version: 66.03
glider: 5
mission: 3
dive: 82
start: 6 23 108 12 15 5
data:
$ID,5
$MISSION,3
$DIVE,82
$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,-78185.086
$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,22
$R_STBD_OVSHOOT,24
$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
$GPS1,120703,6144.978,-913.207,40,1.8,41,-9.4
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-59.4
$GPS2,121414,6145.064,-913.164,16,1.5,33,-9.4
$SPEED_LIMITS,0.104,0.201
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.199,0.029
$KALMAN_X,-101512.9,1372.4,2443.2,47380.8,-11817.9
$KALMAN_Y,-20283.7,1501.1,1968.0,54095.6,-9472.4
$MHEAD_RNG_PITCHd_Wd,91.1,7764,-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,-70.18,0.000,6,0.000,0.000,424,2113,3099
$GC,100,-1.03,-117.3,2.2,-3.2,3,116,10.60,2.50,0.00,0.000,4,0.138,0.058,2469,739,3101
$GC,369,-0.73,-117.3,34.4,-11.8,14,374,0.32,2.53,0.00,0.000,6,0.092,0.051,2537,2150,3101
$GC,691,-0.65,-117.3,58.3,-6.7,30,696,0.10,2.58,0.00,0.000,4,0.101,0.062,2557,742,3102
$GC,814,-0.65,-117.3,65.5,-6.0,35,821,0.00,2.50,0.00,0.000,6,0.000,0.051,2557,2141,3102
$GC,1131,-0.65,-117.3,77.3,-3.4,51,1135,0.00,2.55,0.00,0.000,4,0.000,0.063,2557,3563,3102
$GC,1198,-0.60,-117.3,79.5,-3.4,54,1203,0.00,2.53,0.00,0.000,6,0.000,0.048,2557,2141,3102
$GC,1520,-0.60,-117.3,87.8,-2.3,70,1521,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2121,3103
$GC,1829,-0.60,-117.3,99.8,-4.7,85,1833,0.00,2.50,0.00,0.000,4,0.000,0.062,2558,745,3103
$GC,1857,-0.60,-117.3,101.2,-4.8,86,1861,0.00,2.50,0.00,0.000,6,0.000,0.051,2557,2141,3103
$GC,2173,-0.60,-117.3,117.9,-6.3,101,2178,0.00,2.55,0.00,0.000,4,0.000,0.064,2558,744,3103
$GC,2214,-0.60,-117.3,120.6,-7.5,103,2218,0.00,2.45,0.00,0.000,6,0.000,0.052,2557,2123,3103
$GC,2541,-0.60,-117.3,142.4,-6.7,119,2542,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2123,3103
$GC,2850,-0.60,-117.3,163.7,-6.5,134,2854,0.00,2.58,0.00,0.000,4,0.000,0.063,2557,3561,3103
$GC,2912,-0.60,-117.3,167.8,-6.4,137,2916,0.00,2.55,0.00,0.000,6,0.000,0.048,2557,2125,3103
$GC,3238,-0.60,-117.3,184.6,-5.4,153,3240,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2106,3103
$GC,3548,-0.60,-117.3,205.0,-7.2,168,3549,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2106,3103
$GC,3856,-0.60,-117.3,228.2,-7.9,183,3858,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2106,3102
$GC,4166,-0.60,-117.3,254.5,-8.4,198,4170,0.00,2.62,0.00,0.000,4,0.000,0.064,2557,3561,3102
$GC,4283,-0.60,-117.3,264.2,-8.8,203,4288,0.00,2.58,0.00,0.000,6,0.000,0.049,2557,2113,3102
$GC,4599,-0.60,-117.3,288.2,-7.4,218,4600,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2112,3103
$GC,4908,-0.60,-117.3,310.2,-6.8,233,4912,0.00,2.62,0.00,0.000,4,0.000,0.064,2557,3563,3102
$GC,4958,-0.60,-117.3,314.0,-7.2,235,4962,0.00,2.58,0.00,0.000,6,0.000,0.051,2557,2117,3102
$GC,5274,-0.60,-117.3,337.4,-7.4,250,5275,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2116,3102
$GC,5583,-0.60,-117.3,361.9,-7.9,265,5584,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2116,3101
$GC,5892,-0.60,-117.3,387.7,-8.5,280,5894,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2116,3101
$GC,6201,-0.60,-117.3,411.3,-8.0,295,6203,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2101,3101
$GC,6511,-0.60,-117.3,431.2,-7.9,310,6515,0.00,2.47,0.00,0.000,4,0.000,0.067,2557,744,3101
$GC,6560,-0.60,-117.3,437.1,-12.0,312,6565,0.00,2.50,0.00,0.000,6,0.000,0.054,2557,2135,3101
$GC,6876,-0.60,-117.3,461.9,-6.3,327,6880,0.00,2.55,0.00,0.000,4,0.000,0.065,2557,3555,3100
$GC,7053,-0.60,-117.3,476.4,-8.9,335,7057,0.00,2.50,0.00,0.000,6,0.000,0.051,2557,2148,3100
$GC,7380,-0.60,-117.3,497.7,-6.9,351,7384,0.00,2.53,0.00,0.000,4,0.000,0.067,2557,744,3101
$GC,7480,-0.60,-117.3,505.3,-7.3,355,7487,0.00,2.53,0.00,0.000,6,0.000,0.054,2557,2147,3100
$GC,7797,-0.60,-117.3,528.3,-8.3,371,7798,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2145,3100
$GC,8105,-0.60,-117.3,551.4,-6.8,386,8110,0.00,2.58,0.00,0.000,4,0.000,0.068,2557,740,3100
$GC,8263,-0.60,-117.3,559.0,-4.1,393,8267,0.00,2.50,0.00,0.000,6,0.000,0.055,2557,2133,3100
$GC,8584,-0.66,-117.3,571.2,-4.5,409,8589,0.00,2.55,0.00,0.000,4,0.000,0.067,2557,746,3100
$GC,8618,-0.66,-117.3,573.6,-6.3,410,8624,0.00,2.58,0.00,0.000,6,0.000,0.056,2557,2177,3100
$GC,8934,-0.66,-117.3,592.5,-7.8,426,8939,0.00,2.62,0.00,0.000,4,0.000,0.072,2557,752,3100
$GC,9192,-0.66,-117.3,606.4,-6.2,437,9198,0.00,2.60,0.00,0.000,6,0.000,0.058,2557,2188,3100
$GC,9509,-0.71,-117.3,596.8,1.9,453,9513,0.00,2.67,0.00,0.000,4,0.000,0.072,2557,749,3100
$GC,9548,-0.71,-117.3,597.1,-1.6,455,9553,0.00,2.53,0.00,0.000,6,0.000,0.061,2557,2140,3100
$GC,9876,-0.71,-117.3,616.8,-10.0,471,9880,0.00,2.60,0.00,0.000,4,0.000,0.077,2557,3556,3099
$GC,10128,-0.77,-117.3,642.7,-12.4,482,10133,0.12,2.58,0.00,0.000,6,0.058,0.063,2523,2143,3099
$GC,10447,-0.67,-117.3,669.7,-3.4,497,10452,0.15,2.67,0.00,0.000,4,0.097,0.083,2554,3556,3098
$GC,10525,-0.67,-117.3,668.4,2.0,500,10531,0.00,2.53,0.00,0.000,6,0.000,0.068,2554,2184,3098
$GC,10842,-0.73,-117.3,704.3,-11.8,516,10846,0.00,2.60,0.00,0.000,4,0.000,0.083,2554,3556,3096
$GC,10950,-0.65,-117.3,710.0,-5.5,521,10954,0.00,2.42,0.00,0.000,6,0.000,0.067,2554,2222,3096
$STATE,11026,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11026,begin apogee
$GC,11033,-0.33,0.0,714.0,4.6,525,11136,0.35,0.00,100.18,1.359,6,0.086,0.000,2626,2090,2621
$STATE,11137,end apogee,CONTROL_FINISHED_OK
$STATE,11137,begin climb
$GC,11141,1.03,117.3,720.3,0.0,530,11248,1.40,2.75,99.60,1.329,4,0.087,0.082,2918,3512,2140
$GC,11310,0.91,117.3,711.7,13.4,538,11315,0.00,2.67,0.00,0.000,6,0.000,0.074,2917,2104,2140
$GC,11632,1.02,268.9,699.2,0.8,554,11761,0.00,0.00,126.50,1.330,6,0.000,0.000,2918,2075,1523
$GC,12087,1.10,317.9,678.9,4.3,576,12132,0.00,0.00,42.33,1.311,6,0.000,0.000,2917,2074,1324
$GC,12439,1.21,317.9,641.6,13.6,593,12441,0.20,0.00,0.00,0.000,6,0.058,0.000,2971,2075,1323
$GC,12748,1.13,317.9,608.2,9.9,608,12749,0.12,0.00,0.00,0.000,6,0.094,0.000,2946,2074,1322
$GC,13057,1.19,353.0,588.6,4.8,623,13093,0.00,2.75,30.48,1.308,4,0.000,0.084,2946,3506,1179
$GC,13121,1.29,353.0,583.4,8.6,625,13127,0.15,2.75,0.00,0.000,6,0.059,0.072,2983,2058,1179
$GC,13444,1.23,353.0,558.5,8.0,641,13445,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2040,1179
$GC,13753,1.18,353.0,538.2,6.4,656,13754,0.15,0.00,0.00,0.000,6,0.099,0.000,2955,2050,1178
$GC,14062,1.30,426.5,526.0,3.5,671,14126,0.12,0.00,62.08,1.274,6,0.058,0.000,2988,2050,881
$GC,14431,1.30,426.5,501.3,8.8,689,14435,0.00,2.72,0.00,0.000,4,0.000,0.072,2987,3513,881
$GC,14447,1.30,426.5,499.8,8.9,690,14452,0.00,2.67,0.00,0.000,6,0.000,0.060,2988,2057,880
$GC,14774,1.30,426.5,472.3,8.7,706,14778,0.00,2.53,0.00,0.000,4,0.000,0.074,2987,685,881
$GC,14807,1.30,426.5,469.0,9.7,707,14813,0.00,2.53,0.00,0.000,6,0.000,0.059,2988,2070,881
$GC,15123,1.30,426.5,439.2,10.9,723,15127,0.00,2.58,0.00,0.000,4,0.000,0.072,2989,691,882
$GC,15144,1.30,426.5,436.8,10.3,724,15148,0.00,2.50,0.00,0.000,6,0.000,0.058,2989,2065,882
$GC,15465,1.30,426.5,406.4,9.3,740,15466,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2066,883
$GC,15774,1.30,426.5,375.0,10.1,755,15778,0.00,2.53,0.00,0.000,4,0.000,0.071,2988,689,884
$GC,15813,1.30,426.5,370.9,10.8,757,15818,0.00,2.45,0.00,0.000,6,0.000,0.055,2989,2050,884
$GC,16140,1.30,426.5,339.1,9.0,773,16141,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2069,885
$GC,16449,1.30,426.5,311.3,9.7,788,16451,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2070,886
$GC,16759,1.30,426.5,279.2,10.5,803,16763,0.00,2.53,0.00,0.000,4,0.000,0.069,2988,680,886
$GC,16786,1.30,426.5,275.8,11.2,804,16790,0.00,2.45,0.00,0.000,6,0.000,0.053,2988,2046,886
$GC,17102,1.30,426.5,237.1,12.4,819,17103,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2045,886
$GC,17411,1.30,426.5,202.1,11.6,834,17415,0.00,2.62,0.00,0.000,4,0.000,0.061,2988,3515,887
$GC,17432,1.34,426.5,199.2,14.9,835,17437,0.00,2.65,0.00,0.000,6,0.000,0.053,2989,2037,887
$GC,17755,1.34,426.5,158.4,13.3,851,17759,0.00,2.45,0.00,0.000,4,0.000,0.068,2988,679,887
$GC,17783,1.38,426.5,154.4,14.7,852,17787,0.00,2.42,0.00,0.000,6,0.000,0.052,2988,2036,887
$GC,18099,1.38,426.5,110.6,14.8,867,18103,0.00,2.50,0.00,0.000,4,0.000,0.069,2989,684,887
$GC,18121,1.38,426.5,107.2,15.7,868,18126,0.00,2.40,0.00,0.000,6,0.000,0.052,2989,2023,888
$GC,18443,1.38,426.5,67.2,11.0,884,18444,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2024,888
$GC,18754,1.38,426.5,35.9,10.3,899,18758,0.00,2.45,0.00,0.000,4,0.000,0.067,2988,689,889
$GC,18794,1.44,426.5,31.6,11.1,901,18799,0.10,2.40,0.00,0.000,6,0.056,0.052,3022,2026,889
$STATE,19056,end climb,SURFACE_DEPTH_REACHED
$STATE,19056,begin surface coast
$FINISH,0.1,1.015854
$STATE,19081,end surface coast,CONTROL_FINISHED_OK
$STATE,19081,begin surface
$SM_CCo,19164,0.00,0.000,0,0,888,424.86
$SM_GC,0.79,11.20,0.00,0.00,0.035,0.000,0.000,422,2174,888,-10.38,0.68,424.86
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1675
$TCM_TEMP,17.40
$XPDR_PINGS,512
$ALTIM_TOP_PING,20.0,999.0
$ALTIM_BOTTOM_PING,651.8,72.1
$24V_AH,23.8,18.090
$10V_AH,10.1,8.034
$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,25.100,148.450,461.150,0.000,0.000,37.765,27.172,208.025,133.750,0.000,0.000,33.811,1696.098,14603.323,577.321,2107.236,597.474,33.359,1607.705,0.000,2045.077,0.000,39.513
$DEVICE_MAMPS,138.060,84.370,1359.124,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,629.226,673.087,572.085,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47494,915
$CAP_FILE_SIZE,139779,0
$CFSIZE,254472192,246820864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,0,0
$GPS,230608,173537,6149.089,-915.687,31,1.1,31,-9.5