version: 66.03
glider: 5
mission: 3
dive: 85
start: 6 24 108 4 3 30
data:
$ID,5
$MISSION,3
$DIVE,85
$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,-78230.211
$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,23
$R_STBD_OVSHOOT,35
$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
$GPS1,034938,6156.486,-925.722,30,0.9,30,-9.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-62.3
$GPS2,040238,6156.507,-925.898,15,1.2,15,-9.6
$SPEED_LIMITS,0.104,0.201
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.119,-0.162
$KALMAN_X,-126693.5,2439.1,-260.2,62934.8,-26663.4
$KALMAN_Y,14879.8,-1303.7,1935.4,43030.7,25909.0
$MHEAD_RNG_PITCHd_Wd,153.5,31561,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-1.03,-117.3,0.0,0.0,0,111,0.00,0.00,-82.43,0.000,6,0.000,0.000,416,2164,3099
$GC,114,-1.03,-117.3,2.7,-3.0,4,131,10.62,2.47,0.00,0.000,4,0.139,0.058,2466,3546,3099
$GC,381,-0.69,-117.3,31.8,-10.7,15,387,0.38,2.50,0.00,0.000,6,0.086,0.046,2547,2140,3100
$GC,710,-0.63,-117.3,63.1,-10.9,31,712,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2111,3100
$GC,1019,-0.56,-117.3,84.6,-5.4,46,1024,0.15,2.58,0.00,0.000,4,0.091,0.060,2582,3549,3100
$GC,1030,-0.50,-117.3,85.3,-5.4,46,1036,0.00,2.47,0.00,0.000,6,0.000,0.048,2582,2150,3100
$GC,1347,-0.55,-117.3,100.3,-4.6,62,1351,0.00,2.53,0.00,0.000,4,0.000,0.064,2582,746,3100
$GC,1359,-0.55,-117.3,100.6,-4.3,62,1365,0.00,2.47,0.00,0.000,6,0.000,0.051,2582,2134,3101
$GC,1676,-0.60,-117.3,103.3,1.2,78,1680,0.00,2.53,0.00,0.000,4,0.000,0.062,2581,752,3101
$GC,1688,-0.65,-117.3,103.0,1.2,78,1695,0.12,2.47,0.00,0.000,6,0.050,0.051,2545,2140,3101
$GC,2005,-0.59,-117.3,105.2,-1.5,94,2010,0.12,2.55,0.00,0.000,4,0.092,0.064,2570,751,3101
$GC,2050,-0.59,-117.3,105.9,-1.7,96,2054,0.00,2.47,0.00,0.000,6,0.000,0.051,2570,2135,3100
$GC,2372,-0.59,-117.3,113.4,-3.2,112,2376,0.00,2.53,0.00,0.000,4,0.000,0.061,2571,750,3100
$GC,2393,-0.59,-117.3,114.2,-3.6,113,2398,0.00,2.47,0.00,0.000,6,0.000,0.051,2570,2133,3100
$GC,2716,-0.59,-117.3,124.6,-3.3,129,2720,0.00,2.53,0.00,0.000,4,0.000,0.062,2570,750,3100
$GC,2727,-0.59,-117.3,124.9,-3.5,129,2734,0.00,2.45,0.00,0.000,6,0.000,0.051,2570,2122,3100
$GC,3045,-0.59,-117.3,136.6,-3.8,145,3049,0.00,2.50,0.00,0.000,4,0.000,0.061,2570,751,3100
$GC,3057,-0.59,-117.3,137.2,-3.9,145,3063,0.00,2.45,0.00,0.000,6,0.000,0.051,2570,2125,3100
$GC,3373,-0.59,-117.3,152.1,-5.8,161,3378,0.00,2.53,0.00,0.000,4,0.000,0.063,2570,746,3100
$GC,3418,-0.59,-117.3,155.6,-8.4,163,3422,0.00,2.45,0.00,0.000,6,0.000,0.051,2570,2113,3100
$GC,3739,-0.59,-117.3,182.0,-8.0,179,3743,0.00,2.60,0.00,0.000,4,0.000,0.062,2570,3564,3100
$GC,3749,-0.59,-117.3,182.8,-7.7,179,3755,0.00,2.55,0.00,0.000,6,0.000,0.048,2570,2125,3100
$GC,4065,-0.59,-117.3,206.0,-7.2,195,4069,0.00,2.62,0.00,0.000,4,0.000,0.064,2570,3560,3100
$GC,4076,-0.59,-117.3,206.9,-7.5,195,4082,0.00,2.55,0.00,0.000,6,0.000,0.049,2570,2121,3100
$GC,4392,-0.59,-117.3,228.6,-5.9,211,4397,0.00,2.62,0.00,0.000,4,0.000,0.064,2570,3554,3100
$GC,4404,-0.59,-117.3,229.2,-5.8,211,4410,0.00,2.55,0.00,0.000,6,0.000,0.050,2570,2121,3100
$GC,4720,-0.59,-117.3,244.5,-4.4,227,4724,0.00,2.62,0.00,0.000,4,0.000,0.064,2570,3556,3100
$GC,4732,-0.59,-117.3,244.9,-4.2,227,4738,0.00,2.55,0.00,0.000,6,0.000,0.050,2570,2124,3100
$GC,5048,-0.59,-117.3,259.1,-4.7,243,5052,0.00,2.62,0.00,0.000,4,0.000,0.064,2570,3557,3100
$GC,5103,-0.59,-117.3,262.3,-6.1,245,5110,0.00,2.55,0.00,0.000,6,0.000,0.050,2570,2125,3100
$GC,5419,-0.59,-117.3,283.2,-6.9,261,5424,0.00,2.62,0.00,0.000,4,0.000,0.064,2570,3555,3100
$GC,5430,-0.59,-117.3,284.1,-6.9,261,5436,0.00,2.53,0.00,0.000,6,0.000,0.051,2570,2134,3100
$GC,5746,-0.59,-117.3,307.9,-8.1,277,5751,0.00,2.60,0.00,0.000,4,0.000,0.064,2570,3562,3100
$GC,5757,-0.59,-117.3,308.7,-7.8,277,5763,0.00,2.55,0.00,0.000,6,0.000,0.049,2570,2127,3100
$GC,6073,-0.59,-117.3,331.9,-7.1,293,6077,0.00,2.60,0.00,0.000,4,0.000,0.064,2570,3556,3100
$GC,6084,-0.59,-117.3,332.7,-7.2,293,6089,0.00,2.53,0.00,0.000,6,0.000,0.050,2570,2139,3100
$GC,6400,-0.59,-117.3,357.7,-8.6,309,6401,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2139,3100
$GC,6709,-0.64,-117.3,380.6,-6.5,324,6710,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2137,3099
$GC,7018,-0.64,-117.3,391.9,-2.5,339,7022,0.00,2.50,0.00,0.000,4,0.000,0.067,2570,746,3099
$GC,7029,-0.64,-117.3,392.1,-2.6,339,7035,0.00,2.50,0.00,0.000,6,0.000,0.053,2570,2138,3099
$GC,7345,-0.64,-117.3,397.4,-2.5,355,7349,0.00,2.55,0.00,0.000,4,0.000,0.067,2570,3556,3100
$GC,7356,-0.68,-117.3,397.6,-2.7,355,7362,0.00,2.50,0.00,0.000,6,0.000,0.054,2570,2154,3099
$GC,7673,-0.68,-117.3,402.4,-1.0,371,7678,0.00,2.53,0.00,0.000,4,0.000,0.065,2570,744,3099
$GC,7707,-0.68,-117.3,403.2,-2.4,372,7713,0.00,2.50,0.00,0.000,6,0.000,0.053,2570,2140,3099
$GC,8023,-0.68,-117.3,410.6,-3.3,388,8027,0.00,2.55,0.00,0.000,4,0.000,0.068,2570,749,3099
$GC,8090,-0.68,-117.3,414.1,-6.1,391,8094,0.00,2.50,0.00,0.000,6,0.000,0.054,2570,2136,3099
$GC,8411,-0.73,-117.3,431.8,-6.5,407,8416,0.12,2.58,0.00,0.000,4,0.054,0.067,2532,3561,3099
$GC,8429,-0.73,-117.3,433.1,-7.1,408,8433,0.00,2.53,0.00,0.000,6,0.000,0.054,2531,2136,3099
$GC,8756,-0.66,-117.3,460.9,-8.6,424,8760,0.12,2.50,0.00,0.000,4,0.094,0.065,2557,747,3099
$GC,8818,-0.66,-117.3,466.1,-7.6,427,8822,0.00,2.45,0.00,0.000,6,0.000,0.054,2557,2112,3099
$GC,9145,-0.66,-117.3,491.1,-7.3,443,9146,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2112,3098
$GC,9454,-0.66,-117.3,506.9,-4.1,458,9458,0.00,2.62,0.00,0.000,4,0.000,0.070,2557,3557,3098
$GC,9466,-0.66,-117.3,507.3,-3.4,458,9472,0.00,2.58,0.00,0.000,6,0.000,0.057,2557,2121,3098
$GC,9782,-0.66,-117.3,517.5,-3.0,474,9787,0.00,2.65,0.00,0.000,4,0.000,0.071,2557,3556,3098
$GC,10040,-0.66,-117.3,535.9,-7.4,485,10047,0.00,2.50,0.00,0.000,6,0.000,0.057,2557,2146,3098
$GC,10357,-0.66,-117.3,561.8,-9.8,501,10361,0.00,2.60,0.00,0.000,4,0.000,0.074,2556,3554,3098
$GC,10367,-0.66,-117.3,562.8,-8.9,501,10373,0.00,2.50,0.00,0.000,6,0.000,0.058,2557,2155,3098
$GC,10683,-0.66,-117.3,587.9,-6.0,517,10687,0.00,2.60,0.00,0.000,4,0.000,0.078,2557,760,3098
$GC,10710,-0.66,-117.3,590.3,-8.6,518,10714,0.00,2.50,0.00,0.000,6,0.000,0.064,2557,2128,3098
$STATE,10858,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10858,begin apogee
$GC,10865,-0.33,0.0,601.6,7.3,525,10966,0.32,0.00,99.07,1.253,6,0.088,0.000,2623,2128,2620
$STATE,10967,end apogee,CONTROL_FINISHED_OK
$STATE,10967,begin climb
$GC,10970,1.03,117.3,607.9,0.0,530,11073,1.40,0.00,98.00,1.218,6,0.071,0.000,2922,2130,2141
$GC,11382,0.95,117.3,576.1,6.7,550,11387,0.00,2.60,0.00,0.000,4,0.000,0.084,2922,3506,2139
$GC,11483,0.86,117.3,569.2,8.6,554,11490,0.17,2.55,0.00,0.000,6,0.093,0.069,2887,2142,2138
$GC,11800,0.93,117.3,545.3,13.9,570,11804,0.00,2.72,0.00,0.000,4,0.000,0.084,2888,681,2138
$GC,11835,1.00,117.3,541.0,11.7,571,11841,0.12,2.70,0.00,0.000,6,0.057,0.069,2923,2133,2137
$GC,12151,0.96,117.3,501.7,11.6,587,12155,0.00,2.58,0.00,0.000,4,0.000,0.080,2923,3512,2136
$GC,12236,0.91,117.3,491.6,12.0,591,12241,0.12,2.55,0.00,0.000,6,0.096,0.064,2898,2129,2135
$GC,12564,0.95,117.3,459.2,9.4,607,12565,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2112,2134
$GC,12872,1.00,117.3,436.2,7.0,622,12873,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2111,2133
$GC,13182,1.14,173.0,422.9,4.1,637,13230,0.22,0.00,45.15,1.160,6,0.047,0.000,2957,2110,1914
$GC,13532,1.07,182.8,401.6,5.7,654,13547,0.12,2.65,10.15,1.035,4,0.090,0.071,2933,3517,1873
$GC,13604,1.11,207.2,397.5,5.2,656,13631,0.00,2.53,21.20,1.097,6,0.000,0.058,2933,2142,1775
$GC,13943,1.49,445.6,393.6,-2.2,672,14149,0.38,2.75,192.82,1.111,4,0.042,0.071,3028,690,803
$GC,14206,1.59,552.2,387.0,2.4,684,14299,0.00,2.67,84.22,1.057,6,0.000,0.059,3028,2150,389
$GC,14610,1.67,630.7,373.5,3.3,704,14620,0.17,2.78,3.40,0.591,4,0.048,0.073,3075,689,390
$GC,14688,1.55,630.7,367.4,8.3,707,14694,0.20,2.62,0.10,0.161,6,0.087,0.058,3037,2125,391
$GC,15006,1.48,631.3,351.4,6.0,722,15016,0.00,2.70,2.62,0.424,4,0.000,0.071,3037,693,390
$GC,15052,1.51,650.6,348.6,5.3,724,15057,0.00,2.55,0.00,0.000,6,0.000,0.056,3037,2100,391
$GC,15379,1.53,702.6,332.3,4.2,740,15383,0.00,0.00,2.17,0.264,6,0.000,0.000,3036,2118,390
$GC,15688,1.47,702.6,308.1,7.3,755,15693,0.00,2.62,0.25,0.150,4,0.000,0.071,3036,691,391
$GC,15755,1.47,702.6,303.2,6.3,758,15760,0.00,2.50,0.12,0.162,6,0.000,0.056,3036,2072,391
$GC,16077,1.42,702.6,275.2,9.9,774,16086,0.15,2.65,2.17,0.257,4,0.085,0.064,3002,3516,390
$GC,16115,1.57,720.5,272.5,5.4,775,16123,0.17,2.65,0.12,0.147,6,0.045,0.056,3051,2057,390
$GC,16432,1.47,720.5,242.5,8.7,791,16441,0.15,2.55,1.73,0.143,4,0.086,0.070,3018,687,391
$GC,16492,1.49,735.0,238.1,5.5,793,16499,0.00,2.50,0.05,0.190,6,0.000,0.054,3018,2075,391
$GC,16808,1.58,791.3,224.7,4.1,809,16811,0.12,0.00,0.15,0.156,6,0.051,0.000,3054,2094,391
$GC,17118,1.50,791.3,196.9,10.4,824,17127,0.15,2.60,2.28,0.292,4,0.084,0.068,3020,693,389
$GC,17180,1.50,791.3,191.0,8.6,826,17185,0.00,2.47,0.00,0.000,6,0.000,0.053,3021,2071,390
$GC,17495,1.50,791.3,160.9,10.5,842,17496,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2089,390
$GC,17806,1.50,791.3,125.9,12.9,857,17811,0.00,2.55,0.05,0.187,4,0.000,0.067,3020,689,390
$GC,17885,1.50,791.3,114.7,12.6,860,17891,0.00,2.42,0.00,0.000,6,0.000,0.054,3020,2045,391
$GC,18202,1.50,791.3,68.0,14.9,876,18204,0.00,0.00,0.10,0.163,6,0.000,0.000,3020,2045,390
$GC,18510,1.50,791.3,23.2,13.6,891,18515,0.00,2.50,0.32,0.145,4,0.000,0.067,3020,691,391
$GC,18600,1.50,791.3,11.6,13.1,895,18604,0.00,2.38,0.10,0.159,6,0.000,0.051,3020,2021,391
$STATE,18691,end climb,SURFACE_DEPTH_REACHED
$STATE,18692,begin surface coast
$FINISH,0.1,1.027607
$STATE,18713,end surface coast,CONTROL_FINISHED_OK
$STATE,18713,begin surface
$SM_CCo,18797,0.00,0.000,0,0,391,547.02
$SM_GC,0.70,11.25,0.00,0.00,0.037,0.000,0.000,417,2160,391,-10.40,0.28,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1686
$TCM_TEMP,17.40
$XPDR_PINGS,559
$ALTIM_TOP_PING,19.4,19.0
$ALTIM_BOTTOM_PING,500.7,109.6
$24V_AH,23.9,18.670
$10V_AH,10.1,8.297
$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,26.900,204.525,566.375,0.000,0.000,113.282,105.985,306.072,144.000,0.000,0.000,15.464,1692.277,14256.050,706.702,2033.569,886.603,33.356,1789.577,0.000,1989.619,0.000,29.882
$DEVICE_MAMPS,138.827,84.370,1252.511,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,615.393,661.288,606.651,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47495,901
$CAP_FILE_SIZE,160816,0
$CFSIZE,254472192,246599680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,0,0
$GPS,240608,091807,6159.036,-929.835,39,1.2,44,-9.7