version: 66.03
glider: 101
mission: 5
dive: 32
start: 4 5 108 13 21 39
data:
$ID,101
$MISSION,5
$DIVE,32
$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,-691274
$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,15
$R_STBD_OVSHOOT,17
$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
$GPS1,131516,4748.609,-12622.666,43,2.4,62,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-64.8
$GPS2,132037,4748.609,-12622.680,11,1.3,28,18.8
$SPEED_LIMITS,0.165,0.247
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.181,-0.186
$KALMAN_X,14085.2,-355.1,-15.9,-68702.2,30.3
$KALMAN_Y,3047.8,-185.8,-163.9,-38208.0,970.6
$MHEAD_RNG_PITCHd_Wd,205.4,152361,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,29,-1.81,-146.6,0.0,0.0,0,81,0.00,0.00,-50.58,0.000,2,0.000,0.000,33,2606,2005
$GC,86,-1.81,-146.6,3.1,-4.5,5,140,11.62,2.60,-32.67,0.000,4,0.162,0.062,2098,1190,3163
$GC,214,-1.81,-146.6,27.2,-18.2,16,220,0.00,2.53,0.00,0.000,6,0.000,0.047,2098,2598,3162
$GC,557,-1.81,-146.6,89.4,-17.3,67,561,0.00,2.55,0.00,0.000,4,0.000,0.048,2098,1179,3162
$GC,609,-1.81,-146.6,97.8,-15.9,71,613,0.00,2.55,0.00,0.000,6,0.000,0.046,2098,2601,3162
$GC,939,-1.81,-146.6,147.6,-15.2,101,944,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2601,3162
$GC,1266,-1.81,-146.6,199.4,-15.5,118,1271,0.00,2.55,0.00,0.000,4,0.000,0.050,2098,1181,3162
$GC,1322,-1.81,-146.6,208.0,-14.7,120,1326,0.00,2.55,0.00,0.000,6,0.000,0.047,2098,2603,3162
$GC,1638,-1.81,-146.6,254.4,-14.4,135,1639,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2604,3162
$GC,1948,-1.81,-146.6,297.9,-14.5,150,1952,0.00,2.58,0.00,0.000,4,0.000,0.053,2098,1178,3162
$GC,2003,-1.81,-146.6,306.1,-14.4,151,2009,0.00,2.58,0.00,0.000,6,0.000,0.050,2098,2606,3162
$GC,2314,-1.81,-146.6,350.6,-14.4,157,2315,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2606,3162
$GC,2616,-1.81,-146.6,392.7,-13.8,162,2621,0.00,2.62,0.00,0.000,4,0.000,0.064,2098,1185,3162
$GC,2681,-1.81,-146.6,401.1,-13.0,163,2685,0.00,2.62,0.00,0.000,6,0.000,0.062,2098,2605,3162
$GC,3048,-1.81,-146.6,450.0,-13.3,169,3050,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2605,3162
$GC,3349,-1.81,-146.6,489.1,-12.8,174,3354,0.00,2.72,0.00,0.000,4,0.000,0.087,2098,1194,3162
$GC,3406,-1.81,-146.6,496.0,-12.0,174,3412,0.00,2.72,0.00,0.000,6,0.000,0.088,2098,2597,3162
$GC,3715,-1.81,-146.6,533.4,-12.2,180,3717,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2597,3161
$GC,4019,-1.81,-146.6,571.6,-12.7,185,4020,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2597,3161
$GC,4322,-1.81,-146.6,612.1,-13.6,190,4323,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2597,3160
$GC,4627,-1.81,-146.6,651.6,-12.8,195,4631,0.00,2.72,0.00,0.000,4,0.000,0.088,2098,1188,3159
$GC,4689,-1.81,-146.6,659.7,-12.3,196,4694,0.00,2.72,0.00,0.000,6,0.000,0.085,2098,2600,3159
$GC,5056,-1.81,-146.6,701.5,-11.1,202,5058,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2600,3159
$GC,5359,-1.81,-146.6,731.7,-9.9,207,5363,0.00,2.72,0.00,0.000,4,0.000,0.087,2099,1182,3158
$GC,5414,-1.81,-146.6,737.5,-10.1,207,5420,0.00,2.72,0.00,0.000,6,0.000,0.084,2098,2600,3158
$GC,5724,-1.81,-146.6,770.1,-10.6,213,5726,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2600,3158
$GC,6028,-1.81,-146.6,806.2,-12.0,218,6030,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2600,3157
$GC,6331,-1.81,-146.6,841.1,-11.5,223,6335,0.00,2.70,0.00,0.000,4,0.000,0.086,2098,1192,3157
$GC,6381,-1.81,-146.6,847.0,-11.7,223,6385,0.00,2.70,0.00,0.000,6,0.000,0.083,2098,2601,3157
$GC,6690,-1.81,-146.6,881.9,-11.2,228,6695,0.00,2.70,0.00,0.000,4,0.000,0.085,2098,1194,3157
$GC,6735,-1.81,-146.6,887.2,-11.6,228,6739,0.00,2.70,0.00,0.000,6,0.000,0.083,2098,2601,3157
$GC,7050,-1.81,-146.6,922.0,-11.1,234,7054,0.00,2.72,0.00,0.000,4,0.000,0.086,2098,1185,3156
$GC,7094,-1.81,-146.6,927.1,-12.2,234,7099,0.00,2.72,0.00,0.000,6,0.000,0.082,2098,2605,3156
$GC,7410,-1.81,-146.6,961.2,-10.9,240,7411,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2605,3156
$STATE,7711,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7711,begin apogee
$GC,7720,-0.45,0.0,993.8,10.7,245,7850,1.42,0.00,125.97,1.475,6,0.081,0.000,2397,2201,2564
$STATE,7850,end apogee,CONTROL_FINISHED_OK
$STATE,7851,begin climb
$GC,7854,1.81,146.6,998.5,0.0,247,7989,2.20,2.88,126.35,1.431,4,0.048,0.097,2897,789,1966
$GC,8212,1.81,146.6,974.7,10.4,252,8216,0.00,2.72,0.00,0.000,6,0.000,0.075,2897,2203,1966
$GC,8544,1.81,146.6,940.5,10.3,258,8548,0.00,2.80,0.00,0.000,4,0.000,0.093,2897,791,1966
$GC,8678,1.81,146.6,926.4,10.6,260,8683,0.00,2.70,0.00,0.000,6,0.000,0.074,2897,2202,1966
$GC,9039,1.83,158.7,891.8,9.4,266,9058,0.00,2.90,11.75,1.262,4,0.000,0.092,2897,782,1916
$GC,9261,1.83,158.7,868.9,11.0,269,9266,0.00,2.70,0.00,0.000,6,0.000,0.073,2897,2202,1916
$GC,9604,1.83,158.7,832.9,10.6,275,9609,0.00,2.78,0.00,0.000,4,0.000,0.091,2897,790,1916
$GC,9863,1.83,158.7,803.9,10.6,278,9868,0.00,2.67,0.00,0.000,6,0.000,0.073,2897,2201,1916
$GC,10172,1.83,158.7,770.2,10.9,284,10177,0.00,2.75,0.00,0.000,4,0.000,0.091,2897,791,1916
$GC,10379,1.83,158.7,747.2,11.0,287,10384,0.00,2.67,0.00,0.000,6,0.000,0.073,2897,2202,1916
$GC,10733,1.83,158.7,711.3,10.1,293,10738,0.00,2.78,0.00,0.000,4,0.000,0.091,2897,781,1915
$GC,10840,1.83,158.7,700.1,11.1,294,10844,0.00,2.67,0.00,0.000,6,0.000,0.071,2897,2207,1915
$GC,11161,1.83,158.9,668.0,10.0,300,11165,0.00,2.78,0.00,0.000,4,0.000,0.090,2897,786,1915
$GC,11418,1.83,158.9,640.5,10.5,303,11424,0.00,2.62,0.00,0.000,6,0.000,0.072,2897,2201,1915
$GC,11728,1.83,158.9,608.0,10.6,309,11733,0.00,2.72,0.00,0.000,4,0.000,0.089,2897,791,1915
$GC,11893,1.83,158.9,591.2,10.3,311,11897,0.00,2.67,0.00,0.000,6,0.000,0.072,2897,2208,1915
$GC,12225,1.84,166.9,558.6,9.6,317,12239,0.00,2.80,8.60,1.064,4,0.000,0.088,2897,789,1883
$GC,12399,1.85,181.6,541.7,9.3,319,12418,0.00,2.67,14.12,1.115,6,0.000,0.070,2897,2207,1822
$GC,12729,1.87,193.5,510.7,9.4,325,12748,0.00,2.85,11.48,1.069,4,0.000,0.085,2897,785,1775
$GC,12870,1.88,200.2,496.7,9.7,327,12884,0.00,2.65,7.90,0.990,6,0.000,0.066,2897,2202,1747
$GC,13235,1.88,200.2,456.9,11.0,333,13240,0.00,2.70,0.00,0.000,4,0.000,0.081,2897,789,1747
$GC,13386,1.88,200.2,438.4,12.0,335,13391,0.00,2.60,0.00,0.000,6,0.000,0.057,2897,2203,1746
$GC,13729,1.88,200.2,398.1,11.8,341,13734,0.00,2.67,0.00,0.000,4,0.000,0.071,2897,780,1746
$GC,13921,1.88,200.2,375.3,10.6,343,13927,0.00,2.58,0.00,0.000,6,0.000,0.051,2897,2203,1746
$GC,14231,1.88,200.2,340.2,11.2,349,14236,0.00,2.62,0.00,0.000,4,0.000,0.066,2897,786,1746
$GC,14428,1.88,200.2,317.8,11.4,352,14433,0.00,2.55,0.00,0.000,6,0.000,0.048,2897,2202,1747
$GC,14757,1.88,200.2,281.8,11.5,362,14758,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2203,1746
$GC,15067,1.88,200.2,248.1,10.5,377,15071,0.00,2.62,0.00,0.000,4,0.000,0.065,2897,786,1747
$GC,15324,1.88,200.2,218.7,11.1,388,15330,0.00,2.53,0.00,0.000,6,0.000,0.046,2897,2202,1747
$GC,15642,1.88,200.2,185.1,10.1,404,15646,0.00,2.62,0.00,0.000,4,0.000,0.063,2897,779,1748
$GC,15839,1.88,200.2,164.0,10.4,413,15844,0.00,2.55,0.00,0.000,6,0.000,0.045,2897,2207,1747
$GC,16165,1.90,219.5,132.3,9.1,437,16183,0.00,0.00,16.92,0.868,6,0.000,0.000,2897,2207,1669
$GC,16501,1.90,219.5,99.7,10.4,469,16505,0.00,2.62,0.00,0.000,4,0.000,0.061,2897,779,1669
$GC,16715,1.92,231.7,77.8,9.4,489,16733,0.00,2.53,11.73,0.803,6,0.000,0.044,2897,2199,1619
$GC,17073,1.96,270.6,48.1,8.2,552,17108,0.12,0.00,31.75,0.812,6,0.068,0.000,2927,2199,1460
$GC,17432,1.99,290.5,14.9,9.1,593,17453,0.00,0.00,17.55,0.767,6,0.000,0.000,2928,2199,1378
$STATE,17589,end climb,SURFACE_DEPTH_REACHED
$STATE,17589,begin surface coast
$FINISH,0.6,1.024547
$STATE,17611,end surface coast,CONTROL_FINISHED_OK
$STATE,17611,begin surface
$SM_CCo,17639,93.18,0.719,5,0,932,400.08
$SM_GC,1.44,0.00,0.00,93.18,0.000,0.000,0.719,34,2606,932,-11.34,0.17,400.08
$IRIDIUM_FIX,4732.49,-12519.22,300697,080847
$TT8_MAMPS,0.025311
$HUMID,1791
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,17.10
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.7,19.2
$24V_AH,23.2,8.162
$10V_AH,10.1,3.727
$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,29.750,145.850,384.125,93.175,0.000,27.386,27.210,125.174,9.250,0.000,0.000,29.014,1329.226,13430.219,625.852,2149.472,554.032,33.366,1662.810,0.000,2077.745,0.000,58.251
$DEVICE_MAMPS,161.837,97.409,1474.941,718.679,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,426.768,492.616,698.607,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31690,610
$CAP_FILE_SIZE,126534,0
$CFSIZE,260165632,256614400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,5,0
$GPS,050408,181855,4746.629,-12625.791,37,1.3,37,18.8