version: 66.03
glider: 5
mission: 3
dive: 145
start: 7 11 108 1 4 33
data:
$ID,5
$MISSION,3
$DIVE,145
$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,600
$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,547.01898
$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,-79382.961
$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,22
$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
$GPS1,005758,6153.433,-916.562,35,2.3,54,-9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.59
$_SM_ANGLEo,-52.4
$GPS2,010339,6153.538,-916.662,15,1.3,15,-9.5
$SPEED_LIMITS,0.104,0.201
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.055,-0.193
$KALMAN_X,-73507.5,-721.3,-1324.5,98316.3,-2487.2
$KALMAN_Y,75631.1,1526.0,1780.0,-71214.9,9542.9
$MHEAD_RNG_PITCHd_Wd,173.6,23746,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.03,-117.3,0.0,0.0,0,142,0.00,0.00,-113.97,0.000,6,0.000,0.000,425,2151,3100
$GC,145,-1.03,-117.3,3.0,-2.8,6,162,10.57,2.58,0.00,0.000,4,0.138,0.057,2468,741,3099
$GC,190,-0.69,-117.3,11.2,-12.7,7,196,0.38,2.53,0.00,0.000,6,0.088,0.049,2548,2151,3098
$GC,512,-0.60,-117.3,34.5,-6.5,23,517,0.10,2.58,0.00,0.000,4,0.102,0.058,2568,738,3098
$GC,732,-0.60,-117.3,47.7,-6.1,33,737,0.00,2.55,0.00,0.000,6,0.000,0.050,2568,2171,3098
$GC,1059,-0.60,-117.3,66.5,-5.9,49,1064,0.00,2.60,0.00,0.000,4,0.000,0.060,2568,742,3098
$GC,1172,-0.60,-117.3,73.4,-6.1,54,1176,0.00,2.53,0.00,0.000,6,0.000,0.051,2568,2152,3098
$GC,1493,-0.60,-117.3,90.3,-5.2,70,1494,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2151,3099
$GC,1803,-0.60,-117.3,105.8,-5.0,85,1804,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2152,3099
$GC,2112,-0.60,-117.3,122.4,-5.5,100,2113,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2152,3099
$GC,2421,-0.60,-117.3,141.9,-6.5,115,2422,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2152,3099
$GC,2729,-0.60,-117.3,162.9,-6.8,130,2734,0.00,2.53,0.00,0.000,4,0.000,0.064,2568,3557,3099
$GC,2741,-0.60,-117.3,163.7,-6.6,130,2747,0.00,2.50,0.00,0.000,6,0.000,0.049,2568,2148,3098
$GC,3057,-0.60,-117.3,183.3,-6.0,146,3062,0.00,2.58,0.00,0.000,4,0.000,0.063,2568,3562,3098
$GC,3108,-0.60,-117.3,186.4,-6.0,148,3112,0.00,2.47,0.00,0.000,6,0.000,0.048,2568,2167,3098
$GC,3424,-0.60,-117.3,201.0,-4.2,163,3429,0.00,2.55,0.00,0.000,4,0.000,0.063,2568,3556,3098
$GC,3436,-0.60,-117.3,201.6,-4.1,163,3442,0.00,2.47,0.00,0.000,6,0.000,0.048,2568,2161,3098
$GC,3752,-0.60,-117.3,215.1,-4.6,179,3756,0.00,2.55,0.00,0.000,4,0.000,0.062,2568,3561,3098
$GC,3770,-0.60,-117.3,215.9,-4.7,180,3774,0.00,2.47,0.00,0.000,6,0.000,0.048,2568,2171,3098
$GC,4097,-0.60,-117.3,236.4,-7.1,196,4101,0.00,2.53,0.00,0.000,4,0.000,0.063,2568,3558,3098
$GC,4174,-0.60,-117.3,242.7,-7.7,199,4180,0.00,2.45,0.00,0.000,6,0.000,0.048,2569,2177,3098
$GC,4490,-0.60,-117.3,265.9,-7.3,215,4495,0.00,2.53,0.00,0.000,4,0.000,0.064,2568,3562,3098
$GC,4524,-0.60,-117.3,268.4,-7.1,216,4530,0.00,2.47,0.00,0.000,6,0.000,0.049,2568,2171,3098
$GC,4839,-0.60,-117.3,288.6,-6.1,232,4844,0.00,2.53,0.00,0.000,4,0.000,0.064,2568,3554,3098
$GC,4890,-0.60,-117.3,291.9,-6.5,234,4894,0.00,2.45,0.00,0.000,6,0.000,0.048,2568,2178,3097
$GC,5206,-0.60,-117.3,312.2,-7.0,249,5210,0.00,2.53,0.00,0.000,4,0.000,0.064,2568,3561,3097
$GC,5233,-0.60,-117.3,314.1,-6.8,250,5237,0.00,2.42,0.00,0.000,6,0.000,0.048,2568,2192,3097
$GC,5549,-0.60,-117.3,334.2,-6.2,265,5553,0.00,2.50,0.00,0.000,4,0.000,0.064,2568,3557,3097
$GC,5615,-0.60,-117.3,338.8,-7.0,268,5619,0.00,2.42,0.00,0.000,6,0.000,0.049,2568,2195,3097
$GC,5936,-0.60,-117.3,357.4,-5.3,284,5940,0.00,2.50,0.00,0.000,4,0.000,0.065,2569,3564,3097
$GC,5947,-0.60,-117.3,357.9,-5.1,284,5953,0.00,2.42,0.00,0.000,6,0.000,0.050,2568,2200,3097
$GC,6263,-0.60,-117.3,372.2,-3.8,300,6264,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2183,3097
$GC,6573,-0.60,-117.3,382.5,-3.5,315,6577,0.00,2.47,0.00,0.000,4,0.000,0.064,2568,3563,3096
$GC,6614,-0.60,-117.3,384.3,-4.3,317,6618,0.00,2.42,0.00,0.000,6,0.000,0.048,2568,2194,3096
$GC,6941,-0.60,-117.3,397.4,-4.5,333,6945,0.00,2.50,0.00,0.000,4,0.000,0.065,2568,3553,3096
$GC,6952,-0.60,-117.3,397.9,-4.4,333,6958,0.00,2.40,0.00,0.000,6,0.000,0.051,2568,2203,3096
$GC,7268,-0.60,-117.3,415.1,-6.2,349,7272,0.00,2.50,0.00,0.000,4,0.000,0.065,2568,3564,3096
$GC,7357,-0.60,-117.3,421.2,-7.3,353,7361,0.00,2.38,0.00,0.000,6,0.000,0.050,2568,2225,3096
$GC,7678,-0.60,-117.3,441.4,-6.0,369,7680,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2208,3096
$GC,7987,-0.60,-117.3,460.6,-5.1,384,7991,0.00,2.45,0.00,0.000,4,0.000,0.066,2568,3554,3095
$GC,7998,-0.60,-117.3,461.2,-4.5,384,8004,0.00,2.38,0.00,0.000,6,0.000,0.054,2568,2205,3095
$GC,8315,-0.64,-117.3,478.6,-5.3,400,8319,0.00,2.47,0.00,0.000,4,0.000,0.067,2568,3564,3095
$GC,8333,-0.69,-117.3,479.6,-5.4,401,8337,0.00,2.40,0.00,0.000,6,0.000,0.055,2568,2222,3095
$GC,8660,-0.75,-117.3,494.6,-3.9,417,8665,0.15,2.67,0.00,0.000,4,0.052,0.070,2520,742,3095
$GC,8723,-0.64,-117.3,497.9,-6.1,420,8729,0.17,2.65,0.00,0.000,6,0.091,0.060,2557,2202,3095
$GC,9051,-0.64,-117.3,513.0,-4.9,436,9052,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2202,3095
$GC,9360,-0.64,-117.3,532.6,-7.2,451,9365,0.00,2.70,0.00,0.000,4,0.000,0.074,2557,753,3095
$GC,9370,-0.64,-117.3,533.4,-7.1,451,9376,0.00,2.67,0.00,0.000,6,0.000,0.064,2557,2209,3094
$GC,9686,-0.64,-117.3,552.7,-7.9,467,9690,0.00,2.47,0.00,0.000,4,0.000,0.078,2557,3550,3094
$GC,9730,-0.68,-117.3,556.2,-8.9,469,9735,0.00,2.40,0.00,0.000,6,0.000,0.062,2557,2228,3094
$STATE,9946,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9946,begin apogee
$GC,9954,-0.33,0.0,563.2,2.6,480,10055,0.32,0.00,98.25,1.225,6,0.087,0.000,2624,2104,2620
$STATE,10056,end apogee,CONTROL_FINISHED_OK
$STATE,10056,begin climb
$GC,10059,1.03,117.3,565.4,0.0,485,10169,1.40,2.70,98.32,1.197,4,0.061,0.080,2927,699,2140
$GC,10265,1.03,117.3,550.3,7.4,495,10269,0.00,2.60,0.00,0.000,6,0.000,0.065,2927,2095,2140
$GC,10586,0.97,117.3,526.9,7.7,511,10591,0.00,2.65,0.00,0.000,4,0.000,0.078,2927,3512,2138
$GC,10695,0.96,143.0,518.3,5.1,516,10724,0.00,2.55,22.00,1.148,6,0.000,0.064,2927,2134,2038
$GC,11050,0.98,152.8,496.7,5.7,533,11061,0.00,0.00,9.70,1.068,6,0.000,0.000,2927,2115,1998
$GC,11357,0.98,152.8,473.8,8.1,548,11361,0.00,2.62,0.00,0.000,4,0.000,0.077,2927,3512,1995
$GC,11434,0.98,152.8,467.2,8.7,551,11440,0.00,2.55,0.00,0.000,6,0.000,0.068,2927,2138,1995
$GC,11750,0.98,152.8,439.1,9.1,567,11755,0.00,2.58,0.00,0.000,4,0.000,0.075,2927,3514,1994
$GC,11823,0.98,152.8,432.2,9.7,570,11827,0.00,2.45,0.00,0.000,6,0.000,0.062,2928,2184,1994
$GC,12139,0.98,152.8,405.1,8.3,585,12143,0.00,2.75,0.00,0.000,4,0.000,0.072,2927,677,1993
$GC,12178,0.98,152.8,401.6,9.2,587,12183,0.00,2.78,0.00,0.000,6,0.000,0.062,2927,2203,1993
$GC,12506,0.98,152.8,374.8,8.2,603,12510,0.00,2.40,0.00,0.000,4,0.000,0.070,2928,3517,1993
$GC,12555,0.98,152.8,370.1,9.2,605,12560,0.00,2.42,0.00,0.000,6,0.000,0.056,2927,2184,1993
$GC,12871,0.98,152.8,345.8,7.2,620,12876,0.00,2.72,0.00,0.000,4,0.000,0.069,2928,678,1993
$GC,12921,0.98,152.8,341.7,8.1,622,12926,0.00,2.75,0.00,0.000,6,0.000,0.057,2928,2201,1993
$GC,13237,0.98,152.8,319.1,7.2,637,13241,0.00,2.38,0.00,0.000,4,0.000,0.065,2928,3515,1993
$GC,13292,0.98,152.8,314.9,8.1,639,13298,0.00,2.40,0.00,0.000,6,0.000,0.054,2928,2188,1993
$GC,13608,0.98,152.8,291.7,7.1,655,13613,0.00,2.72,0.00,0.000,4,0.000,0.068,2927,678,1994
$GC,13652,0.98,152.8,288.2,8.1,657,13657,0.00,2.75,0.00,0.000,6,0.000,0.054,2928,2206,1993
$GC,13973,0.98,152.8,262.9,8.1,673,13977,0.00,2.35,0.00,0.000,4,0.000,0.064,2927,3514,1994
$GC,14017,0.98,152.8,258.7,8.8,675,14021,0.00,2.38,0.00,0.000,6,0.000,0.053,2927,2189,1994
$GC,14338,0.98,152.8,233.3,8.0,691,14343,0.00,2.72,0.00,0.000,4,0.000,0.067,2928,677,1995
$GC,14383,0.98,152.8,229.3,9.4,693,14387,0.00,2.75,0.00,0.000,6,0.000,0.054,2927,2210,1995
$GC,14704,0.98,152.8,204.2,7.5,709,14708,0.00,2.35,0.00,0.000,4,0.000,0.064,2928,3517,1996
$GC,14776,0.98,152.8,198.0,8.5,712,14780,0.00,2.35,0.00,0.000,6,0.000,0.051,2928,2200,1996
$GC,15097,0.98,152.8,173.7,7.6,728,15102,0.00,2.72,0.00,0.000,4,0.000,0.067,2928,685,1997
$GC,15142,0.98,152.8,169.8,8.2,730,15146,0.00,2.75,0.00,0.000,6,0.000,0.053,2927,2221,1997
$GC,15463,0.98,152.8,145.0,7.6,746,15467,0.00,2.33,0.00,0.000,4,0.000,0.063,2927,3518,1997
$GC,15513,0.98,152.8,140.8,8.0,748,15517,0.00,2.35,0.00,0.000,6,0.000,0.051,2927,2196,1997
$GC,15835,0.98,152.8,116.8,7.3,764,15839,0.00,2.72,0.00,0.000,4,0.000,0.067,2928,681,1998
$GC,15890,0.98,152.8,112.4,7.4,766,15896,0.00,2.72,0.00,0.000,6,0.000,0.053,2928,2210,1998
$GC,16206,0.98,152.8,89.3,7.1,782,16210,0.00,2.33,0.00,0.000,4,0.000,0.061,2928,3511,1999
$GC,16270,1.02,152.8,84.8,7.4,785,16274,0.00,2.33,0.00,0.000,6,0.000,0.048,2928,2200,1999
$GC,16598,1.09,166.9,63.6,5.5,801,16619,0.00,2.80,12.88,0.792,4,0.000,0.064,2927,689,1939
$GC,16682,1.15,166.9,58.5,7.2,804,16688,0.00,2.75,0.00,0.000,6,0.000,0.053,2928,2219,1938
$GC,17000,1.24,188.8,42.1,5.3,820,17026,0.15,2.40,18.75,0.795,4,0.046,0.059,2979,3513,1850
$GC,17077,1.17,188.8,35.6,7.6,823,17082,0.12,2.38,0.00,0.000,6,0.081,0.049,2954,2196,1849
$GC,17394,1.17,188.8,13.5,8.3,838,17398,0.00,2.72,0.00,0.000,4,0.000,0.064,2954,680,1849
$GC,17443,1.17,188.8,8.9,8.8,840,17448,0.00,2.75,0.00,0.000,6,0.000,0.049,2954,2221,1849
$STATE,17550,end climb,SURFACE_DEPTH_REACHED
$STATE,17550,begin surface coast
$FINISH,0.1,1.027080
$STATE,17572,end surface coast,CONTROL_FINISHED_OK
$STATE,17572,begin surface
$SM_CCo,17596,213.43,0.769,0,0,390,547.02
$SM_GC,0.44,0.00,0.00,213.43,0.000,0.000,0.769,423,2127,390,-10.47,-0.62,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1651
$TCM_TEMP,17.80
$XPDR_PINGS,521
$ALTIM_TOP_PING,18.7,17.7
$ALTIM_BOTTOM_PING,475.4,97.6
$24V_AH,23.9,30.410
$10V_AH,10.1,14.791
$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,24.325,203.225,259.900,213.425,0.000,37.760,27.764,145.944,134.250,0.000,0.000,15.750,1612.980,13336.385,697.191,1954.151,549.585,33.376,1689.867,0.000,1914.413,0.000,28.229
$DEVICE_MAMPS,138.060,79.768,1224.899,769.301,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,580.253,624.197,599.235,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44250,846
$CAP_FILE_SIZE,142822,0
$CFSIZE,254472192,241750016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,21,0,0
$GPS,110708,060238,6158.441,-919.715,35,1.2,35,-9.6