version: 66.03
glider: 5
mission: 3
dive: 17
start: 6 9 108 1 25 22
data:
$ID,5
$MISSION,3
$DIVE,17
$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,-77013.383
$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,16
$R_STBD_OVSHOOT,22
$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
$GPS1,011302,6141.104,-915.955,38,1.5,38,-9.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.60
$_SM_ANGLEo,-53.8
$GPS2,012432,6141.173,-916.069,14,1.0,31,-9.4
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.253,0.075
$KALMAN_X,-24508.2,2040.6,1104.1,-31499.9,-16413.9
$KALMAN_Y,-14723.1,918.8,100.7,43851.2,-6520.4
$MHEAD_RNG_PITCHd_Wd,82.9,4464,-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,21,begin dive
$GC,24,-1.44,-146.6,0.0,0.0,0,127,0.00,0.00,-100.93,0.000,2,0.000,0.000,418,2163,3371
$GC,130,-1.44,-146.6,4.1,-3.9,5,153,10.18,2.60,-1.30,0.000,4,0.138,0.075,2377,3561,3432
$GC,403,-1.22,-146.6,64.6,-20.7,17,408,0.28,2.55,0.00,0.000,6,0.099,0.048,2432,2134,3433
$GC,732,-1.15,-146.6,118.9,-16.5,33,737,0.00,2.60,0.00,0.000,4,0.000,0.065,2432,3554,3433
$GC,910,-1.10,-146.6,151.6,-18.3,41,915,0.12,2.50,0.00,0.000,6,0.104,0.049,2457,2143,3433
$GC,1236,-1.10,-146.6,204.0,-15.5,57,1241,0.00,2.60,0.00,0.000,4,0.000,0.065,2457,3554,3434
$GC,1270,-1.10,-146.6,209.4,-15.4,58,1276,0.00,2.50,0.00,0.000,6,0.000,0.049,2457,2149,3434
$GC,1585,-1.10,-146.6,253.3,-13.4,74,1586,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2132,3434
$GC,1895,-1.10,-146.6,286.4,-9.4,89,1896,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2132,3434
$GC,2204,-1.10,-146.6,315.1,-9.1,104,2209,0.00,2.58,0.00,0.000,4,0.000,0.069,2457,3558,3434
$GC,2232,-1.10,-146.6,318.0,-10.0,105,2236,0.00,2.53,0.00,0.000,6,0.000,0.053,2457,2150,3434
$GC,2549,-1.10,-146.6,346.1,-8.7,120,2553,0.00,2.53,0.00,0.000,4,0.000,0.068,2457,750,3434
$GC,2582,-1.10,-146.6,349.3,-8.7,121,2588,0.00,2.53,0.00,0.000,6,0.000,0.055,2457,2147,3433
$GC,2898,-1.10,-146.6,374.9,-7.4,137,2903,0.00,2.58,0.00,0.000,4,0.000,0.071,2457,3558,3433
$GC,2931,-1.10,-146.6,377.5,-7.9,138,2935,0.00,2.53,0.00,0.000,6,0.000,0.054,2457,2151,3433
$GC,3247,-1.10,-146.6,404.9,-10.5,153,3251,0.00,2.55,0.00,0.000,4,0.000,0.069,2457,742,3433
$GC,3291,-1.15,-146.6,410.2,-11.8,155,3296,0.00,2.55,0.00,0.000,6,0.000,0.056,2458,2160,3433
$GC,3612,-1.15,-146.6,449.9,-13.7,171,3613,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2160,3433
$GC,3922,-1.15,-146.6,496.3,-15.2,186,3926,0.00,2.58,0.00,0.000,4,0.000,0.067,2457,750,3432
$GC,3961,-1.21,-146.6,502.7,-16.4,188,3966,0.00,2.53,0.00,0.000,6,0.000,0.056,2458,2149,3432
$GC,4289,-1.21,-146.6,552.8,-15.0,204,4293,0.00,2.60,0.00,0.000,4,0.000,0.070,2457,750,3432
$GC,4356,-1.26,-146.6,562.9,-14.9,207,4361,0.15,2.55,0.00,0.000,6,0.054,0.058,2418,2153,3432
$GC,4679,-1.19,-146.6,616.4,-16.0,223,4684,0.10,2.58,0.00,0.000,4,0.110,0.073,2435,3560,3432
$GC,4787,-1.19,-146.6,629.9,-12.0,228,4791,0.00,2.53,0.00,0.000,6,0.000,0.056,2435,2152,3432
$GC,5113,-1.19,-146.6,667.1,-10.2,244,5117,0.00,2.58,0.00,0.000,4,0.000,0.074,2435,743,3432
$GC,5289,-1.19,-146.6,680.7,-5.9,252,5294,0.00,2.58,0.00,0.000,6,0.000,0.063,2435,2149,3432
$GC,5617,-1.19,-146.6,697.2,-6.9,268,5618,0.00,0.00,0.00,0.000,6,0.000,0.000,2435,2149,3432
$GC,5926,-1.19,-146.6,728.6,-11.8,283,5930,0.00,2.65,0.00,0.000,4,0.000,0.086,2435,3558,3431
$GC,5998,-1.19,-146.6,737.3,-12.1,286,6002,0.00,2.60,0.00,0.000,6,0.000,0.070,2435,2155,3430
$GC,6314,-1.19,-146.6,774.1,-11.1,301,6318,0.00,2.70,0.00,0.000,4,0.000,0.089,2435,3561,3429
$GC,6425,-1.19,-146.6,787.9,-14.5,306,6430,0.00,2.62,0.00,0.000,6,0.000,0.070,2435,2148,3428
$GC,6747,-1.19,-146.6,832.1,-11.3,322,6748,0.00,0.00,0.00,0.000,6,0.000,0.000,2435,2122,3427
$STATE,6827,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6827,begin apogee
$GC,6834,-0.33,0.0,839.3,8.2,326,6962,0.90,0.00,125.43,1.452,6,0.095,0.000,2622,2133,2832
$STATE,6963,end apogee,CONTROL_FINISHED_OK
$STATE,6963,begin climb
$GC,6966,1.44,146.6,845.9,0.0,332,7101,1.80,2.80,124.65,1.414,4,0.070,0.097,3009,743,2234
$GC,7360,1.25,146.6,812.1,11.2,350,7365,0.20,2.67,0.00,0.000,6,0.109,0.077,2974,2147,2232
$GC,7687,1.54,325.8,788.6,1.8,366,7847,0.25,2.80,150.10,1.397,4,0.058,0.093,3034,745,1503
$GC,7881,1.44,325.8,762.0,16.8,374,7886,0.12,2.72,0.00,0.000,6,0.112,0.079,3013,2155,1503
$GC,8196,1.44,325.8,705.4,18.8,389,8201,0.00,2.70,0.00,0.000,4,0.000,0.091,3013,3568,1503
$GC,8218,1.44,325.8,701.0,20.7,390,8223,0.00,2.70,0.00,0.000,6,0.000,0.074,3013,2146,1503
$GC,8539,1.44,325.8,642.1,18.1,406,8543,0.00,2.67,0.00,0.000,4,0.000,0.090,3013,739,1502
$GC,8611,1.44,325.8,628.8,17.5,409,8616,0.00,2.67,0.00,0.000,6,0.000,0.077,3013,2152,1502
$GC,8927,1.44,325.8,578.6,15.3,424,8928,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2152,1502
$GC,9236,1.44,325.8,535.6,12.0,439,9237,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2151,1501
$GC,9546,1.50,343.5,500.2,9.2,454,9568,0.00,2.72,16.08,1.167,4,0.000,0.074,3013,738,1431
$GC,9624,1.54,367.1,493.2,8.9,457,9651,0.10,2.62,20.60,1.177,6,0.064,0.063,3038,2152,1335
$GC,9960,1.54,367.1,454.7,12.1,473,9964,0.00,2.65,0.00,0.000,4,0.000,0.074,3038,737,1336
$GC,10005,1.54,367.1,449.0,13.1,475,10010,0.00,2.60,0.00,0.000,6,0.000,0.061,3039,2151,1336
$GC,10327,1.54,367.1,411.1,11.3,491,10331,0.00,2.62,0.00,0.000,4,0.000,0.071,3038,737,1336
$GC,10348,1.54,367.1,408.4,11.7,492,10353,0.00,2.60,0.00,0.000,6,0.000,0.059,3038,2155,1337
$GC,10669,1.54,367.1,371.2,12.2,508,10670,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2155,1337
$GC,10978,1.54,367.1,331.0,13.7,523,10983,0.00,2.62,0.00,0.000,4,0.000,0.070,3038,734,1338
$GC,11024,1.54,367.1,324.4,14.8,525,11028,0.00,2.60,0.00,0.000,6,0.000,0.058,3038,2161,1338
$GC,11345,1.54,367.1,273.9,16.7,541,11349,0.00,2.55,0.00,0.000,4,0.000,0.068,3038,3560,1339
$GC,11362,1.54,367.1,270.8,16.6,542,11366,0.00,2.58,0.00,0.000,6,0.000,0.055,3038,2138,1339
$GC,11688,1.54,367.1,211.1,18.6,558,11689,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2138,1339
$GC,11997,1.54,367.1,155.0,17.7,573,11998,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2137,1340
$GC,12307,1.54,367.1,99.3,17.9,588,12311,0.00,2.53,0.00,0.000,4,0.000,0.067,3039,746,1341
$GC,12325,1.54,367.1,96.4,16.7,589,12329,0.00,2.55,0.00,0.000,6,0.000,0.055,3038,2151,1341
$GC,12652,1.54,367.1,44.0,14.9,605,12653,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2149,1341
$STATE,12958,end climb,SURFACE_DEPTH_REACHED
$STATE,12958,begin surface coast
$FINISH,0.1,1.002710
$STATE,12980,end surface coast,CONTROL_FINISHED_OK
$STATE,12980,begin surface
$SM_CCo,13062,0.00,0.000,0,0,1341,365.99
$SM_GC,0.70,11.38,0.00,0.00,0.038,0.000,0.000,420,2154,1341,-10.40,0.11,365.99
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1679
$TCM_TEMP,17.40
$XPDR_PINGS,424
$ALTIM_TOP_PING,19.0,17.5
$ALTIM_BOTTOM_PING,751.7,96.7
$24V_AH,23.7,6.828
$10V_AH,10.0,2.289
$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,25.575,119.775,436.850,0.000,0.000,113.282,95.644,224.219,112.750,0.000,0.000,31.756,1183.448,9840.612,534.121,1516.986,678.469,33.356,1325.606,0.000,1459.725,0.000,46.004
$DEVICE_MAMPS,138.060,96.642,1451.931,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,426.452,457.356,332.583,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31756,621
$CAP_FILE_SIZE,105387,0
$CFSIZE,254472192,251244544
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,14,0,0
$GPS,090608,050407,6140.106,-918.232,27,1.4,27,-9.4