1.51,293.2,195.5,14.0,619,12907,0.00,2.55,0.00,0.000,6,0.000,0.055,3034,2147,1637
$GC,13218,1.51,293.2,158.3,11.3,634,13219,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2147,1638
$GC,13529,1.51,293.2,124.9,11.0,649,13534,0.00,2.62,0.00,0.000,4,0.000,0.071,3033,3565,1638
$GC,13563,1.51,293.2,120.7,11.6,650,13569,0.00,2.55,0.00,0.000,6,0.000,0.054,3034,2149,1638
$GC,13879,1.51,293.2,81.1,13.0,666,13880,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2149,1639
$GC,14189,1.51,293.2,40.7,13.3,681,14190,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2149,1639
$GC,14497,1.51,293.2,2.2,13.4,696,14501,0.00,2.12,0.00,0.000,3,0.000,0.065,3034,962,1640
$STATE,14502,end climb,SURFACE_DEPTH_REACHED
$STATE,14502,begin surface coast
$FINISH,0.5,1.027010
$STATE,14506,end surface coast,CONTROL_FINISHED_OK
$STATE,14506,begin surface
$SM_CCo,14530,4.62,0.584,0,0,1609,300.00
$SM_GC,1.92,0.00,0.00,4.62,0.000,0.000,0.584,423,2179,1609,-10.47,0.82,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1708
$TCM_TEMP,19.30
$XPDR_PINGS,443
$ALTIM_TOP_PING,18.4,999.0
$24V_AH,23.7,4.598
$10V_AH,10.0,1.525
$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,25.300,146.350,382.600,4.625,0.000,37.755,27.497,122.772,118.500,0.000,0.000,15.254,1323.693,11001.395,534.448,1548.568,477.712,33.346,1341.167,0.000,1505.385,0.000,53.632
$DEVICE_MAMPS,136.526,101.244,1449.630,584.454,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,478.231,513.014,379.088,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34819,696
$CAP_FILE_SIZE,112305,0
$CFSIZE,254472192,251842560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,070608,080838,6134.555,-844.828,30,1.0,30,-9.1