version: 66.03
glider: 101
mission: 5
dive: 30
start: 4 5 108 3 13 53
data:
$ID,101
$MISSION,5
$DIVE,30
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$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,330
$T_MISSION,360
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,0.94999993
$RHO,1.023
$MASS,50300
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0034169999
$HD_B,0.0095870001
$HD_C,3.1312e-05
$HEADING,-1
$ESCAPE_HEADING,60
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,48.150002
$TGT_DEFAULT_LON,-125.67
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-691231.5
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,29
$PITCH_MAX,3302
$C_PITCH,2500
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,11
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,180
$ROLL_MAX,3635
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,294
$VBD_MAX,3583
$C_VBD,2564
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,10
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-14.435382
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,-1.3
$TCM_ROLL_OFFSET,-0.2
$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,125
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,4
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043762224
$SEABIRD_T_H,0.0006433985
$SEABIRD_T_I,2.5567888e-05
$SEABIRD_T_J,2.722762e-06
$SEABIRD_C_G,-10.209094
$SEABIRD_C_H,1.1488034
$SEABIRD_C_I,-0.0015548224
$SEABIRD_C_J,0.00021813136
$GPS1,030737,4751.855,-12615.560,43,1.5,49,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-62.7
$GPS2,031250,4751.824,-12615.563,11,2.0,16,18.8
$SPEED_LIMITS,0.165,0.247
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.192,-0.174
$KALMAN_X,14831.1,170.9,196.2,-61394.1,-696.2
$KALMAN_Y,1902.8,169.8,118.1,-31756.9,69.9
$MHEAD_RNG_PITCHd_Wd,209.0,163132,-17.9,-10.000
$D_GRID,1001
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,28,-1.81,-146.6,0.0,0.0,0,80,0.00,0.00,-49.85,0.000,2,0.000,0.000,28,2580,2006
$GC,84,-1.81,-146.6,3.6,-5.7,5,132,10.80,2.03,-30.65,0.000,4,0.126,0.096,2100,3617,3162
$GC,363,-1.81,-146.6,57.6,-18.5,38,370,0.00,1.83,0.00,0.000,6,0.000,0.048,2100,2598,3162
$GC,697,-1.81,-146.6,112.1,-15.1,80,700,0.00,1.95,0.00,0.000,4,0.000,0.080,2100,3619,3162
$GC,766,-1.81,-146.6,123.1,-15.7,86,769,0.00,1.80,0.00,0.000,6,0.000,0.048,2100,2601,3162
$GC,1093,-1.81,-146.6,172.2,-14.7,110,1094,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2601,3162
$GC,1402,-1.81,-146.6,216.0,-14.1,125,1406,0.00,2.53,0.00,0.000,4,0.000,0.054,2100,1196,3162
$GC,1470,-1.81,-146.6,226.0,-14.9,128,1474,0.00,2.50,0.00,0.000,6,0.000,0.047,2100,2593,3162
$GC,1791,-1.81,-146.6,272.7,-14.0,144,1792,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2593,3162
$GC,2118,-1.81,-146.6,318.4,-14.0,156,2119,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2593,3162
$GC,2421,-1.81,-146.6,361.3,-14.2,161,2425,0.00,2.55,0.00,0.000,4,0.000,0.061,2100,1200,3162
$GC,2461,-1.81,-146.6,366.9,-13.6,161,2465,0.00,2.55,0.00,0.000,6,0.000,0.054,2100,2603,3161
$GC,2781,-1.81,-146.6,409.4,-13.3,167,2786,0.00,2.60,0.00,0.000,4,0.000,0.067,2100,1199,3161
$GC,2826,-1.81,-146.6,415.6,-13.3,167,2831,0.00,2.60,0.00,0.000,6,0.000,0.064,2100,2605,3161
$GC,3143,-1.81,-146.6,455.6,-12.6,173,3144,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2605,3161
$GC,3445,-1.81,-146.6,493.2,-12.3,178,3449,0.00,2.70,0.00,0.000,4,0.000,0.087,2100,1209,3161
$GC,3512,-1.81,-146.6,501.9,-12.7,179,3517,0.00,2.70,0.00,0.000,6,0.000,0.088,2100,2598,3160
$GC,3872,-1.81,-146.6,548.8,-13.1,185,3873,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2598,3160
$GC,4175,-1.81,-146.6,588.4,-13.0,190,4180,0.00,2.70,0.00,0.000,4,0.000,0.091,2100,1208,3160
$GC,4215,-1.81,-146.6,593.7,-13.0,190,4219,0.00,2.70,0.00,0.000,6,0.000,0.087,2100,2601,3159
$GC,4535,-1.81,-146.6,635.9,-13.2,196,4536,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2601,3159
$GC,4840,-1.81,-146.6,672.2,-11.9,201,4844,0.00,2.70,0.00,0.000,4,0.000,0.087,2100,1199,3158
$GC,4907,-1.81,-146.6,680.6,-12.3,202,4911,0.00,2.70,0.00,0.000,6,0.000,0.084,2100,2602,3158
$GC,5268,-1.81,-146.6,722.0,-11.5,208,5273,0.00,2.67,0.00,0.000,4,0.000,0.086,2100,1210,3158
$GC,5323,-1.81,-146.6,728.7,-11.4,208,5329,0.00,2.67,0.00,0.000,6,0.000,0.084,2100,2601,3157
$GC,5633,-1.81,-146.6,764.0,-11.4,214,5634,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2601,3157
$GC,5936,-1.81,-146.6,799.6,-11.7,219,5937,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2601,3157
$GC,6239,-1.81,-146.6,835.1,-11.6,224,6244,0.00,2.67,0.00,0.000,4,0.000,0.086,2100,1209,3156
$GC,6290,-1.81,-146.6,841.1,-11.8,224,6294,0.00,2.67,0.00,0.000,6,0.000,0.082,2100,2604,3156
$GC,6601,-1.81,-146.6,875.5,-11.1,229,6602,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2604,3156
$GC,6903,-1.81,-146.6,909.1,-11.1,234,6904,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2604,3156
$GC,7206,-1.81,-146.6,944.5,-11.8,239,7210,0.00,2.67,0.00,0.000,4,0.000,0.085,2100,1210,3155
$GC,7250,-1.81,-146.6,949.8,-11.8,239,7255,0.00,2.65,0.00,0.000,6,0.000,0.082,2100,2601,3155
$GC,7571,-1.81,-146.6,985.6,-11.1,245,7576,0.00,2.67,0.00,0.000,4,0.000,0.085,2100,1209,3155
$STATE,7607,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7608,begin apogee
$GC,7617,-0.45,0.0,990.4,12.4,245,7746,1.42,0.00,125.20,1.482,6,0.092,0.000,2395,2209,2564
$STATE,7747,end apogee,CONTROL_FINISHED_OK
$STATE,7747,begin climb
$GC,7751,1.81,146.6,994.5,0.0,247,7886,2.25,2.88,126.62,1.425,4,0.056,0.098,2894,809,1966
$GC,8148,1.81,146.6,973.5,10.2,253,8152,0.00,2.70,0.00,0.000,6,0.000,0.076,2894,2207,1966
$GC,8513,1.81,146.6,935.9,10.2,259,8518,0.00,2.78,0.00,0.000,4,0.000,0.094,2894,808,1965
$GC,8771,1.81,146.6,907.2,11.6,262,8777,0.00,2.67,0.00,0.000,6,0.000,0.075,2894,2203,1965
$GC,9081,1.81,146.6,874.9,10.4,268,9085,0.00,2.75,0.00,0.000,4,0.000,0.091,2894,809,1965
$GC,9257,1.81,146.6,855.9,11.3,270,9262,0.00,2.65,0.00,0.000,6,0.000,0.074,2894,2201,1965
$GC,9578,1.81,146.6,820.2,11.1,276,9582,0.00,2.72,0.00,0.000,4,0.000,0.091,2894,812,1965
$GC,9760,1.81,146.6,799.4,11.4,278,9764,0.00,2.65,0.00,0.000,6,0.000,0.074,2894,2202,1965
$GC,10074,1.81,146.6,765.4,10.6,284,10079,0.00,2.72,0.00,0.000,4,0.000,0.090,2894,811,1965
$GC,10231,1.81,146.6,749.3,10.4,286,10236,0.00,2.65,0.00,0.000,6,0.000,0.074,2894,2203,1964
$GC,10570,1.81,149.2,715.9,9.9,292,10574,0.00,2.72,0.00,0.000,4,0.000,0.091,2894,812,1964
$GC,10811,1.82,153.2,692.2,9.8,295,10824,0.00,2.62,6.70,1.065,6,0.000,0.073,2894,2201,1939
$GC,11136,1.83,159.3,660.9,9.7,301,11150,0.00,2.83,7.10,1.065,4,0.000,0.090,2894,806,1914
$GC,11394,1.83,159.3,632.6,10.8,304,11398,0.00,2.65,0.00,0.000,6,0.000,0.073,2894,2201,1914
$GC,11703,1.83,159.3,599.8,10.6,309,11708,0.00,2.72,0.00,0.000,4,0.000,0.089,2894,804,1914
$GC,11855,1.83,159.4,583.7,10.0,311,11859,0.00,2.65,0.00,0.000,6,0.000,0.071,2894,2207,1914
$GC,12198,1.83,159.4,548.7,10.2,317,12202,0.00,2.72,0.00,0.000,4,0.000,0.088,2894,806,1914
$GC,12374,1.83,159.4,530.1,10.0,319,12379,0.00,2.62,0.00,0.000,6,0.000,0.069,2894,2203,1914
$GC,12696,1.83,162.4,498.1,9.9,325,12705,0.00,2.72,4.38,0.821,4,0.000,0.084,2894,809,1902
$GC,12903,1.84,172.1,477.5,9.5,328,12918,0.00,2.60,9.90,1.041,6,0.000,0.064,2894,2204,1862
$GC,13256,1.86,185.2,443.9,9.4,334,13275,0.00,2.72,12.43,1.048,4,0.000,0.077,2894,816,1809
$GC,13530,1.86,185.2,416.8,10.0,338,13534,0.00,2.55,0.00,0.000,6,0.000,0.054,2894,2208,1809
$GC,13890,1.87,195.2,382.9,9.5,344,13905,0.00,2.67,10.30,0.988,4,0.000,0.068,2894,806,1767
$GC,14007,1.87,195.2,370.5,10.1,345,14011,0.00,2.53,0.00,0.000,6,0.000,0.049,2894,2202,1767
$GC,14317,1.87,195.2,337.7,10.7,350,14321,0.00,2.60,0.00,0.000,4,0.000,0.065,2894,806,1767
$GC,14384,1.87,195.2,330.1,11.8,351,14388,0.00,2.53,0.00,0.000,6,0.000,0.047,2894,2209,1767
$GC,14704,1.87,195.2,295.2,10.9,357,14708,0.00,2.60,0.00,0.000,4,0.000,0.065,2894,809,1767
$GC,14961,1.87,195.2,264.5,11.9,368,14968,0.00,2.50,0.00,0.000,6,0.000,0.046,2894,2208,1767
$GC,15278,1.87,195.2,228.2,11.3,384,15282,0.00,2.60,0.00,0.000,4,0.000,0.064,2895,801,1767
$GC,15460,1.87,195.2,208.1,10.2,392,15464,0.00,2.50,0.00,0.000,6,0.000,0.045,2894,2204,1767
$GC,15782,1.87,195.2,174.6,10.7,408,15786,0.00,2.58,0.00,0.000,4,0.000,0.061,2894,805,1768
$GC,15871,1.87,195.2,164.4,10.9,412,15875,0.00,2.47,0.00,0.000,6,0.000,0.044,2894,2201,1767
$GC,16198,1.88,203.4,130.9,9.6,436,16209,0.00,0.00,8.82,0.819,6,0.000,0.000,2894,2201,1733
$GC,16531,1.90,216.2,99.8,9.4,467,16552,0.00,2.60,11.73,0.821,4,0.000,0.060,2894,808,1682
$GC,16680,1.93,245.9,86.2,8.6,480,16714,0.12,2.50,25.02,0.841,6,0.098,0.044,2917,2207,1560
$GC,17052,1.97,272.2,52.8,8.8,540,17081,0.00,0.00,22.23,0.802,6,0.000,0.000,2917,2207,1453
$GC,17412,2.00,300.4,19.1,8.7,585,17445,0.00,2.67,24.02,0.782,4,0.000,0.059,2917,808,1339
$GC,17463,2.05,338.0,15.0,8.2,589,17502,0.12,2.47,31.98,0.771,6,0.085,0.041,2942,2199,1184
$STATE,17594,end climb,SURFACE_DEPTH_REACHED
$STATE,17594,begin surface coast
$FINISH,0.7,1.024110
$STATE,17608,end surface coast,CONTROL_FINISHED_OK
$STATE,17609,begin surface
$SM_CCo,17636,48.80,0.759,0,0,933,400.08
$SM_GC,1.94,0.00,0.00,48.80,0.000,0.000,0.759,35,2598,933,-11.34,-0.06,400.08
$IRIDIUM_FIX,4735.69,-12604.71,290697,222254
$TT8_MAMPS,0.026078
$HUMID,1806
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,19.2
$24V_AH,23.2,7.824
$10V_AH,10.1,3.550
$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,29.150,155.650,426.425,48.800,0.000,29.698,28.042,126.302,9.000,0.000,0.000,16.413,1341.340,13336.553,578.246,2188.641,564.014,33.362,1654.590,0.000,2126.697,0.000,58.248
$DEVICE_MAMPS,125.788,98.176,1481.844,759.330,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,419.628,488.157,689.992,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31698,603
$CAP_FILE_SIZE,131288,0
$CFSIZE,260165632,256729088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,050408,081001,4750.407,-12619.171,37,1.6,42,18.8