version: 66.03
glider: 5
mission: 3
dive: 79
start: 6 22 108 19 17 32
data:
$ID,5
$MISSION,3
$DIVE,79
$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,-78118.938
$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,21
$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
$GPS1,191031,6142.035,-925.178,42,1.2,42,-9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.65
$_SM_ANGLEo,-55.0
$GPS2,191639,6141.998,-925.198,12,1.9,12,-9.5
$SPEED_LIMITS,0.104,0.201
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.163,0.117
$KALMAN_X,-93654.7,-1447.4,-932.1,35163.2,722.6
$KALMAN_Y,-17434.0,565.0,531.8,48006.2,-10304.2
$MHEAD_RNG_PITCHd_Wd,63.8,12609,-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,-117.3,0.0,0.0,0,107,0.00,0.00,-81.15,0.000,6,0.000,0.000,417,2140,3098
$GC,111,-1.03,-117.3,2.6,-3.2,4,127,10.68,2.55,0.00,0.000,4,0.141,0.058,2468,740,3100
$GC,275,-0.71,-117.3,24.5,-11.8,10,280,0.35,2.53,0.00,0.000,6,0.089,0.049,2542,2151,3100
$GC,592,-0.63,-117.3,58.8,-12.7,25,596,0.00,2.53,0.00,0.000,4,0.000,0.060,2542,3561,3101
$GC,659,-0.54,-117.3,68.2,-14.0,28,664,0.17,2.50,0.00,0.000,6,0.089,0.048,2579,2159,3101
$GC,981,-0.61,-117.3,110.3,-14.4,44,985,0.00,2.55,0.00,0.000,4,0.000,0.060,2579,3558,3101
$GC,1092,-0.61,-117.3,121.5,-6.3,49,1097,0.00,2.42,0.00,0.000,6,0.000,0.046,2579,2188,3101
$GC,1414,-0.61,-117.3,159.1,-10.4,65,1418,0.00,2.50,0.00,0.000,4,0.000,0.060,2579,3559,3101
$GC,1559,-0.65,-117.3,172.9,-8.2,71,1565,0.00,2.35,0.00,0.000,6,0.000,0.046,2579,2209,3101
$GC,1876,-0.71,-117.3,193.5,-5.9,87,1881,0.15,2.67,0.00,0.000,4,0.048,0.063,2530,743,3102
$GC,2074,-0.60,-117.3,207.2,-6.2,96,2079,0.17,2.65,0.00,0.000,6,0.090,0.051,2567,2223,3102
$GC,2401,-0.60,-117.3,219.4,-2.5,112,2405,0.00,2.67,0.00,0.000,4,0.000,0.063,2566,751,3101
$GC,2468,-0.60,-117.3,221.0,-2.9,115,2472,0.00,2.62,0.00,0.000,6,0.000,0.052,2566,2215,3102
$GC,2790,-0.60,-117.3,223.4,-0.4,131,2791,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2214,3102
$STATE,2868,end dive,NO_VERTICAL_VELOCITY
$STATE,2868,begin apogee
$GC,2875,-0.33,0.0,223.1,0.0,135,2973,0.28,0.00,95.12,0.929,6,0.078,0.000,2625,2080,2620
$STATE,2974,end apogee,CONTROL_FINISHED_OK
$STATE,2974,begin climb
$GC,2977,1.03,117.3,221.1,0.0,140,3080,1.40,2.70,93.45,0.899,4,0.065,0.061,2926,3508,2140
$GC,3096,1.10,117.3,210.2,11.2,146,3100,0.00,2.55,0.00,0.000,6,0.000,0.051,2926,2107,2140
$GC,3422,1.10,117.3,173.5,11.6,162,3423,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2081,2140
$GC,3732,1.10,117.3,141.3,9.6,177,3736,0.00,2.58,0.00,0.000,4,0.000,0.060,2926,3512,2140
$GC,3772,1.10,117.3,136.9,11.2,179,3776,0.00,2.53,0.00,0.000,6,0.000,0.051,2925,2096,2139
$GC,4099,1.10,117.3,104.1,7.7,195,4103,0.00,2.58,0.00,0.000,4,0.000,0.059,2926,3508,2139
$GC,4126,1.10,117.3,101.6,9.5,196,4131,0.00,2.50,0.00,0.000,6,0.000,0.049,2926,2109,2139
$GC,4444,1.10,117.3,76.3,7.4,211,4448,0.00,2.55,0.00,0.000,4,0.000,0.059,2926,3508,2139
$GC,4454,1.10,117.3,75.3,7.8,211,4460,0.00,2.47,0.00,0.000,6,0.000,0.051,2926,2113,2139
$GC,4772,1.13,139.8,56.1,5.2,227,4797,0.00,2.60,18.80,0.786,4,0.000,0.058,2926,3502,2049
$GC,4816,1.17,164.4,53.9,5.2,229,4843,0.12,2.50,20.70,0.791,6,0.047,0.051,2966,2117,1949
$GC,5167,1.10,164.4,30.0,7.4,246,5172,0.12,2.55,0.00,0.000,4,0.083,0.056,2941,3515,1948
$GC,5230,1.12,179.1,25.7,5.5,249,5252,0.00,2.47,13.10,0.752,6,0.000,0.051,2941,2136,1889
$GC,5562,1.13,184.5,4.7,5.8,265,5569,0.00,0.00,5.20,0.609,6,0.000,0.000,2941,2116,1868
$STATE,5600,end climb,SURFACE_DEPTH_REACHED
$STATE,5600,begin surface coast
$FINISH,0.4,1.027121
$STATE,5623,end surface coast,CONTROL_FINISHED_OK
$STATE,5623,begin surface
$SM_CCo,5646,65.65,0.773,0,0,1397,300.00
$SM_GC,0.71,0.00,0.00,65.65,0.000,0.000,0.773,421,2122,1397,-10.48,-0.93,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1650
$TCM_TEMP,17.60
$XPDR_PINGS,172
$ALTIM_TOP_PING,18.7,18.5
$24V_AH,24.0,17.545
$10V_AH,10.1,7.705
$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,24.450,61.325,246.375,65.650,0.000,37.762,30.504,168.045,44.000,0.000,0.000,14.229,567.007,3970.876,404.587,729.234,403.690,33.365,791.045,0.000,720.691,0.000,7.392
$DEVICE_MAMPS,141.128,62.894,928.837,773.136,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,182.609,197.466,306.935,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12840,268
$CAP_FILE_SIZE,55426,0
$CFSIZE,254472192,247164928
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,220608,205333,6141.620,-924.101,10,1.8,10,-9.5