version: 66.03
glider: 5
mission: 3
dive: 175
start: 7 15 108 23 27 21
data:
$ID,5
$MISSION,3
$DIVE,175
$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,412.5
$T_MISSION,440
$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,2
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,270
$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,-79891.805
$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,34
$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
$GPS1,232201,6215.552,-847.055,39,1.1,39,-9.4
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,0.48
$_SM_ANGLEo,-50.0
$GPS2,232703,6215.458,-847.113,15,1.6,15,-9.4
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,HEADING
$TGT_LATLONG,6215.458,-852.140
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.083,-0.206
$KALMAN_X,-40971.5,-1465.1,-567.2,90682.3,18100.7
$KALMAN_Y,180399.3,-1251.1,-1112.6,-126650.4,27600.3
$MHEAD_RNG_PITCHd_Wd,279.4,20000,-16.7,-8.000
$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,26,end surface,CONTROL_FINISHED_OK
$STATE,27,begin dive
$GC,30,-1.30,-117.3,0.0,0.0,0,144,0.00,0.00,-111.55,0.000,6,0.000,0.000,420,2165,3099
$GC,147,-1.30,-117.3,2.1,-1.7,5,163,10.32,2.47,0.00,0.000,4,0.138,0.056,2409,3554,3098
$GC,376,-0.96,-117.3,40.6,-15.6,14,382,0.40,2.53,0.00,0.000,6,0.096,0.046,2490,2136,3097
$GC,693,-0.89,-117.3,61.7,-5.7,29,695,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2118,3097
$GC,1003,-0.81,-117.3,86.2,-8.3,44,1008,0.15,2.58,0.00,0.000,4,0.094,0.058,2526,3548,3097
$GC,1088,-0.81,-117.3,93.6,-9.0,48,1092,0.00,2.53,0.00,0.000,6,0.000,0.048,2525,2124,3097
$GC,1415,-0.81,-117.3,119.4,-8.1,64,1419,0.00,2.47,0.00,0.000,4,0.000,0.064,2525,748,3098
$GC,1487,-0.81,-117.3,125.9,-8.3,67,1492,0.00,2.47,0.00,0.000,6,0.000,0.051,2525,2127,3098
$GC,1806,-0.86,-117.3,148.2,-6.7,82,1810,0.00,2.58,0.00,0.000,4,0.000,0.062,2525,3564,3097
$GC,1846,-0.86,-117.3,151.1,-7.4,84,1850,0.00,2.53,0.00,0.000,6,0.000,0.050,2525,2138,3097
$GC,2173,-0.91,-117.3,171.8,-6.2,100,2175,0.12,0.00,0.00,0.000,6,0.051,0.000,2488,2136,3097
$GC,2482,-0.85,-117.3,194.4,-7.5,115,2487,0.12,2.50,0.00,0.000,4,0.097,0.064,2514,746,3097
$GC,2539,-0.85,-117.3,198.7,-7.4,117,2544,0.00,2.50,0.00,0.000,6,0.000,0.052,2514,2138,3097
$GC,2855,-0.85,-117.3,217.6,-5.3,133,2859,0.00,2.55,0.00,0.000,4,0.000,0.063,2514,3558,3097
$GC,2905,-0.85,-117.3,220.6,-5.4,135,2909,0.00,2.55,0.00,0.000,6,0.000,0.052,2514,2131,3096
$GC,3222,-0.85,-117.3,237.3,-5.7,150,3226,0.00,2.50,0.00,0.000,4,0.000,0.064,2514,738,3096
$GC,3271,-0.85,-117.3,240.3,-6.1,152,3276,0.00,2.50,0.00,0.000,6,0.000,0.052,2514,2131,3096
$GC,3588,-0.85,-117.3,257.0,-5.4,167,3592,0.00,2.58,0.00,0.000,4,0.000,0.064,2514,3565,3096
$GC,3650,-0.85,-117.3,260.7,-6.1,170,3655,0.00,2.58,0.00,0.000,6,0.000,0.051,2514,2119,3096
$GC,3977,-0.85,-117.3,281.4,-6.9,186,3982,0.00,2.62,0.00,0.000,4,0.000,0.064,2514,3557,3096
$GC,4056,-0.85,-117.3,286.8,-6.6,189,4062,0.00,2.55,0.00,0.000,6,0.000,0.051,2514,2133,3096
$GC,4373,-0.85,-117.3,310.1,-7.8,205,4377,0.00,2.62,0.00,0.000,4,0.000,0.065,2514,3567,3096
$GC,4631,-1.24,-117.3,311.8,0.1,216,4637,0.38,2.55,0.00,0.000,6,0.038,0.051,2413,2140,3095
$GC,4947,-1.60,-117.3,311.9,-0.1,232,4952,0.25,2.58,0.00,0.000,4,0.043,0.064,2342,3559,3095
$STATE,5017,end dive,NO_VERTICAL_VELOCITY
$STATE,5017,begin apogee
$GC,5027,-0.33,0.0,311.9,0.0,235,5126,1.27,0.00,95.32,1.006,6,0.069,0.000,2622,2095,2620
$STATE,5127,end apogee,CONTROL_FINISHED_OK
$STATE,5127,begin climb
$GC,5130,1.30,117.3,311.7,0.0,240,5234,1.67,2.60,93.95,0.976,4,0.075,0.065,2978,690,2141
$GC,5302,1.32,129.1,300.6,7.5,248,5318,0.00,2.58,11.12,0.863,6,0.000,0.053,2978,2108,2093
$GC,5628,1.34,141.1,274.3,7.5,263,5644,0.00,2.58,11.20,0.871,4,0.000,0.063,2978,3505,2043
$GC,5736,1.34,141.1,265.5,8.4,267,5740,0.00,2.50,0.00,0.000,6,0.000,0.052,2978,2121,2042
$GC,6063,1.42,162.6,240.5,7.0,283,6088,0.15,2.62,18.42,0.909,4,0.055,0.063,3019,3505,1956
$GC,6111,1.35,162.6,236.2,9.6,285,6116,0.15,2.53,0.00,0.000,6,0.098,0.053,2992,2121,1956
$GC,6433,1.35,162.6,209.5,8.3,301,6437,0.00,2.55,0.00,0.000,4,0.000,0.062,2993,3505,1956
$GC,6488,1.35,162.6,204.3,9.2,303,6494,0.00,2.47,0.00,0.000,6,0.000,0.051,2992,2135,1955
$GC,6804,1.37,173.4,178.6,7.5,319,6819,0.00,2.55,9.65,0.830,4,0.000,0.061,2992,3507,1913
$GC,6853,1.37,173.4,174.6,8.2,320,6857,0.00,2.47,0.00,0.000,6,0.000,0.051,2992,2143,1913
$GC,7169,1.37,173.4,148.1,8.8,335,7173,0.00,2.47,0.00,0.000,4,0.000,0.061,2992,3506,1913
$GC,7202,1.37,173.4,145.1,9.0,336,7208,0.00,2.42,0.00,0.000,6,0.000,0.051,2992,2154,1913
$GC,7518,1.38,183.1,120.8,7.6,352,7530,0.00,0.00,9.70,0.798,6,0.000,0.000,2992,2154,1873
$GC,7829,1.43,183.1,92.0,9.4,367,7833,0.00,2.47,0.00,0.000,4,0.000,0.061,2992,3512,1873
$GC,7853,1.47,183.1,89.7,9.4,368,7858,0.12,2.45,0.00,0.000,6,0.049,0.051,3030,2148,1872
$GC,8175,1.40,183.1,51.4,12.5,384,8177,0.15,0.00,0.00,0.000,6,0.090,0.000,3002,2147,1873
$GC,8486,1.40,183.1,19.1,10.4,399,8487,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2147,1873
$STATE,8666,end climb,SURFACE_DEPTH_REACHED
$STATE,8666,begin surface coast
$FINISH,-0.0,1.027058
$STATE,8688,end surface coast,CONTROL_FINISHED_OK
$STATE,8688,begin surface
$SM_CCo,8710,213.82,0.773,0,0,389,547.02
$SM_GC,0.38,0.00,0.00,213.82,0.000,0.000,0.773,421,2134,389,-10.48,-0.48,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1668
$TCM_TEMP,17.50
$XPDR_PINGS,328
$ALTIM_TOP_PING,19.1,999.0
$24V_AH,24.0,35.027
$10V_AH,10.1,16.876
$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,26.450,91.250,249.375,213.825,0.000,37.759,30.766,129.755,84.000,0.000,0.000,15.845,844.289,6339.634,604.986,1061.836,385.896,0.000,1149.999,0.000,1043.384,0.000,13.895
$DEVICE_MAMPS,138.060,65.195,1006.304,773.136,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,279.277,301.816,358.275,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19100,409
$CAP_FILE_SIZE,77377,0
$CFSIZE,254472192,240279552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,0,0
$GPS,160708,015731,6213.591,-849.492,39,1.1,45,-9.4