version: 66.03
glider: 5
mission: 3
dive: 150
start: 7 12 108 1 12 37
data:
$ID,5
$MISSION,3
$DIVE,150
$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,-79453.219
$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,26
$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
$GPS1,010631,6211.129,-918.833,60,1.4,60,-9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-54.6
$GPS2,011145,6211.216,-918.808,12,1.3,12,-9.6
$SPEED_LIMITS,0.104,0.201
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.122,-0.160
$KALMAN_X,-83830.0,1656.1,967.9,102010.7,-10317.5
$KALMAN_Y,135508.5,-5455.1,-2004.5,-87259.4,56740.5
$MHEAD_RNG_PITCHd_Wd,152.4,56379,-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,-117.3,0.0,0.0,0,145,0.00,0.00,-112.80,0.000,6,0.000,0.000,418,2178,3099
$GC,149,-1.03,-117.3,3.2,-3.0,6,165,10.60,2.60,0.00,0.000,4,0.137,0.055,2468,739,3099
$GC,392,-0.71,-117.3,32.5,-10.4,16,397,0.35,2.53,0.00,0.000,6,0.086,0.048,2544,2151,3098
$GC,719,-0.62,-117.3,59.5,-8.2,32,724,0.00,2.58,0.00,0.000,4,0.000,0.059,2544,737,3098
$GC,738,-0.52,-117.3,61.0,-8.4,33,743,0.20,2.53,0.00,0.000,6,0.085,0.050,2585,2154,3098
$GC,1067,-0.52,-117.3,83.9,-7.2,49,1071,0.00,2.50,0.00,0.000,4,0.000,0.059,2585,3558,3098
$GC,1107,-0.57,-117.3,87.0,-6.9,51,1112,0.00,2.47,0.00,0.000,6,0.000,0.046,2585,2163,3099
$GC,1435,-0.62,-117.3,106.6,-5.7,67,1437,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2143,3098
$GC,1744,-0.68,-117.3,120.1,-3.5,82,1749,0.15,2.53,0.00,0.000,4,0.048,0.060,2539,748,3098
$GC,1795,-0.57,-117.3,122.1,-4.7,84,1800,0.17,2.50,0.00,0.000,6,0.087,0.050,2576,2144,3098
$GC,2112,-0.57,-117.3,131.1,-2.3,99,2116,0.00,2.55,0.00,0.000,4,0.000,0.061,2576,747,3098
$GC,2122,-0.57,-117.3,131.3,-2.1,99,2129,0.00,2.50,0.00,0.000,6,0.000,0.051,2576,2144,3098
$GC,2439,-0.57,-117.3,135.6,-1.1,115,2443,0.00,2.55,0.00,0.000,4,0.000,0.061,2576,745,3098
$GC,2518,-0.57,-117.3,136.5,-1.2,118,2524,0.00,2.45,0.00,0.000,6,0.000,0.051,2575,2117,3099
$GC,2834,-0.57,-117.3,140.7,-2.0,134,2839,0.00,2.50,0.00,0.000,4,0.000,0.062,2575,749,3099
$GC,2931,-0.57,-117.3,144.1,-3.5,138,2935,0.00,2.40,0.00,0.000,6,0.000,0.052,2575,2089,3098
$GC,3246,-0.57,-117.3,160.5,-6.3,153,3250,0.00,2.45,0.00,0.000,4,0.000,0.061,2575,746,3098
$GC,3268,-0.57,-117.3,161.9,-6.3,154,3272,0.00,2.38,0.00,0.000,6,0.000,0.051,2576,2070,3098
$GC,3590,-0.57,-117.3,185.3,-7.5,170,3591,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2070,3098
$GC,3899,-0.57,-117.3,207.9,-7.1,185,3903,0.00,2.42,0.00,0.000,4,0.000,0.064,2575,751,3097
$GC,3926,-0.57,-117.3,210.1,-8.1,186,3930,0.00,2.40,0.00,0.000,6,0.000,0.052,2575,2085,3097
$GC,4243,-0.57,-117.3,230.7,-5.9,201,4247,0.00,2.45,0.00,0.000,4,0.000,0.064,2575,748,3097
$GC,4265,-0.57,-117.3,232.3,-6.1,202,4269,0.00,2.38,0.00,0.000,6,0.000,0.053,2575,2067,3097
$GC,4587,-0.57,-117.3,248.2,-4.5,218,4591,0.00,2.42,0.00,0.000,4,0.000,0.064,2575,745,3097
$GC,4632,-0.57,-117.3,250.4,-5.4,220,4636,0.00,2.38,0.00,0.000,6,0.000,0.054,2575,2064,3097
$GC,4960,-0.57,-117.3,263.6,-3.8,236,4964,0.00,2.42,0.00,0.000,4,0.000,0.064,2575,743,3097
$GC,5016,-0.57,-117.3,266.1,-5.1,238,5022,0.00,2.33,0.00,0.000,6,0.000,0.054,2575,2042,3097
$GC,5332,-0.57,-117.3,276.8,-3.1,254,5336,0.00,2.38,0.00,0.000,4,0.000,0.064,2575,751,3096
$GC,5373,-0.57,-117.3,278.1,-3.7,256,5377,0.00,2.30,0.00,0.000,6,0.000,0.053,2576,2032,3097
$GC,5700,-0.57,-117.3,288.5,-3.1,272,5701,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2033,3096
$GC,6009,-0.57,-117.3,298.5,-3.3,287,6013,0.00,2.75,0.00,0.000,4,0.000,0.065,2575,3563,3096
$GC,6032,-0.57,-117.3,299.4,-3.9,288,6037,0.00,2.72,0.00,0.000,6,0.000,0.051,2575,2032,3095
$GC,6354,-0.57,-117.3,312.7,-4.2,304,6359,0.00,2.80,0.00,0.000,4,0.000,0.065,2575,3561,3095
$GC,6404,-0.57,-117.3,315.0,-5.3,306,6409,0.00,2.67,0.00,0.000,6,0.000,0.050,2575,2046,3095
$GC,6721,-0.57,-117.3,330.5,-4.8,321,6725,0.00,2.75,0.00,0.000,4,0.000,0.064,2575,3559,3095
$GC,6761,-0.57,-117.3,332.7,-5.7,323,6766,0.00,2.67,0.00,0.000,6,0.000,0.050,2575,2049,3095
$GC,7088,-0.62,-117.3,353.7,-6.7,339,7092,0.00,2.75,0.00,0.000,4,0.000,0.065,2575,3558,3095
$GC,7121,-0.62,-117.3,356.1,-7.3,340,7127,0.00,2.67,0.00,0.000,6,0.000,0.051,2575,2051,3095
$GC,7437,-0.62,-117.3,378.2,-7.0,356,7442,0.00,2.75,0.00,0.000,4,0.000,0.066,2575,3558,3095
$GC,7515,-0.62,-117.3,383.8,-6.8,359,7521,0.00,2.65,0.00,0.000,6,0.000,0.050,2575,2067,3094
$GC,7832,-0.66,-117.3,402.9,-6.1,375,7836,0.00,2.70,0.00,0.000,4,0.000,0.064,2575,3559,3094
$GC,7916,-0.66,-117.3,407.6,-5.9,379,7921,0.00,2.60,0.00,0.000,6,0.000,0.048,2575,2086,3094
$GC,8244,-0.66,-117.3,417.8,-1.9,395,8248,0.00,2.70,0.00,0.000,4,0.000,0.064,2575,3558,3094
$GC,8272,-0.66,-117.3,418.3,-1.9,396,8276,0.00,2.60,0.00,0.000,6,0.000,0.051,2575,2095,3094
$GC,8589,-0.71,-117.3,422.1,-0.9,411,8594,0.12,2.67,0.00,0.000,4,0.053,0.064,2537,3561,3094
$GC,8623,-0.61,-117.3,422.7,-2.4,412,8629,0.12,2.60,0.00,0.000,6,0.094,0.051,2564,2103,3094
$GC,8939,-0.61,-117.3,428.2,-1.8,428,8944,0.00,2.67,0.00,0.000,4,0.000,0.067,2564,3564,3094
$GC,9012,-0.61,-117.3,429.5,-1.9,431,9016,0.00,2.58,0.00,0.000,6,0.000,0.051,2564,2123,3094
$GC,9329,-0.61,-117.3,436.1,-3.4,446,9334,0.00,2.65,0.00,0.000,4,0.000,0.068,2564,3564,3094
$GC,9357,-0.61,-117.3,437.6,-5.0,447,9362,0.00,2.58,0.00,0.000,6,0.000,0.052,2564,2120,3094
$GC,9673,-0.61,-117.3,454.7,-6.2,462,9677,0.00,2.65,0.00,0.000,4,0.000,0.067,2564,3558,3094
$GC,9685,-0.61,-117.3,455.4,-6.2,462,9691,0.00,2.58,0.00,0.000,6,0.000,0.052,2564,2112,3094
$GC,10001,-0.61,-117.3,473.2,-5.7,478,10006,0.00,2.67,0.00,0.000,4,0.000,0.067,2564,3564,3093
$GC,10012,-0.61,-117.3,473.9,-6.0,478,10019,0.00,2.58,0.00,0.000,6,0.000,0.054,2564,2126,3093
$GC,10329,-0.61,-117.3,493.5,-6.3,494,10333,0.00,2.65,0.00,0.000,4,0.000,0.071,2564,3561,3093
$GC,10350,-0.61,-117.3,495.3,-8.3,495,10354,0.00,2.55,0.00,0.000,6,0.000,0.057,2564,2147,3093
$GC,10672,-0.61,-117.3,514.9,-5.4,511,10676,0.00,2.62,0.00,0.000,4,0.000,0.071,2564,3559,3093
$GC,10831,-0.61,-117.3,522.0,-5.6,518,10835,0.00,2.47,0.00,0.000,6,0.000,0.054,2564,2181,3093
$STATE,10840,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10840,begin apogee
$GC,10847,-0.33,0.0,522.8,6.6,519,10948,0.30,0.00,98.20,1.170,6,0.085,0.000,2624,2091,2620
$STATE,10949,end apogee,CONTROL_FINISHED_OK
$STATE,10949,begin climb
$GC,10952,1.03,117.3,525.6,0.0,524,11057,1.38,2.67,97.68,1.142,4,0.071,0.064,2921,3500,2141
$GC,11143,1.03,117.3,514.6,7.9,533,11148,0.00,2.53,0.00,0.000,6,0.000,0.056,2921,2117,2140
$GC,11470,1.03,117.3,487.4,9.6,549,11474,0.00,2.60,0.00,0.000,4,0.000,0.068,2921,3506,2139
$GC,11532,1.03,117.3,482.4,8.2,552,11536,0.00,2.50,0.00,0.000,6,0.000,0.056,2921,2134,2140
$GC,11858,1.03,117.3,453.8,10.1,568,11859,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,2115,2139
$GC,12168,1.03,117.3,422.2,10.0,583,12172,0.00,2.58,0.00,0.000,4,0.000,0.069,2921,3512,2138
$GC,12245,1.03,117.3,414.3,9.6,586,12251,0.00,2.50,0.00,0.000,6,0.000,0.057,2921,2140,2138
$GC,12562,1.03,117.3,392.3,6.2,602,12566,0.00,2.65,0.00,0.000,4,0.000,0.070,2921,683,2138
$GC,12606,1.05,128.3,389.5,5.6,604,12623,0.00,2.67,10.18,0.986,6,0.000,0.058,2921,2160,2096
$GC,12932,1.17,202.1,377.3,3.5,620,12999,0.12,2.53,60.92,1.082,4,0.051,0.066,2960,3508,1795
$GC,13062,1.12,202.1,370.3,6.3,626,13066,0.00,2.47,0.00,0.000,6,0.000,0.054,2960,2155,1794
$GC,13383,1.12,231.4,353.8,5.0,642,13414,0.00,2.72,24.77,1.029,4,0.000,0.067,2960,690,1676
$GC,13453,1.12,231.4,349.8,6.2,645,13457,0.00,2.67,0.00,0.000,6,0.000,0.055,2960,2157,1676
$GC,13769,1.16,252.5,332.9,5.3,660,13795,0.00,2.53,18.83,0.996,4,0.000,0.064,2960,3502,1589
$GC,13846,1.17,263.9,328.6,5.6,663,13862,0.00,2.45,10.85,0.932,6,0.000,0.053,2960,2149,1544
$GC,14187,1.21,288.2,310.9,5.2,680,14213,0.00,2.72,21.58,0.988,4,0.000,0.067,2960,681,1445
$GC,14259,1.22,290.2,306.4,5.9,683,14263,0.00,2.67,0.00,0.000,6,0.000,0.054,2960,2162,1444
$GC,14575,1.22,290.2,287.2,7.1,698,14584,0.00,2.47,3.55,0.601,4,0.000,0.064,2960,3501,1436
$GC,14630,1.26,290.2,282.6,8.0,700,14634,0.00,2.45,0.00,0.000,6,0.000,0.051,2960,2150,1436
$GC,14946,1.26,290.2,248.3,13.1,715,14950,0.00,2.65,0.00,0.000,4,0.000,0.068,2960,681,1436
$GC,15001,1.26,290.2,239.8,14.8,717,15007,0.00,2.65,0.00,0.000,6,0.000,0.054,2960,2154,1436
$GC,15317,1.26,290.2,178.4,21.3,733,15321,0.00,2.45,0.00,0.000,4,0.000,0.062,2960,3516,1437
$GC,15344,1.32,290.2,172.3,20.6,734,15349,0.12,2.47,0.00,0.000,6,0.049,0.052,2999,2142,1437
$GC,15662,1.25,290.2,92.4,24.8,749,15667,0.12,2.62,0.00,0.000,4,0.084,0.066,2974,689,1437
$GC,15725,1.25,290.2,78.9,19.6,752,15729,0.00,2.60,0.00,0.000,6,0.000,0.053,2974,2135,1438
$GC,16053,1.25,290.2,29.3,12.5,768,16057,0.00,2.47,0.00,0.000,4,0.000,0.061,2974,3516,1437
$GC,16093,1.25,290.2,24.5,12.1,770,16098,0.00,2.50,0.00,0.000,6,0.000,0.051,2974,2119,1437
$STATE,16315,end climb,SURFACE_DEPTH_REACHED
$STATE,16315,begin surface coast
$FINISH,0.5,1.027033
$STATE,16337,end surface coast,CONTROL_FINISHED_OK
$STATE,16337,begin surface
$SM_CCo,16360,152.60,0.783,0,0,390,547.02
$SM_GC,0.48,0.00,0.00,152.60,0.000,0.000,0.783,423,2176,390,-10.47,0.71,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1672
$TCM_TEMP,16.60
$XPDR_PINGS,593
$ALTIM_TOP_PING,18.1,999.0
$ALTIM_BOTTOM_PING,475.5,57.1
$24V_AH,23.9,31.345
$10V_AH,10.1,15.205
$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,24.825,205.275,346.550,152.600,0.000,37.760,26.591,132.335,152.250,0.000,0.000,12.199,1521.890,12234.378,689.685,1857.348,525.506,33.363,1662.706,0.000,1820.194,0.000,28.167
$DEVICE_MAMPS,137.293,71.331,1169.675,783.107,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,535.057,579.233,528.786,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41058,782
$CAP_FILE_SIZE,140183,0
$CFSIZE,254472192,241430528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,19,0,0
$GPS,120708,054908,6214.353,-911.982,37,1.3,37,-9.6