version: 66.03
glider: 5
mission: 3
dive: 6
start: 6 7 108 8 14 41
data:
$ID,5
$MISSION,3
$DIVE,6
$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,330
$T_MISSION,360
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$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,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,300
$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,-76791.562
$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,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,390
$VBD_MAX,3851
$C_VBD,2832
$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
$GPS1,080838,6134.555,-844.828,30,1.0,30,-9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-62.9
$GPS2,081350,6134.571,-844.900,12,1.0,12,-9.1
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.263,0.013
$KALMAN_X,-11235.6,-413.6,-208.2,-13353.7,-5281.1
$KALMAN_Y,17015.6,95.3,-1650.8,2468.8,11048.2
$MHEAD_RNG_PITCHd_Wd,281.8,25836,-18.1,-10.000
$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,-1.44,-146.6,0.0,0.0,0,98,0.00,0.00,-70.30,0.000,6,0.000,0.000,424,2162,3430
$GC,101,-1.44,-146.6,4.6,-5.5,4,117,10.12,2.60,0.00,0.000,4,0.137,0.058,2377,739,3432
$GC,331,-1.26,-146.6,58.0,-16.9,13,336,0.25,2.53,0.00,0.000,6,0.098,0.054,2425,2139,3433
$GC,647,-1.19,-146.6,98.6,-13.5,28,651,0.00,2.60,0.00,0.000,4,0.000,0.071,2426,3561,3433
$GC,742,-1.14,-146.6,111.5,-13.0,32,747,0.12,2.53,0.00,0.000,6,0.102,0.050,2450,2147,3434
$GC,1058,-1.14,-146.6,144.3,-9.6,47,1063,0.00,2.62,0.00,0.000,4,0.000,0.071,2450,3562,3434
$GC,1121,-1.14,-146.6,150.9,-10.0,50,1126,0.00,2.53,0.00,0.000,6,0.000,0.051,2450,2150,3434
$GC,1449,-1.14,-146.6,190.0,-12.8,66,1450,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2132,3434
$GC,1758,-1.14,-146.6,231.7,-13.3,81,1759,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2132,3434
$GC,2068,-1.14,-146.6,273.7,-12.8,96,2072,0.00,2.55,0.00,0.000,4,0.000,0.069,2450,749,3434
$GC,2101,-1.14,-146.6,278.5,-14.5,97,2107,0.00,2.55,0.00,0.000,6,0.000,0.056,2450,2154,3434
$GC,2416,-1.14,-146.6,319.3,-12.8,113,2417,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2153,3434
$GC,2726,-1.14,-146.6,358.9,-12.8,128,2727,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2154,3434
$GC,3035,-1.14,-146.6,399.8,-13.4,143,3042,0.00,2.60,0.00,0.000,4,0.000,0.076,2450,3563,3434
$GC,3098,-1.14,-146.6,408.6,-13.2,145,3105,0.00,2.55,0.00,0.000,6,0.000,0.057,2450,2151,3434
$GC,3415,-1.14,-146.6,449.9,-12.8,161,3416,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2136,3434
$GC,3724,-1.14,-146.6,488.5,-12.5,176,3725,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2135,3434
$GC,4033,-1.14,-146.6,527.9,-12.6,191,4034,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2135,3434
$GC,4342,-1.14,-146.6,567.3,-12.7,206,4346,0.00,2.58,0.00,0.000,4,0.000,0.072,2450,740,3434
$GC,4375,-1.14,-146.6,571.9,-14.3,207,4381,0.00,2.58,0.00,0.000,6,0.000,0.060,2450,2154,3434
$GC,4690,-1.14,-146.6,614.0,-11.9,223,4695,0.00,2.62,0.00,0.000,4,0.000,0.074,2450,748,3434
$GC,4735,-1.20,-146.6,619.2,-11.5,225,4740,0.00,2.58,0.00,0.000,6,0.000,0.060,2450,2159,3434
$GC,5058,-1.24,-146.6,646.2,-8.7,241,5062,0.00,2.62,0.00,0.000,4,0.000,0.074,2450,748,3434
$GC,5181,-1.29,-146.6,660.1,-10.3,246,5187,0.15,2.58,0.00,0.000,6,0.054,0.061,2411,2156,3434
$GC,5497,-1.23,-146.6,693.9,-9.3,262,5498,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,2155,3434
$GC,5807,-1.17,-146.6,725.3,-12.9,277,5812,0.17,2.67,0.00,0.000,4,0.103,0.083,2447,749,3434
$GC,5880,-1.23,-146.6,733.9,-11.1,280,5884,0.00,2.60,0.00,0.000,6,0.000,0.068,2447,2149,3434
$GC,6195,-1.23,-146.6,769.0,-11.3,295,6200,0.00,2.67,0.00,0.000,4,0.000,0.091,2447,3558,3433
$GC,6240,-1.28,-146.6,774.4,-11.7,297,6245,0.12,2.62,0.00,0.000,6,0.064,0.071,2415,2150,3432
$GC,6563,-1.21,-146.6,815.6,-13.7,313,6564,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,2132,3430
$STATE,6827,end dive,NO_VERTICAL_VELOCITY
$STATE,6827,begin apogee
$GC,6833,-0.33,0.0,823.9,0.0,326,6963,0.95,0.00,126.35,1.442,6,0.063,0.000,2628,2132,2832
$STATE,6964,end apogee,CONTROL_FINISHED_OK
$STATE,6964,begin climb
$GC,6967,1.44,146.6,823.6,0.0,332,7103,1.77,2.80,125.28,1.384,4,0.069,0.097,3009,747,2234
$GC,7190,1.29,152.7,805.9,9.7,342,7204,0.15,2.72,6.93,1.071,6,0.105,0.081,2983,2152,2209
$GC,7534,1.24,152.7,774.1,10.6,359,7535,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2152,2207
$GC,7842,1.28,202.4,746.6,7.7,374,7891,0.00,2.88,42.45,1.343,4,0.000,0.100,2983,3558,2007
$GC,7909,1.28,202.4,740.4,10.0,377,7914,0.00,2.70,0.00,0.000,6,0.000,0.077,2983,2152,2007
$GC,8230,1.28,202.4,709.2,10.8,393,8231,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2139,2005
$GC,8540,1.29,211.6,676.5,9.6,408,8554,0.00,2.83,9.05,1.195,4,0.000,0.100,2983,3558,1969
$GC,8584,1.30,216.6,672.3,9.8,410,8595,0.00,2.67,5.75,1.045,6,0.000,0.074,2983,2149,1949
$GC,8912,1.43,296.6,643.5,6.4,426,8982,0.12,0.00,67.95,1.324,6,0.067,0.000,3013,2132,1622
$GC,9280,1.43,296.6,607.5,12.5,444,9285,0.00,2.67,0.00,0.000,4,0.000,0.088,3013,738,1622
$GC,9392,1.43,296.6,591.6,14.8,449,9396,0.00,2.67,0.00,0.000,6,0.000,0.071,3013,2155,1622
$GC,9712,1.43,296.6,552.3,10.6,465,9717,0.00,2.62,0.00,0.000,4,0.000,0.081,3013,3561,1621
$GC,9747,1.43,296.6,548.1,12.4,466,9753,0.00,2.62,0.00,0.000,6,0.000,0.062,3013,2142,1621
$GC,10063,1.43,301.0,515.7,9.8,482,10070,0.00,0.00,5.70,0.942,6,0.000,0.000,3012,2124,1604
$GC,10372,1.43,301.0,484.8,10.4,497,10376,0.00,2.55,0.00,0.000,4,0.000,0.072,3013,744,1605
$GC,10411,1.43,301.0,480.2,11.8,499,10416,0.00,2.60,0.00,0.000,6,0.000,0.062,3013,2159,1605
$GC,10738,1.43,301.0,442.2,13.0,515,10739,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2157,1606
$GC,11047,1.43,301.0,400.3,14.5,530,11049,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2157,1607
$GC,11357,1.43,301.0,360.4,13.0,545,11361,0.00,2.62,0.00,0.000,4,0.000,0.071,3013,744,1608
$GC,11389,1.43,301.0,355.6,14.8,546,11395,0.00,2.58,0.00,0.000,6,0.000,0.060,3013,2148,1609
$GC,11705,1.49,301.0,314.3,12.4,562,11710,0.00,2.62,0.00,0.000,4,0.000,0.071,3013,739,1609
$GC,11727,1.49,301.0,311.3,13.0,563,11732,0.00,2.58,0.00,0.000,6,0.000,0.058,3013,2152,1609
$GC,12048,1.54,301.0,273.4,11.2,579,12050,0.10,0.00,0.00,0.000,6,0.059,0.000,3041,2151,1610
$GC,12357,1.54,301.0,232.6,13.5,594,12361,0.00,2.62,0.00,0.000,4,0.000,0.071,3042,738,1610
$GC,12413,1.49,301.0,224.5,14.9,596,12418,0.00,2.58,0.00,0.000,6,0.000,0.058,3042,2150,1611
$GC,12728,1.49,301.0,177.8,15.6,612,12729,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2149,1612
$GC,13038,1.49,301.0,131.7,14.1,627,13042,0.00,2.62,0.00,0.000,4,0.000,0.068,3042,737,1612
$GC,13059,1.49,301.0,128.4,14.2,628,13064,0.00,2.58,0.00,0.000,6,0.000,0.057,3042,2152,1612
$GC,13381,1.49,301.0,86.0,12.6,644,13386,0.00,0.00,3.55,0.536,6,0.000,0.000,3042,2152,1604
$GC,13692,1.49,301.0,48.2,12.5,659,13693,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2151,1604
$GC,13999,1.49,301.0,10.7,12.1,674,14004,0.00,2.60,0.00,0.000,4,0.000,0.066,3042,740,1604
$GC,14050,1.44,301.0,3.8,13.2,676,14055,0.15,2.55,0.00,0.000,6,0.095,0.054,3013,2150,1604
$STATE,14074,end climb,SURFACE_DEPTH_REACHED
$STATE,14075,begin surface coast
$FINISH,-0.1,1.027056
$STATE,14097,end surface coast,CONTROL_FINISHED_OK
$STATE,14097,begin surface
$SM_CCo,14179,0.00,0.000,0,0,1604,301.23
$SM_GC,0.77,11.30,0.00,0.00,0.040,0.000,0.000,420,2169,1604,-10.39,0.54,301.23
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1681
$TCM_TEMP,16.40
$XPDR_PINGS,438
$ALTIM_TOP_PING,18.3,999.0
$24V_AH,23.7,4.774
$10V_AH,10.0,1.590
$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,25.500,110.075,393.000,0.000,0.000,37.759,33.288,132.769,116.500,0.000,0.000,12.923,1251.907,10837.932,497.341,1463.723,441.092,33.329,1249.387,0.000,1430.629,0.000,46.214
$DEVICE_MAMPS,136.526,100.477,1441.960,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,465.575,499.379,382.461,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34737,678
$CAP_FILE_SIZE,104037,0
$CFSIZE,254472192,251793408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,070608,121207,6133.488,-849.763,31,1.3,31,-9.1