version: 66.03
glider: 5
mission: 3
dive: 148
start: 7 11 108 15 17 31
data:
$ID,5
$MISSION,3
$DIVE,148
$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,-79426.961
$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,24
$R_STBD_OVSHOOT,28
$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
$GPS1,151107,6205.695,-924.025,37,1.2,37,-9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.61
$_SM_ANGLEo,-50.6
$GPS2,151639,6205.800,-924.069,12,1.8,12,-9.6
$SPEED_LIMITS,0.104,0.201
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.065,-0.190
$KALMAN_X,-88953.0,1924.7,1229.1,101988.7,-23059.0
$KALMAN_Y,119740.1,-3308.0,-621.0,-85103.3,55951.7
$MHEAD_RNG_PITCHd_Wd,170.9,47343,-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,-117.3,0.0,0.0,0,143,0.00,0.00,-111.30,0.000,6,0.000,0.000,418,2178,3098
$GC,146,-1.03,-117.3,3.2,-3.0,6,163,10.62,2.50,0.00,0.000,4,0.137,0.058,2467,3560,3098
$GC,169,0.69,-117.3,8.9,-21.7,6,177,1.83,2.53,0.00,0.000,6,0.087,0.046,2847,2146,3098
$GC,496,-0.04,-117.3,32.2,-8.5,22,498,0.73,0.00,0.00,0.000,6,0.049,0.000,2685,2127,3097
$GC,805,-0.45,-117.3,58.3,-7.0,37,810,0.35,2.58,0.00,0.000,4,0.042,0.058,2590,3561,3097
$GC,1002,-0.45,-117.3,73.5,-9.1,46,1006,0.00,2.67,0.00,0.000,6,0.000,0.045,2589,2051,3097
$GC,1329,-0.50,-117.3,98.4,-6.3,62,1330,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2050,3097
$GC,1639,-0.56,-117.3,118.1,-7.8,77,1640,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2050,3098
$GC,1947,-0.63,-117.3,148.5,-13.4,92,1952,0.12,2.72,0.00,0.000,4,0.048,0.058,2549,3552,3097
$GC,2055,-0.57,-117.3,162.6,-10.9,97,2061,0.12,2.67,0.00,0.000,6,0.091,0.045,2575,2041,3097
$GC,2382,-0.57,-117.3,174.4,0.3,113,2387,0.00,2.75,0.00,0.000,4,0.000,0.058,2576,3560,3097
$GC,2393,-0.57,-117.3,174.4,0.8,113,2399,0.00,2.67,0.00,0.000,6,0.000,0.048,2575,2049,3097
$GC,2710,-0.57,-117.3,160.7,5.8,129,2714,0.00,2.72,0.00,0.000,4,0.000,0.060,2575,3551,3097
$GC,2732,-0.57,-117.3,159.2,6.4,130,2736,0.00,2.65,0.00,0.000,6,0.000,0.048,2575,2055,3098
$GC,3055,-0.57,-117.3,139.3,5.5,146,3059,0.00,2.72,0.00,0.000,4,0.000,0.060,2575,3557,3097
$GC,3119,-0.57,-117.3,136.6,3.8,149,3124,0.00,2.65,0.00,0.000,6,0.000,0.048,2575,2065,3097
$GC,3449,-0.57,-117.3,123.3,3.0,165,3453,0.00,2.67,0.00,0.000,4,0.000,0.060,2575,3561,3098
$GC,3498,-0.57,-117.3,122.4,1.7,167,3503,0.00,2.62,0.00,0.000,6,0.000,0.047,2575,2073,3097
$GC,3818,-0.57,-117.3,121.0,-0.5,182,3822,0.00,2.70,0.00,0.000,4,0.000,0.060,2575,3561,3098
$GC,3845,-0.57,-117.3,121.3,-0.8,183,3850,0.00,2.62,0.00,0.000,6,0.000,0.048,2575,2078,3097
$GC,4162,-0.57,-117.3,125.0,-1.3,198,4166,0.00,2.67,0.00,0.000,4,0.000,0.061,2575,3549,3097
$GC,4225,-0.57,-117.3,126.4,-2.3,201,4230,0.00,2.58,0.00,0.000,6,0.000,0.048,2575,2092,3097
$GC,4552,-0.57,-117.3,133.7,-2.6,217,4557,0.00,2.65,0.00,0.000,4,0.000,0.061,2575,3550,3097
$GC,4563,-0.57,-117.3,134.1,-2.6,217,4570,0.00,2.58,0.00,0.000,6,0.000,0.049,2575,2098,3097
$GC,4880,-0.57,-117.3,141.5,-2.5,233,4885,0.00,2.65,0.00,0.000,4,0.000,0.061,2575,3553,3097
$GC,4914,-0.57,-117.3,142.8,-4.0,234,4921,0.00,2.58,0.00,0.000,6,0.000,0.049,2575,2100,3097
$GC,5230,-0.57,-117.3,152.8,-3.2,250,5234,0.00,2.65,0.00,0.000,4,0.000,0.062,2575,3551,3097
$GC,5241,-0.57,-117.3,153.3,-3.1,250,5247,0.00,2.58,0.00,0.000,6,0.000,0.050,2575,2102,3097
$GC,5557,-0.57,-117.3,162.8,-3.2,266,5559,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2102,3097
$GC,5868,-0.57,-117.3,175.4,-4.5,281,5869,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2102,3097
$GC,6176,-0.57,-117.3,190.7,-4.9,296,6178,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2102,3096
$GC,6486,-0.57,-117.3,206.4,-4.9,311,6487,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2102,3096
$GC,6794,-0.57,-117.3,220.3,-4.4,326,6796,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2102,3096
$GC,7104,-0.57,-117.3,233.8,-4.5,341,7109,0.00,2.65,0.00,0.000,4,0.000,0.064,2575,3550,3096
$GC,7116,-0.57,-117.3,234.3,-4.5,341,7122,0.00,2.58,0.00,0.000,6,0.000,0.051,2575,2106,3096
$GC,7432,-0.57,-117.3,248.3,-4.7,357,7436,0.00,2.65,0.00,0.000,4,0.000,0.064,2575,3555,3096
$GC,7450,-0.57,-117.3,249.1,-4.7,358,7454,0.00,2.58,0.00,0.000,6,0.000,0.051,2575,2108,3095
$GC,7776,-0.57,-117.3,265.9,-5.2,374,7781,0.00,2.65,0.00,0.000,4,0.000,0.064,2575,3558,3096
$GC,7804,-0.57,-117.3,267.5,-5.6,375,7809,0.00,2.55,0.00,0.000,6,0.000,0.051,2575,2123,3095
$GC,8121,-0.57,-117.3,285.0,-5.5,390,8125,0.00,2.62,0.00,0.000,4,0.000,0.064,2575,3557,3095
$GC,8176,-0.57,-117.3,288.4,-6.0,392,8182,0.00,2.55,0.00,0.000,6,0.000,0.051,2576,2126,3095
$GC,8493,-0.61,-117.3,308.0,-5.1,408,8498,0.00,2.62,0.00,0.000,4,0.000,0.065,2575,3557,3095
$GC,8538,-0.61,-117.3,311.3,-7.7,410,8542,0.00,2.53,0.00,0.000,6,0.000,0.051,2575,2143,3095
$GC,8860,-0.65,-117.3,335.1,-7.4,426,8864,0.00,2.58,0.00,0.000,4,0.000,0.064,2575,3551,3094
$GC,8870,-0.65,-117.3,335.9,-7.1,426,8876,0.00,2.53,0.00,0.000,6,0.000,0.049,2575,2133,3094
$GC,9186,-0.70,-117.3,361.1,-7.9,442,9191,0.12,2.47,0.00,0.000,4,0.052,0.063,2535,750,3094
$GC,9197,-0.70,-117.3,362.2,-7.9,442,9203,0.00,2.47,0.00,0.000,6,0.000,0.054,2535,2130,3094
$GC,9513,-0.62,-117.3,391.1,-8.9,458,9518,0.12,2.53,0.00,0.000,4,0.094,0.064,2562,750,3094
$GC,9593,-0.62,-117.3,397.9,-8.2,461,9599,0.00,2.45,0.00,0.000,6,0.000,0.054,2563,2116,3094
$GC,9909,-0.62,-117.3,416.3,-3.5,477,9913,0.00,2.50,0.00,0.000,4,0.000,0.064,2562,741,3094
$GC,10004,-0.62,-117.3,418.5,-2.2,481,10008,0.00,2.45,0.00,0.000,6,0.000,0.054,2562,2104,3094
$GC,10321,-0.62,-117.3,424.9,-2.5,496,10322,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2103,3094
$GC,10630,-0.62,-117.3,437.1,-4.6,511,10635,0.00,2.62,0.00,0.000,4,0.000,0.067,2563,3556,3094
$GC,10653,-0.62,-117.3,438.4,-5.1,512,10657,0.00,2.60,0.00,0.000,6,0.000,0.054,2562,2100,3093
$GC,10974,-0.62,-117.3,456.5,-5.6,528,10975,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2097,3094
$GC,11284,-0.62,-117.3,473.3,-5.2,543,11288,0.00,2.45,0.00,0.000,4,0.000,0.069,2563,744,3094
$GC,11334,-0.62,-117.3,476.2,-6.1,545,11338,0.00,2.42,0.00,0.000,6,0.000,0.058,2562,2091,3094
$GC,11650,-0.66,-117.3,499.6,-7.6,560,11655,0.00,2.47,0.00,0.000,4,0.000,0.068,2563,747,3093
$GC,11700,-0.66,-117.3,503.1,-7.3,562,11704,0.00,2.38,0.00,0.000,6,0.000,0.058,2563,2069,3093
$GC,12027,-0.66,-117.3,519.6,-4.5,578,12032,0.00,2.70,0.00,0.000,4,0.000,0.072,2562,3555,3093
$GC,12129,-0.66,-117.3,524.4,-5.4,582,12135,0.00,2.62,0.00,0.000,6,0.000,0.057,2563,2097,3093
$GC,12445,-0.70,-117.3,534.5,-3.0,598,12447,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2077,3092
$STATE,12752,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,12752,begin apogee
$GC,12759,-0.33,0.0,552.6,8.6,613,12860,0.30,0.00,98.38,1.187,6,0.078,0.000,2625,2071,2620
$STATE,12861,end apogee,CONTROL_FINISHED_OK
$STATE,12861,begin climb
$GC,12864,1.03,117.3,552.7,0.0,618,12969,1.40,2.70,97.68,1.165,4,0.067,0.071,2924,3503,2141
$GC,13065,1.20,221.3,543.1,2.4,627,13158,0.15,2.58,86.03,1.141,6,0.051,0.060,2967,2073,1717
$GC,13468,1.13,221.3,502.8,7.8,646,13473,0.12,2.62,0.00,0.000,4,0.087,0.069,2942,3504,1716
$GC,13546,1.13,221.3,497.0,6.7,649,13552,0.00,2.50,0.00,0.000,6,0.000,0.060,2942,2148,1716
$GC,13862,1.24,291.6,479.0,3.6,665,13926,0.12,2.75,58.17,1.128,4,0.052,0.074,2978,681,1431
$GC,13980,1.21,302.6,471.6,5.6,670,13997,0.00,2.62,10.62,0.999,6,0.000,0.061,2978,2120,1386
$GC,14307,1.30,388.3,457.9,3.1,686,14388,0.00,2.67,71.32,1.121,4,0.000,0.068,2978,3512,1037
$GC,14453,1.39,408.7,451.4,5.3,692,14480,0.10,2.55,18.88,1.048,6,0.058,0.058,3011,2128,954
$GC,14792,1.33,408.7,425.7,8.2,709,14797,0.12,2.65,0.00,0.000,4,0.087,0.071,2986,681,954
$GC,14859,1.33,408.7,420.7,6.9,712,14863,0.00,2.62,0.00,0.000,6,0.000,0.057,2986,2131,953
$GC,15180,1.33,408.7,397.4,7.9,728,15184,0.00,2.67,0.00,0.000,4,0.000,0.068,2986,688,953
$GC,15219,1.33,408.7,393.8,9.1,730,15223,0.00,2.58,0.00,0.000,6,0.000,0.056,2986,2117,953
$GC,15546,1.33,408.7,360.6,11.6,746,15551,0.00,2.50,0.00,0.000,4,0.000,0.065,2986,3510,953
$GC,15574,1.37,408.7,356.8,12.4,747,15579,0.00,2.55,0.00,0.000,6,0.000,0.053,2986,2098,954
$GC,15890,1.37,408.7,317.4,12.6,762,15894,0.00,2.55,0.00,0.000,4,0.000,0.069,2986,681,954
$GC,15940,1.37,408.7,310.5,13.5,764,15945,0.00,2.58,0.00,0.000,6,0.000,0.054,2986,2109,954
$GC,16256,1.37,408.7,266.2,14.6,779,16260,0.00,2.53,0.00,0.000,4,0.000,0.063,2986,3510,955
$GC,16296,1.45,408.7,260.3,15.8,781,16301,0.12,2.55,0.00,0.000,6,0.048,0.052,3024,2091,954
$GC,16624,1.37,408.7,202.3,17.6,797,16629,0.15,2.53,0.00,0.000,4,0.083,0.065,2990,690,954
$GC,16679,1.37,408.7,193.3,13.8,799,16685,0.00,2.53,0.00,0.000,6,0.000,0.054,2990,2098,954
$GC,16995,1.37,408.7,147.4,14.1,815,16999,0.00,2.50,0.00,0.000,4,0.000,0.061,2990,3508,955
$GC,17040,1.44,408.7,140.9,14.0,817,17045,0.10,2.55,0.00,0.000,6,0.054,0.053,3023,2093,955
$GC,17364,1.35,408.7,94.5,14.0,833,17369,0.15,2.53,0.00,0.000,4,0.082,0.065,2989,691,955
$GC,17405,1.40,408.7,89.4,12.3,835,17409,0.00,2.53,0.00,0.000,6,0.000,0.053,2989,2107,955
$GC,17731,1.40,408.7,55.9,10.2,851,17733,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2108,955
$GC,18041,1.40,408.7,25.0,10.2,866,18045,0.00,2.60,0.00,0.000,4,0.000,0.067,2989,691,955
$GC,18097,1.45,408.7,19.4,9.1,868,18104,0.12,2.47,0.00,0.000,6,0.047,0.050,3028,2083,955
$STATE,18245,end climb,SURFACE_DEPTH_REACHED
$STATE,18245,begin surface coast
$FINISH,0.1,1.027080
$STATE,18267,end surface coast,CONTROL_FINISHED_OK
$STATE,18268,begin surface
$SM_CCo,18290,81.57,0.782,0,0,389,547.02
$SM_GC,0.58,0.00,0.00,81.57,0.000,0.000,0.782,418,2170,389,-10.50,0.57,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1682
$TCM_TEMP,17.60
$XPDR_PINGS,641
$ALTIM_TOP_PING,19.9,999.0
$ALTIM_BOTTOM_PING,550.8,10.1
$24V_AH,23.9,30.974
$10V_AH,10.1,15.043
$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,28.225,196.750,441.075,81.575,0.000,37.761,33.405,143.731,165.250,0.000,0.000,12.128,1649.507,13806.501,692.334,1999.826,559.212,33.363,1731.847,0.000,1959.966,0.000,35.861
$DEVICE_MAMPS,137.293,73.632,1186.549,782.340,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,599.765,653.341,663.417,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44329,877
$CAP_FILE_SIZE,148095,0
$CFSIZE,254472192,241557504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,110708,202507,6208.734,-921.673,43,1.0,43,-9.6