version: 66.03
glider: 5
mission: 3
dive: 70
start: 6 21 108 2 33 26
data:
$ID,5
$MISSION,3
$DIVE,70
$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,550
$T_MISSION,580
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,240
$USE_BATHY,0
$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,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,-77966.898
$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,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,51
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,390
$VBD_MAX,3851
$C_VBD,2620
$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
$GPS1,022802,6209.704,-908.660,42,1.0,42,-9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-60.3
$GPS2,023232,6209.689,-908.591,11,1.1,11,-9.5
$SPEED_LIMITS,0.104,0.201
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.050,-0.195
$KALMAN_X,-82498.0,630.4,256.3,35421.1,33018.4
$KALMAN_Y,19488.5,-3168.9,-1685.9,68417.1,83266.2
$MHEAD_RNG_PITCHd_Wd,204.0,53175,-12.6,-6.000
$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,-1.03,-117.3,0.0,0.0,0,96,0.00,0.00,-70.10,0.000,6,0.000,0.000,424,2166,3099
$GC,99,-1.03,-117.3,2.4,-2.4,4,116,10.60,2.50,0.00,0.000,4,0.140,0.055,2467,769,3099
$GC,208,-0.71,-117.3,18.4,-14.6,8,213,0.35,2.47,0.00,0.000,6,0.091,0.050,2541,2153,3100
$GC,537,-0.62,-117.3,41.9,-5.9,24,542,0.10,2.53,0.00,0.000,4,0.108,0.061,2561,3563,3101
$GC,795,-0.62,-117.3,60.0,-6.8,35,802,0.00,2.53,0.00,0.000,6,0.000,0.048,2561,2130,3101
$GC,1111,-0.62,-117.3,77.3,-5.1,51,1116,0.00,2.60,0.00,0.000,4,0.000,0.061,2561,3556,3101
$GC,1167,-0.62,-117.3,80.1,-4.6,53,1174,0.00,2.58,0.00,0.000,6,0.000,0.047,2561,2098,3102
$GC,1484,-0.62,-117.3,90.4,-2.8,69,1488,0.00,2.65,0.00,0.000,4,0.000,0.062,2561,3558,3101
$GC,1524,-0.62,-117.3,91.4,-2.7,71,1529,0.00,2.55,0.00,0.000,6,0.000,0.048,2561,2109,3102
$GC,1852,-0.62,-117.3,99.8,-2.4,87,1853,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2109,3102
$GC,2162,-0.62,-117.3,108.9,-3.7,102,2166,0.00,2.62,0.00,0.000,4,0.000,0.061,2561,3560,3102
$GC,2202,-0.62,-117.3,110.6,-4.4,104,2206,0.00,2.55,0.00,0.000,6,0.000,0.048,2561,2114,3102
$GC,2529,-0.62,-117.3,126.5,-5.6,120,2533,0.00,2.65,0.00,0.000,4,0.000,0.062,2561,3565,3102
$GC,2591,-0.62,-117.3,130.4,-6.4,123,2596,0.00,2.58,0.00,0.000,6,0.000,0.049,2561,2112,3102
$GC,2920,-0.62,-117.3,150.1,-5.6,139,2921,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2113,3102
$GC,3228,-0.62,-117.3,164.4,-4.7,154,3232,0.00,2.45,0.00,0.000,4,0.000,0.065,2561,746,3102
$GC,3239,-0.62,-117.3,165.0,-4.8,154,3245,0.00,2.45,0.00,0.000,6,0.000,0.052,2561,2115,3102
$GC,3555,-0.62,-117.3,178.4,-4.0,170,3559,0.00,2.53,0.00,0.000,4,0.000,0.065,2561,739,3102
$GC,3573,-0.62,-117.3,179.1,-3.7,171,3577,0.00,2.45,0.00,0.000,6,0.000,0.053,2561,2109,3102
$GC,3900,-0.62,-117.3,188.3,-2.2,187,3904,0.00,2.47,0.00,0.000,4,0.000,0.064,2561,746,3102
$GC,3933,-0.62,-117.3,189.2,-3.0,188,3939,0.00,2.42,0.00,0.000,6,0.000,0.053,2561,2097,3102
$GC,4249,-0.62,-117.3,193.9,-1.2,204,4250,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2097,3101
$GC,4560,-0.62,-117.3,200.5,-2.7,219,4564,0.00,2.62,0.00,0.000,4,0.000,0.065,2561,3558,3101
$GC,4571,-0.62,-117.3,200.9,-3.0,219,4576,0.00,2.60,0.00,0.000,6,0.000,0.052,2561,2101,3101
$GC,4887,-0.62,-117.3,214.3,-5.1,235,4891,0.00,2.67,0.00,0.000,4,0.000,0.065,2561,3563,3101
$GC,4926,-0.62,-117.3,216.7,-6.8,237,4931,0.00,2.60,0.00,0.000,6,0.000,0.051,2561,2103,3101
$GC,5253,-0.62,-117.3,235.0,-5.3,253,5258,0.00,2.65,0.00,0.000,4,0.000,0.066,2561,3564,3101
$GC,5309,-0.62,-117.3,238.2,-5.5,255,5316,0.00,2.58,0.00,0.000,6,0.000,0.051,2561,2114,3101
$GC,5626,-0.62,-117.3,254.8,-5.6,271,5630,0.00,2.62,0.00,0.000,4,0.000,0.065,2561,3558,3100
$GC,5643,-0.62,-117.3,255.8,-5.5,272,5647,0.00,2.58,0.00,0.000,6,0.000,0.053,2561,2115,3100
$GC,5969,-0.62,-117.3,277.4,-7.4,288,5974,0.00,2.65,0.00,0.000,4,0.000,0.066,2561,3567,3100
$GC,6025,-0.62,-117.3,281.8,-8.1,290,6031,0.00,2.58,0.00,0.000,6,0.000,0.053,2561,2125,3100
$GC,6341,-0.62,-117.3,308.2,-8.9,306,6342,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2124,3100
$GC,6650,-0.62,-117.3,338.2,-9.9,321,6654,0.00,2.50,0.00,0.000,4,0.000,0.071,2561,746,3100
$GC,6662,-0.62,-117.3,339.3,-9.7,321,6668,0.00,2.47,0.00,0.000,6,0.000,0.054,2561,2123,3100
$GC,6978,-0.62,-117.3,364.9,-6.5,337,6983,0.00,2.60,0.00,0.000,4,0.000,0.067,2561,3562,3100
$GC,7051,-0.62,-117.3,370.2,-7.7,340,7055,0.00,2.58,0.00,0.000,6,0.000,0.054,2561,2124,3100
$GC,7367,-0.62,-117.3,391.9,-7.2,355,7368,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2106,3100
$GC,7676,-0.62,-117.3,409.7,-4.9,370,7680,0.00,2.50,0.00,0.000,4,0.000,0.072,2561,746,3100
$GC,7762,-0.62,-117.3,413.3,-5.7,374,7766,0.00,2.47,0.00,0.000,6,0.000,0.056,2561,2121,3100
$GC,8088,-0.62,-117.3,429.2,-3.7,390,8093,0.00,2.62,0.00,0.000,4,0.000,0.071,2561,3564,3099
$GC,8100,-0.62,-117.3,429.7,-4.3,390,8106,0.00,2.58,0.00,0.000,6,0.000,0.059,2561,2130,3099
$GC,8417,-0.62,-117.3,443.0,-3.5,406,8421,0.00,2.65,0.00,0.000,4,0.000,0.071,2561,3563,3099
$STATE,8476,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8476,begin apogee
$GC,8485,-0.33,0.0,446.5,6.1,409,8585,0.30,0.00,97.22,1.121,6,0.082,0.000,2624,2080,2620
$STATE,8586,end apogee,CONTROL_FINISHED_OK
$STATE,8586,begin climb
$GC,8589,1.03,117.3,448.7,0.0,414,8693,1.38,2.67,95.85,1.091,4,0.073,0.072,2919,690,2141
$GC,8749,1.03,117.3,439.2,7.5,421,8754,0.00,2.60,0.00,0.000,6,0.000,0.058,2920,2106,2141
$GC,9066,1.03,117.3,418.7,6.0,436,9070,0.00,2.60,0.00,0.000,4,0.000,0.071,2920,3516,2139
$GC,9121,1.05,152.2,416.0,4.8,438,9156,0.00,2.60,29.45,1.052,6,0.000,0.061,2920,2105,1999
$GC,9475,1.15,217.1,396.0,3.8,456,9538,0.12,2.72,53.08,1.072,4,0.052,0.070,2958,3503,1735
$GC,9580,1.11,236.0,390.8,5.4,460,9602,0.00,2.55,16.98,1.004,6,0.000,0.058,2957,2114,1657
$GC,9915,1.21,329.7,379.0,2.8,476,9997,0.00,2.75,76.75,1.063,4,0.000,0.074,2957,685,1275
$GC,10062,1.21,329.7,366.5,11.0,482,10068,0.00,2.62,0.00,0.000,6,0.000,0.059,2957,2115,1274
$GC,10377,1.21,329.7,338.0,7.2,498,10382,0.00,2.58,0.00,0.000,4,0.000,0.070,2957,3515,1275
$GC,10434,1.30,351.5,334.8,5.3,500,10462,0.12,2.55,19.30,0.997,6,0.054,0.059,2995,2121,1185
$GC,10773,1.30,351.5,303.9,10.5,517,10777,0.00,2.62,0.00,0.000,4,0.000,0.073,2995,681,1185
$GC,10822,1.30,351.5,298.0,11.9,519,10827,0.00,2.62,0.00,0.000,6,0.000,0.057,2995,2123,1185
$GC,11139,1.25,351.5,267.6,8.8,534,11144,0.10,2.53,0.00,0.000,4,0.092,0.066,2976,3511,1184
$GC,11179,1.31,351.5,264.2,8.4,536,11184,0.00,2.53,0.00,0.000,6,0.000,0.056,2976,2120,1184
$GC,11506,1.31,351.5,236.5,8.6,552,11511,0.00,2.60,0.00,0.000,4,0.000,0.070,2976,689,1184
$GC,11556,1.31,351.5,232.1,8.5,554,11561,0.00,2.60,0.00,0.000,6,0.000,0.055,2976,2127,1184
$GC,11872,1.31,351.5,208.8,7.0,569,11876,0.00,2.50,0.00,0.000,4,0.000,0.064,2976,3513,1185
$GC,11912,1.37,351.5,206.1,6.2,571,11917,0.00,2.53,0.00,0.000,6,0.000,0.054,2976,2116,1185
$GC,12239,1.37,351.5,184.8,6.7,587,12244,0.00,2.60,0.00,0.000,4,0.000,0.070,2976,685,1185
$GC,12306,1.37,351.5,180.0,7.1,590,12311,0.00,2.60,0.00,0.000,6,0.000,0.054,2976,2133,1185
$GC,12628,1.37,351.5,159.0,6.8,606,12629,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2132,1185
$GC,12936,1.37,351.5,137.7,6.8,621,12941,0.00,2.67,0.00,0.000,4,0.000,0.070,2976,684,1185
$GC,12980,1.37,351.5,134.4,7.6,623,12985,0.00,2.58,0.00,0.000,6,0.000,0.054,2976,2119,1185
$GC,13302,1.37,351.5,113.2,6.5,639,13307,0.10,2.50,0.00,0.000,4,0.053,0.061,3008,3513,1186
$GC,13342,1.37,351.5,110.2,8.1,641,13347,0.00,2.53,0.00,0.000,6,0.000,0.054,3008,2102,1186
$GC,13670,1.31,351.5,80.7,9.6,657,13675,0.12,2.58,0.00,0.000,4,0.084,0.068,2982,678,1186
$GC,13726,1.31,351.5,75.8,8.1,659,13732,0.00,2.58,0.00,0.000,6,0.000,0.052,2981,2121,1186
$GC,14042,1.31,351.5,49.7,8.9,675,14046,0.00,2.47,0.00,0.000,4,0.000,0.061,2982,3509,1186
$GC,14082,1.36,351.5,46.1,8.5,677,14087,0.00,2.50,0.00,0.000,6,0.000,0.053,2982,2099,1186
$GC,14410,1.36,351.5,17.7,10.1,693,14414,0.00,2.55,0.00,0.000,4,0.000,0.067,2982,681,1186
$GC,14482,1.36,351.5,9.9,11.5,696,14486,0.00,2.53,0.00,0.000,6,0.000,0.049,2982,2101,1186
$STATE,14568,end climb,SURFACE_DEPTH_REACHED
$STATE,14568,begin surface coast
$FINISH,0.0,1.007779
$STATE,14590,end surface coast,CONTROL_FINISHED_OK
$STATE,14590,begin surface
$SM_CCo,14673,0.00,0.000,0,0,1185,351.76
$SM_GC,0.80,11.12,0.00,0.00,0.040,0.000,0.000,422,2120,1185,-10.39,-0.85,351.76
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1690
$TCM_TEMP,17.30
$XPDR_PINGS,533
$ALTIM_TOP_PING,19.9,999.0
$ALTIM_BOTTOM_PING,400.8,55.3
$24V_AH,23.9,16.378
$10V_AH,10.1,7.052
$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,24.425,174.825,388.625,0.000,0.000,37.757,25.722,110.541,136.500,0.000,0.000,11.967,1345.578,10969.231,507.055,1679.319,451.102,33.366,1386.925,0.000,1646.302,0.000,23.315
$DEVICE_MAMPS,139.594,73.632,1121.354,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,479.186,518.139,554.883,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34791,701
$CAP_FILE_SIZE,120594,0
$CFSIZE,254472192,247599104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,19,0,0
$GPS,210608,063907,6208.197,-907.315,32,0.9,32,-9.5