version: 66.03
glider: 101
mission: 5
dive: 116
start: 4 27 108 16 28 24
data:
$ID,101
$MISSION,5
$DIVE,116
$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,550
$T_MISSION,570
$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,120
$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,350
$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,-693157.94
$T_RSLEEP,57
$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,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,180
$ROLL_MAX,3635
$ROLL_DEG,40
$C_ROLL_DIVE,2550
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,20
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,294
$VBD_MAX,3583
$C_VBD,2473
$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,0
$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
$GPS1,162123,4659.055,-12459.842,10,7.0,30,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-64.4
$GPS2,162723,4659.058,-12459.805,10,6.1,29,18.4
$SPEED_LIMITS,0.099,0.182
$TGT_NAME,W_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.181,0.064
$KALMAN_X,18571.5,64.5,114.8,28694.4,-464.4
$KALMAN_Y,88967.5,-119.1,-131.9,-216000.1,-646.0
$MHEAD_RNG_PITCHd_Wd,271.1,227604,-12.5,-6.000
$D_GRID,328
$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,-1.28,-117.3,0.0,0.0,0,78,0.00,0.00,-47.38,0.000,2,0.000,0.000,27,2559,2025
$GC,83,-1.28,-117.3,3.3,-4.4,5,130,11.43,2.55,-30.45,0.000,4,0.130,0.064,2212,1142,2952
$GC,294,-1.14,-117.3,27.9,-12.7,23,301,0.20,2.50,0.00,0.000,6,0.137,0.043,2247,2558,2952
$GC,634,-1.09,-117.3,63.4,-9.7,74,639,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2557,2952
$GC,976,-1.09,-117.3,92.4,-8.3,123,977,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2558,2952
$GC,1295,-1.09,-117.3,118.8,-7.6,153,1296,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2558,2952
$GC,1613,-1.09,-117.3,145.5,-8.0,183,1617,0.00,2.53,0.00,0.000,4,0.000,0.050,2247,1141,2952
$GC,1658,-1.09,-117.3,149.0,-7.5,186,1664,0.00,2.47,0.00,0.000,6,0.000,0.041,2247,2555,2952
$GC,1985,-1.09,-117.3,170.2,-6.6,203,1989,0.00,2.00,0.00,0.000,4,0.000,0.077,2247,3632,2952
$GC,2019,-1.09,-117.3,172.9,-7.6,204,2023,0.00,1.90,0.00,0.000,6,0.000,0.044,2247,2532,2952
$GC,2343,-1.09,-117.3,196.3,-7.2,220,2347,0.00,2.45,0.00,0.000,4,0.000,0.053,2247,1154,2952
$GC,2416,-1.09,-117.3,202.3,-8.3,223,2420,0.00,2.45,0.00,0.000,6,0.000,0.043,2247,2551,2952
$GC,2733,-1.09,-117.3,225.1,-6.5,238,2737,0.00,2.47,0.00,0.000,4,0.000,0.051,2247,1157,2952
$GC,2784,-1.13,-117.3,229.0,-7.8,240,2788,0.00,2.45,0.00,0.000,6,0.000,0.044,2247,2554,2951
$GC,3101,-1.13,-117.3,248.5,-5.9,255,3102,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2553,2951
$GC,3411,-1.13,-117.3,266.1,-5.6,270,3416,0.00,2.50,0.00,0.000,4,0.000,0.052,2247,1152,2951
$GC,3480,-1.17,-117.3,270.2,-5.7,273,3484,0.00,2.47,0.00,0.000,6,0.000,0.045,2247,2555,2951
$GC,3803,-1.17,-117.3,290.6,-6.0,289,3807,0.00,2.50,0.00,0.000,4,0.000,0.052,2247,1156,2951
$GC,3854,-1.22,-117.3,293.8,-6.4,291,3858,0.00,2.47,0.00,0.000,6,0.000,0.046,2247,2553,2951
$GC,4207,-1.26,-117.3,316.6,-6.7,300,4211,0.00,2.47,0.00,0.000,4,0.000,0.054,2247,1161,2951
$GC,4274,-1.31,-117.3,321.6,-7.6,301,4279,0.15,2.47,0.00,0.000,6,0.106,0.049,2219,2555,2950
$STATE,4388,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4388,begin apogee
$GC,4397,-0.45,0.0,330.4,7.8,303,4497,0.85,0.00,96.15,0.989,6,0.071,0.000,2401,2010,2472
$STATE,4497,end apogee,CONTROL_FINISHED_OK
$STATE,4497,begin climb
$GC,4501,1.28,117.3,332.8,0.0,304,4606,1.67,2.72,96.22,0.955,4,0.050,0.073,2775,605,1994
$GC,4686,1.14,155.1,331.2,4.6,306,4726,0.15,2.50,32.78,0.921,6,0.131,0.041,2750,2016,1839
$GC,5059,1.04,155.1,308.9,6.2,313,5064,0.12,2.60,0.00,0.000,4,0.108,0.071,2728,3409,1838
$GC,5186,1.00,177.5,301.7,5.2,314,5211,0.00,2.50,19.65,0.908,6,0.000,0.042,2727,1998,1748
$GC,5544,1.05,218.4,283.8,4.5,330,5587,0.00,2.67,36.28,0.928,4,0.000,0.066,2728,3404,1581
$GC,5679,1.05,218.4,276.0,6.5,336,5683,0.00,2.50,0.00,0.000,6,0.000,0.042,2727,1999,1581
$GC,6007,1.05,218.4,255.5,6.4,352,6011,0.00,2.60,0.00,0.000,4,0.000,0.066,2727,3399,1582
$GC,6057,1.05,218.4,252.2,6.8,354,6061,0.00,2.47,0.00,0.000,6,0.000,0.041,2727,1998,1581
$GC,6375,1.05,218.4,230.7,7.2,369,6379,0.00,2.60,0.00,0.000,4,0.000,0.064,2727,3400,1581
$GC,6431,1.05,218.4,226.1,8.3,371,6437,0.00,2.47,0.00,0.000,6,0.000,0.042,2727,1997,1581
$GC,6747,1.05,218.4,202.1,7.8,387,6751,0.00,2.60,0.00,0.000,4,0.000,0.064,2727,3400,1581
$GC,6810,1.05,218.4,197.2,8.0,390,6814,0.00,2.50,0.00,0.000,6,0.000,0.041,2727,1987,1581
$GC,7137,1.05,218.4,173.1,7.2,406,7142,0.00,2.62,0.00,0.000,4,0.000,0.064,2727,3409,1581
$GC,7194,1.05,218.4,168.6,7.4,408,7200,0.00,2.47,0.00,0.000,6,0.000,0.041,2727,1999,1580
$GC,7512,1.05,218.4,146.6,6.8,426,7516,0.00,2.60,0.00,0.000,4,0.000,0.064,2727,3411,1580
$GC,7586,1.05,218.4,141.3,7.1,432,7591,0.00,2.47,0.00,0.000,6,0.000,0.040,2727,1998,1581
$GC,7915,1.05,218.4,118.1,6.7,462,7921,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1998,1580
$GC,8241,1.10,259.1,97.8,4.5,493,8284,0.00,2.65,35.65,0.836,4,0.000,0.061,2727,3400,1416
$GC,8387,1.10,259.1,89.6,7.1,506,8392,0.00,2.47,0.00,0.000,6,0.000,0.039,2727,1999,1415
$GC,8726,1.18,259.8,66.5,6.0,554,8733,0.12,2.58,0.00,0.000,4,0.061,0.061,2760,3401,1415
$GC,8988,1.18,259.8,50.0,6.3,600,8994,0.00,2.47,0.00,0.000,6,0.000,0.039,2760,1990,1415
$GC,9324,1.25,314.5,32.9,4.0,646,9378,0.00,2.62,46.35,0.788,4,0.000,0.069,2760,602,1189
$GC,9407,1.30,314.5,28.7,6.0,653,9414,0.10,2.47,0.00,0.000,6,0.076,0.038,2782,2006,1189
$GC,9733,1.35,314.5,5.2,7.4,684,9737,0.00,2.58,0.00,0.000,4,0.000,0.066,2782,3406,1189
$STATE,9776,end climb,SURFACE_DEPTH_REACHED
$STATE,9776,begin surface coast
$FINISH,0.9,1.024625
$STATE,9798,end surface coast,CONTROL_FINISHED_OK
$STATE,9798,begin surface
$SM_CCo,9824,29.92,0.719,1,0,1046,350.04
$SM_GC,2.14,0.00,0.00,29.92,0.000,0.000,0.719,22,2536,1046,-11.39,-0.40,350.04
$IRIDIUM_FIX,4644.93,-12516.85,220797,141457
$TT8_MAMPS,0.026078
$HUMID,1826
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,19.20
$XPDR_PINGS,0
$24V_AH,23.6,22.005
$10V_AH,10.2,12.670
$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,26.975,99.925,363.075,29.925,0.000,29.399,32.521,164.592,2.250,0.000,0.000,30.407,1237.248,6301.159,478.363,1711.612,506.833,33.359,1247.929,0.000,1678.836,0.000,15.247
$DEVICE_MAMPS,136.526,76.700,989.430,719.446,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,487.069,523.739,1146.780,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34825,689
$CAP_FILE_SIZE,90530,0
$CFSIZE,260165632,250884096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,270408,191407,4658.919,-12501.719,36,1.3,42,18.4