version: 66.03
glider: 5
mission: 3
dive: 75
start: 6 21 108 21 17 55
data:
$ID,5
$MISSION,3
$DIVE,75
$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,-78042.039
$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,48
$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
$GPS1,211201,6200.598,-900.634,41,1.0,41,-9.4
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-62.9
$GPS2,211703,6200.578,-900.630,15,1.8,15,-9.4
$SPEED_LIMITS,0.104,0.201
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.104,-0.172
$KALMAN_X,-76210.8,-2265.4,-831.8,40211.0,22177.6
$KALMAN_Y,3981.5,-2384.9,-1473.0,66012.5,15422.2
$MHEAD_RNG_PITCHd_Wd,220.7,37385,-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,20,begin dive
$GC,24,-1.03,-117.3,0.0,0.0,0,96,0.00,0.00,-69.65,0.000,6,0.000,0.000,424,2114,3100
$GC,99,-1.03,-117.3,2.2,-3.3,3,116,10.65,2.45,0.00,0.000,4,0.141,0.058,2469,766,3101
$GC,122,0.64,-117.3,7.4,-14.2,3,130,1.75,2.50,0.00,0.000,6,0.084,0.050,2836,2159,3102
$GC,449,-0.14,-117.3,24.7,-7.0,19,455,0.75,2.55,0.00,0.000,4,0.054,0.058,2667,759,3103
$GC,461,-0.76,-117.3,25.8,-7.1,19,468,0.57,2.70,0.00,0.000,6,0.033,0.050,2517,2268,3103
$GC,777,-0.60,-117.3,66.0,-15.9,35,783,0.20,2.75,0.00,0.000,4,0.087,0.058,2564,759,3103
$GC,979,-0.60,-117.3,93.0,-11.4,44,983,0.00,2.62,0.00,0.000,6,0.000,0.050,2564,2240,3103
$GC,1301,-0.60,-117.3,113.8,-4.1,60,1302,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2241,3103
$GC,1610,-0.60,-117.3,123.6,-2.0,75,1614,0.00,2.67,0.00,0.000,4,0.000,0.063,2564,766,3104
$GC,1717,-0.60,-117.3,126.1,-2.3,80,1722,0.00,2.62,0.00,0.000,6,0.000,0.051,2564,2245,3104
$GC,2045,-0.60,-117.3,137.7,-4.9,96,2050,0.00,2.65,0.00,0.000,4,0.000,0.062,2564,766,3104
$GC,2086,-0.60,-117.3,139.8,-5.6,98,2090,0.00,2.60,0.00,0.000,6,0.000,0.051,2564,2234,3104
$GC,2413,-0.60,-117.3,155.4,-4.5,114,2417,0.00,2.67,0.00,0.000,4,0.000,0.064,2564,767,3104
$GC,2440,-0.60,-117.3,156.9,-5.6,115,2445,0.00,2.62,0.00,0.000,6,0.000,0.052,2564,2232,3105
$GC,2756,-0.60,-117.3,172.7,-5.2,130,2761,0.00,2.67,0.00,0.000,4,0.000,0.064,2564,767,3104
$GC,2813,-0.60,-117.3,176.0,-5.9,132,2819,0.00,2.60,0.00,0.000,6,0.000,0.052,2564,2219,3104
$GC,3128,-0.60,-117.3,194.3,-6.0,148,3133,0.00,2.67,0.00,0.000,4,0.000,0.065,2564,760,3104
$GC,3173,-0.60,-117.3,197.1,-6.7,150,3177,0.00,2.60,0.00,0.000,6,0.000,0.053,2564,2211,3104
$GC,3494,-0.60,-117.3,216.4,-6.2,166,3499,0.00,2.65,0.00,0.000,4,0.000,0.066,2564,764,3104
$GC,3557,-0.60,-117.3,220.7,-7.1,169,3561,0.00,2.58,0.00,0.000,6,0.000,0.054,2564,2204,3104
$GC,3883,-0.60,-117.3,243.7,-7.1,185,3887,0.00,2.62,0.00,0.000,4,0.000,0.064,2564,766,3104
$GC,3927,-0.60,-117.3,246.9,-7.3,187,3932,0.00,2.55,0.00,0.000,6,0.000,0.053,2564,2192,3104
$GC,4249,-0.60,-117.3,266.4,-5.4,203,4253,0.00,2.60,0.00,0.000,4,0.000,0.065,2564,763,3104
$GC,4289,-0.60,-117.3,268.5,-5.1,205,4293,0.00,2.55,0.00,0.000,6,0.000,0.054,2564,2191,3104
$GC,4616,-0.60,-117.3,281.2,-3.5,221,4620,0.00,2.60,0.00,0.000,4,0.000,0.066,2564,763,3103
$GC,4626,-0.60,-117.3,281.6,-3.4,221,4632,0.00,2.55,0.00,0.000,6,0.000,0.054,2564,2191,3103
$GC,4943,-0.60,-117.3,293.8,-4.0,237,4947,0.00,2.60,0.00,0.000,4,0.000,0.066,2564,763,3103
$GC,4966,-0.60,-117.3,294.6,-3.7,238,4970,0.00,2.55,0.00,0.000,6,0.000,0.054,2564,2185,3103
$GC,5287,-0.60,-117.3,308.7,-4.9,254,5291,0.00,2.58,0.00,0.000,4,0.000,0.066,2564,767,3103
$GC,5320,-0.60,-117.3,310.4,-5.0,255,5326,0.00,2.53,0.00,0.000,6,0.000,0.054,2564,2178,3103
$GC,5637,-0.60,-117.3,329.3,-7.2,271,5641,0.00,2.58,0.00,0.000,4,0.000,0.067,2564,767,3103
$GC,5664,-0.60,-117.3,331.3,-7.2,272,5668,0.00,2.53,0.00,0.000,6,0.000,0.054,2564,2183,3103
$GC,5979,-0.60,-117.3,354.7,-7.1,287,5984,0.00,2.60,0.00,0.000,4,0.000,0.066,2564,764,3103
$GC,6007,-0.60,-117.3,356.7,-7.1,288,6012,0.00,2.53,0.00,0.000,6,0.000,0.054,2564,2176,3102
$GC,6323,-0.60,-117.3,377.1,-6.1,303,6327,0.00,2.60,0.00,0.000,4,0.000,0.067,2564,763,3102
$GC,6333,-0.60,-117.3,377.6,-5.6,303,6339,0.00,2.53,0.00,0.000,6,0.000,0.054,2564,2174,3102
$GC,6650,-0.60,-117.3,395.0,-4.9,319,6654,0.00,2.58,0.00,0.000,4,0.000,0.067,2564,763,3102
$GC,6690,-0.60,-117.3,397.1,-5.3,321,6694,0.00,2.50,0.00,0.000,6,0.000,0.054,2564,2165,3103
$GC,7017,-0.60,-117.3,414.9,-5.2,337,7018,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2165,3102
$GC,7326,-0.60,-117.3,433.4,-5.3,352,7327,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2166,3102
$GC,7635,-0.60,-117.3,450.5,-6.3,367,7639,0.00,2.53,0.00,0.000,4,0.000,0.068,2564,3565,3102
$GC,7680,-0.60,-117.3,453.4,-6.3,369,7684,0.00,2.47,0.00,0.000,6,0.000,0.053,2564,2177,3102
$STATE,7998,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7998,begin apogee
$GC,8006,-0.33,0.0,469.9,3.5,385,8107,0.30,0.00,98.53,1.101,6,0.079,0.000,2627,2080,2620
$STATE,8108,end apogee,CONTROL_FINISHED_OK
$STATE,8108,begin climb
$GC,8111,1.03,117.3,471.0,0.0,390,8213,1.35,0.00,96.38,1.078,6,0.068,0.000,2919,2078,2141
$GC,8523,1.03,117.3,436.9,8.3,410,8527,0.00,2.62,0.00,0.000,4,0.000,0.064,2919,3513,2140
$GC,8623,1.03,117.3,429.5,6.5,414,8629,0.00,2.55,0.00,0.000,6,0.000,0.054,2919,2113,2140
$GC,8939,1.04,122.3,411.8,5.8,430,8950,0.00,2.60,5.78,0.819,4,0.000,0.064,2919,3514,2121
$GC,9017,1.04,122.3,406.9,6.6,433,9023,0.00,2.53,0.00,0.000,6,0.000,0.055,2919,2124,2120
$GC,9333,1.04,122.3,387.3,6.3,449,9334,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2123,2120
$GC,9642,1.04,122.3,366.5,6.6,464,9646,0.00,2.55,0.00,0.000,4,0.000,0.064,2919,3508,2120
$GC,9692,1.04,122.3,362.8,7.1,466,9696,0.00,2.50,0.00,0.000,6,0.000,0.054,2919,2124,2120
$GC,10008,1.04,124.9,343.3,5.9,481,10014,0.00,0.00,3.75,0.647,6,0.000,0.000,2919,2124,2110
$GC,10317,1.05,130.0,325.1,5.8,496,10328,0.00,2.58,6.00,0.811,4,0.000,0.063,2919,3510,2089
$GC,10390,1.05,130.0,320.1,6.8,499,10395,0.00,2.47,0.00,0.000,6,0.000,0.051,2919,2138,2089
$GC,10706,1.05,130.0,300.2,6.3,514,10707,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2138,2089
$GC,11015,1.05,130.0,280.4,6.7,529,11020,0.00,2.50,0.00,0.000,4,0.000,0.062,2919,3510,2089
$GC,11073,1.05,130.0,276.2,7.5,531,11078,0.00,2.45,0.00,0.000,6,0.000,0.052,2919,2147,2089
$GC,11388,1.05,130.0,254.8,6.8,547,11389,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2147,2089
$GC,11698,1.05,130.0,234.0,6.9,562,11702,0.00,2.50,0.00,0.000,4,0.000,0.063,2919,3512,2089
$GC,11742,1.05,130.0,230.5,7.6,564,11746,0.00,2.42,0.00,0.000,6,0.000,0.051,2919,2156,2089
$GC,12063,1.05,130.0,208.4,6.9,580,12067,0.00,2.65,0.00,0.000,4,0.000,0.068,2919,686,2089
$GC,12107,1.05,130.0,205.0,7.0,582,12111,0.00,2.62,0.00,0.000,6,0.000,0.052,2919,2164,2089
$GC,12428,1.05,130.0,182.4,6.9,598,12432,0.00,2.40,0.00,0.000,4,0.000,0.063,2920,3509,2089
$GC,12500,1.05,130.0,176.8,7.7,601,12504,0.00,2.40,0.00,0.000,6,0.000,0.051,2919,2168,2089
$GC,12822,1.05,130.0,154.3,7.1,617,12826,0.00,2.67,0.00,0.000,4,0.000,0.070,2920,684,2089
$GC,12866,1.05,130.0,150.8,8.0,619,12870,0.00,2.65,0.00,0.000,6,0.000,0.052,2920,2174,2089
$GC,13187,1.05,130.0,124.2,9.0,635,13191,0.00,2.40,0.00,0.000,4,0.000,0.061,2919,3514,2089
$GC,13260,1.05,130.0,116.8,10.3,638,13264,0.00,2.40,0.00,0.000,6,0.000,0.051,2919,2172,2089
$GC,13577,1.05,130.0,90.4,7.9,653,13579,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2173,2089
$GC,13886,1.06,135.6,70.4,5.8,668,13897,0.00,2.45,6.22,0.697,4,0.000,0.061,2919,3514,2067
$GC,13949,1.06,135.6,66.5,6.0,671,13953,0.00,2.38,0.00,0.000,6,0.000,0.051,2920,2186,2066
$GC,14277,1.13,154.2,48.7,5.4,687,14299,0.10,2.72,16.23,0.789,4,0.054,0.066,2956,691,1991
$GC,14350,1.08,154.2,43.3,7.8,690,14355,0.00,2.70,0.00,0.000,6,0.000,0.052,2956,2192,1990
$GC,14674,1.08,154.2,20.3,6.9,706,14675,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2192,1990
$STATE,14917,end climb,SURFACE_DEPTH_REACHED
$STATE,14917,begin surface coast
$FINISH,0.4,1.027130
$STATE,14939,end surface coast,CONTROL_FINISHED_OK
$STATE,14939,begin surface
$SM_CCo,14961,85.10,0.783,0,0,1397,300.00
$SM_GC,0.68,0.00,0.00,85.10,0.000,0.000,0.783,420,2120,1397,-10.49,-0.74,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1666
$TCM_TEMP,17.30
$XPDR_PINGS,569
$ALTIM_TOP_PING,18.9,999.0
$ALTIM_BOTTOM_PING,400.5,78.8
$24V_AH,23.9,16.965
$10V_AH,10.1,7.385
$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,26.650,159.325,232.875,85.100,0.000,37.762,28.435,126.236,145.500,0.000,0.000,15.317,1370.119,11430.488,480.462,1611.473,461.733,33.366,1289.840,0.000,1583.630,0.000,23.716
$DEVICE_MAMPS,141.128,70.564,1101.412,783.107,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,492.433,533.297,533.281,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34833,719
$CAP_FILE_SIZE,117070,0
$CFSIZE,254472192,247349248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,0,0
$GPS,220608,013001,6157.477,-900.100,40,1.5,40,-9.4