version: 66.03
glider: 5
mission: 3
dive: 8
start: 6 7 108 15 36 25
data:
$ID,5
$MISSION,3
$DIVE,8
$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,0
$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,-76850.32
$T_RSLEEP,12
$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,22
$R_STBD_OVSHOOT,18
$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
$GPS1,153031,6132.063,-851.081,33,1.2,37,-9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-60.5
$GPS2,153535,6132.022,-851.025,14,2.2,33,-9.1
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.175,0.197
$KALMAN_X,-8013.6,1595.2,937.6,-25204.1,-2143.0
$KALMAN_Y,10092.1,-2650.6,-586.6,6388.9,1366.3
$MHEAD_RNG_PITCHd_Wd,327.5,24174,-18.1,-10.000
$D_GRID,990
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-1.44,-146.6,0.0,0.0,0,97,0.00,0.00,-70.72,0.000,6,0.000,0.000,419,2159,3431
$GC,100,-1.44,-146.6,2.8,-4.6,3,116,10.15,2.60,0.00,0.000,4,0.137,0.059,2377,739,3433
$GC,369,-1.24,-146.6,63.5,-18.7,14,374,0.25,2.55,0.00,0.000,6,0.099,0.053,2426,2152,3434
$GC,691,-1.18,-146.6,112.2,-14.6,30,695,0.00,2.60,0.00,0.000,4,0.000,0.065,2426,745,3434
$GC,915,-1.13,-146.6,143.4,-14.3,40,919,0.12,2.55,0.00,0.000,6,0.101,0.055,2450,2150,3435
$GC,1236,-1.13,-146.6,185.4,-13.0,56,1237,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2149,3435
$GC,1545,-1.13,-146.6,228.0,-13.9,71,1549,0.00,2.58,0.00,0.000,4,0.000,0.073,2450,3558,3435
$GC,1624,-1.13,-146.6,238.7,-12.7,74,1630,0.00,2.53,0.00,0.000,6,0.000,0.053,2450,2149,3435
$GC,1940,-1.13,-146.6,280.7,-13.3,90,1944,0.00,2.55,0.00,0.000,4,0.000,0.068,2450,739,3435
$GC,2001,-1.13,-146.6,289.7,-14.6,93,2006,0.00,2.58,0.00,0.000,6,0.000,0.058,2450,2157,3436
$GC,2328,-1.13,-146.6,338.1,-14.4,109,2333,0.00,2.60,0.00,0.000,4,0.000,0.076,2450,3564,3435
$GC,2429,-1.13,-146.6,352.6,-13.4,113,2435,0.00,2.55,0.00,0.000,6,0.000,0.054,2450,2149,3435
$GC,2745,-1.13,-146.6,393.9,-12.9,129,2749,0.00,2.55,0.00,0.000,4,0.000,0.069,2450,745,3435
$GC,2816,-1.13,-146.6,403.5,-13.1,132,2821,0.00,2.55,0.00,0.000,6,0.000,0.058,2451,2149,3435
$GC,3132,-1.13,-146.6,444.6,-12.9,147,3136,0.00,2.60,0.00,0.000,4,0.000,0.077,2450,3560,3435
$GC,3227,-1.13,-146.6,457.2,-13.2,151,3231,0.00,2.55,0.00,0.000,6,0.000,0.055,2450,2146,3435
$GC,3543,-1.13,-146.6,498.7,-13.5,166,3544,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2129,3435
$GC,3852,-1.13,-146.6,537.7,-12.6,181,3853,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2129,3434
$GC,4161,-1.13,-146.6,570.8,-11.0,196,4165,0.00,2.65,0.00,0.000,4,0.000,0.077,2450,3557,3434
$GC,4278,-1.13,-146.6,585.5,-12.3,201,4282,0.00,2.55,0.00,0.000,6,0.000,0.055,2450,2144,3434
$GC,4595,-1.17,-146.6,623.5,-12.0,216,4599,0.00,2.65,0.00,0.000,4,0.000,0.073,2450,3563,3434
$GC,4622,-1.67,-146.6,623.7,-0.7,217,4628,0.52,2.60,0.00,0.000,6,0.045,0.064,2330,2147,3435
$STATE,4750,end dive,NO_VERTICAL_VELOCITY
$STATE,4750,begin apogee
$GC,4756,-0.33,0.0,623.8,0.0,223,4884,1.35,0.00,123.70,1.197,6,0.058,0.000,2630,2120,2832
$STATE,4885,end apogee,CONTROL_FINISHED_OK
$STATE,4885,begin climb
$GC,4888,1.44,146.6,623.7,0.0,229,5019,1.73,2.78,121.60,1.165,4,0.055,0.074,3012,3556,2234
$GC,5073,1.28,146.6,607.9,11.2,237,5080,0.17,2.60,0.00,0.000,6,0.096,0.058,2980,2149,2234
$GC,5389,1.36,196.1,582.1,7.7,253,5438,0.00,2.72,41.65,1.113,4,0.000,0.076,2980,3556,2032
$GC,5554,1.36,196.1,567.3,11.0,260,5558,0.00,2.60,0.00,0.000,6,0.000,0.057,2980,2140,2031
$GC,5869,1.36,197.3,534.3,9.9,275,5874,0.00,2.70,0.00,0.000,4,0.000,0.075,2980,3562,2031
$GC,5887,1.37,198.7,532.5,9.9,276,5896,0.00,2.58,3.92,0.702,6,0.000,0.056,2980,2149,2021
$GC,6218,1.37,198.7,498.9,10.8,292,6223,0.00,2.67,0.00,0.000,4,0.000,0.075,2980,3562,2020
$GC,6285,1.37,198.7,490.7,11.8,295,6289,0.00,2.58,0.00,0.000,6,0.000,0.055,2980,2147,2020
$GC,6606,1.37,198.7,455.1,11.0,311,6611,0.00,2.65,0.00,0.000,4,0.000,0.074,2979,3557,2020
$GC,6628,1.37,198.7,452.3,12.2,312,6633,0.00,2.58,0.00,0.000,6,0.000,0.056,2980,2142,2020
$GC,6950,1.42,203.5,419.0,9.8,328,6961,0.12,2.67,5.47,0.818,4,0.054,0.071,3015,3558,2002
$GC,6973,1.42,203.5,416.5,10.8,329,6977,0.00,2.58,0.00,0.000,6,0.000,0.054,3015,2144,2002
$GC,7294,1.36,203.5,380.7,11.0,345,7298,0.00,2.65,0.00,0.000,4,0.000,0.071,3015,3557,2002
$GC,7344,1.29,203.5,374.9,11.3,347,7349,0.17,2.55,0.00,0.000,6,0.093,0.054,2982,2144,2002
$GC,7660,1.35,208.9,345.2,9.8,362,7673,0.00,2.72,6.47,0.834,4,0.000,0.071,2982,3565,1979
$GC,7704,1.35,208.9,340.7,10.2,364,7708,0.00,2.58,0.00,0.000,6,0.000,0.054,2982,2146,1979
$GC,8031,1.42,222.8,309.1,9.4,380,8053,0.12,2.70,12.15,0.916,4,0.052,0.070,3018,3555,1923
$GC,8077,1.37,222.8,303.7,12.4,382,8082,0.00,2.58,0.00,0.000,6,0.000,0.054,3018,2145,1923
$GC,8405,1.33,222.8,265.1,11.8,398,8410,0.15,2.65,0.00,0.000,4,0.093,0.071,2985,3563,1923
$GC,8432,1.33,222.8,262.1,10.7,399,8436,0.00,2.55,0.00,0.000,6,0.000,0.054,2985,2149,1923
$GC,8748,1.39,222.8,229.1,10.4,414,8753,0.00,2.60,0.00,0.000,4,0.000,0.071,2985,3558,1923
$GC,8776,1.46,222.8,225.9,11.7,415,8781,0.15,2.55,0.00,0.000,6,0.051,0.054,3025,2145,1923
$GC,9092,1.40,222.8,188.7,11.3,430,9097,0.00,2.62,0.00,0.000,4,0.000,0.070,3025,3562,1923
$GC,9110,1.34,222.8,186.7,10.7,431,9115,0.17,2.55,0.00,0.000,6,0.091,0.054,2992,2146,1923
$GC,9437,1.44,254.6,158.5,8.6,447,9472,0.10,2.70,26.58,0.866,4,0.059,0.068,3020,3560,1794
$GC,9479,1.45,257.7,154.7,9.9,449,9488,0.00,2.58,4.35,0.607,6,0.000,0.053,3020,2149,1781
$GC,9812,1.45,257.7,121.2,10.3,465,9814,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2149,1780
$GC,10120,1.45,257.7,90.7,10.3,480,10121,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2149,1781
$GC,10430,1.45,257.7,59.2,10.5,495,10434,0.00,2.55,0.00,0.000,4,0.000,0.067,3020,747,1781
$GC,10441,1.45,257.7,58.1,10.4,495,10447,0.00,2.53,0.00,0.000,6,0.000,0.055,3020,2151,1781
$GC,10757,1.45,257.7,22.6,11.7,511,10761,0.00,2.58,0.00,0.000,4,0.000,0.069,3020,3563,1781
$GC,10775,1.45,257.7,20.6,11.3,512,10780,0.00,2.55,0.00,0.000,6,0.000,0.053,3020,2146,1781
$STATE,10960,end climb,SURFACE_DEPTH_REACHED
$STATE,10961,begin surface coast
$FINISH,0.1,1.026971
$STATE,10982,end surface coast,CONTROL_FINISHED_OK
$STATE,10982,begin surface
$SM_CCo,11004,24.00,0.752,0,0,1609,300.00
$SM_GC,0.88,0.00,0.00,24.00,0.000,0.000,0.752,418,2121,1609,-10.50,-0.79,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1677
$TCM_TEMP,17.40
$XPDR_PINGS,349
$ALTIM_TOP_PING,19.8,19.1
$24V_AH,23.8,5.060
$10V_AH,10.1,1.701
$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,26.650,124.850,345.900,24.000,0.000,37.759,26.226,117.153,92.250,0.000,0.000,34.018,1038.095,8121.145,472.096,1316.493,392.457,33.351,1158.054,0.000,1265.257,0.000,33.247
$DEVICE_MAMPS,137.293,76.700,1196.520,752.427,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,356.757,380.862,335.822,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25355,522
$CAP_FILE_SIZE,93585,0
$CFSIZE,254472192,251715584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,070608,184151,6131.466,-851.214,38,2.1,57,-9.1