version: 66.03
glider: 5
mission: 3
dive: 89
start: 6 24 108 23 22 54
data:
$ID,5
$MISSION,3
$DIVE,89
$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,550
$T_MISSION,580
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,240
$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,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,-78314.18
$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,28
$R_STBD_OVSHOOT,20
$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
$GPS1,231631,6207.408,-924.285,72,1.7,72,-9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-62.9
$GPS2,232202,6207.512,-924.242,12,1.2,17,-9.7
$SPEED_LIMITS,0.104,0.201
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.190,-0.067
$KALMAN_X,-127514.8,2810.3,897.1,63629.2,-17059.6
$KALMAN_Y,50012.0,-4180.0,-1262.6,34524.5,47217.9
$MHEAD_RNG_PITCHd_Wd,119.2,50460,-12.6,-6.000
$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,-1.03,-117.3,0.0,0.0,0,99,0.00,0.00,-70.68,0.000,6,0.000,0.000,420,2122,3099
$GC,102,-1.03,-117.3,2.1,-2.7,3,119,10.60,2.50,0.00,0.000,4,0.139,0.057,2466,747,3100
$GC,258,-0.72,-117.3,20.1,-10.2,9,263,0.35,2.53,0.00,0.000,6,0.091,0.049,2539,2159,3100
$GC,587,-0.63,-117.3,46.5,-7.9,25,592,0.10,2.50,0.00,0.000,4,0.108,0.061,2559,3553,3101
$GC,654,-0.63,-117.3,51.7,-7.4,28,659,0.00,2.47,0.00,0.000,6,0.000,0.047,2559,2158,3101
$GC,976,-0.63,-117.3,71.3,-5.4,44,980,0.00,2.55,0.00,0.000,4,0.000,0.060,2559,3557,3102
$GC,1084,-0.58,-117.3,76.5,-4.5,49,1088,0.00,2.45,0.00,0.000,6,0.000,0.044,2559,2175,3102
$GC,1411,-0.58,-117.3,94.9,-8.1,65,1415,0.00,2.53,0.00,0.000,4,0.000,0.061,2559,3557,3102
$GC,1541,-0.54,-117.3,106.6,-8.2,71,1546,0.10,2.42,0.00,0.000,6,0.101,0.048,2579,2192,3102
$GC,1871,-0.58,-117.3,122.9,-3.4,87,1875,0.00,2.60,0.00,0.000,4,0.000,0.064,2579,747,3103
$GC,1949,-0.63,-117.3,125.4,-3.3,90,1955,0.00,2.53,0.00,0.000,6,0.000,0.051,2579,2163,3103
$GC,2268,-0.67,-117.3,138.2,-4.9,106,2273,0.12,2.60,0.00,0.000,4,0.051,0.063,2542,743,3103
$GC,2308,-0.59,-117.3,140.9,-7.0,108,2314,0.15,2.53,0.00,0.000,6,0.091,0.052,2573,2155,3103
$GC,2635,-0.59,-117.3,160.2,-6.1,124,2640,0.00,2.53,0.00,0.000,4,0.000,0.063,2573,3565,3103
$GC,2648,-0.59,-117.3,161.0,-6.2,124,2654,0.00,2.50,0.00,0.000,6,0.000,0.049,2573,2159,3103
$GC,2963,-0.59,-117.3,184.7,-8.1,140,2965,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2156,3103
$GC,3272,-0.59,-117.3,210.3,-8.0,155,3274,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2157,3103
$GC,3582,-0.59,-117.3,232.0,-6.5,170,3586,0.00,2.55,0.00,0.000,4,0.000,0.063,2573,3562,3103
$GC,3592,-0.59,-117.3,232.6,-6.5,170,3599,0.00,2.50,0.00,0.000,6,0.000,0.051,2573,2149,3103
$GC,3909,-0.59,-117.3,250.3,-5.3,186,3910,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2149,3103
$GC,4218,-0.59,-117.3,265.4,-4.9,201,4219,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2148,3102
$GC,4527,-0.59,-117.3,281.3,-5.3,216,4531,0.00,2.53,0.00,0.000,4,0.000,0.068,2573,743,3103
$GC,4538,-0.59,-117.3,282.0,-5.5,216,4544,0.00,2.53,0.00,0.000,6,0.000,0.054,2573,2150,3102
$GC,4856,-0.63,-117.3,300.9,-6.6,232,4860,0.00,2.55,0.00,0.000,4,0.000,0.067,2573,742,3102
$GC,4905,-0.63,-117.3,304.7,-7.4,234,4910,0.00,2.50,0.00,0.000,6,0.000,0.054,2574,2135,3102
$GC,5221,-0.63,-117.3,327.3,-7.1,249,5225,0.00,2.53,0.00,0.000,4,0.000,0.066,2573,749,3102
$GC,5232,-0.63,-117.3,328.0,-7.0,249,5238,0.00,2.47,0.00,0.000,6,0.000,0.053,2573,2128,3102
$GC,5547,-0.63,-117.3,352.1,-7.7,265,5552,0.00,2.53,0.00,0.000,4,0.000,0.068,2573,749,3101
$GC,5558,-0.63,-117.3,353.0,-7.8,265,5565,0.00,2.47,0.00,0.000,6,0.000,0.054,2573,2124,3101
$GC,5875,-0.68,-117.3,374.9,-6.1,281,5876,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2124,3101
$GC,6185,-0.72,-117.3,386.6,-3.5,296,6189,0.12,2.58,0.00,0.000,4,0.051,0.067,2533,3557,3101
$GC,6195,-0.72,-117.3,387.0,-3.3,296,6201,0.00,2.55,0.00,0.000,6,0.000,0.054,2533,2131,3101
$GC,6513,-0.65,-117.3,400.5,-4.4,312,6518,0.12,2.62,0.00,0.000,4,0.096,0.066,2559,3564,3101
$GC,6586,-0.65,-117.3,403.7,-4.0,315,6590,0.00,2.58,0.00,0.000,6,0.000,0.052,2559,2121,3101
$GC,6902,-0.65,-117.3,409.7,-1.2,330,6906,0.00,2.65,0.00,0.000,4,0.000,0.067,2559,3560,3101
$GC,6913,-0.65,-117.3,409.9,-1.8,330,6919,0.00,2.53,0.00,0.000,6,0.000,0.053,2559,2143,3100
$GC,7229,-0.65,-117.3,416.1,-2.6,346,7234,0.00,2.60,0.00,0.000,4,0.000,0.067,2559,3557,3101
$GC,7252,-0.65,-117.3,416.8,-2.9,347,7256,0.00,2.53,0.00,0.000,6,0.000,0.052,2558,2141,3100
$GC,7573,-0.65,-117.3,428.8,-4.2,363,7574,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2123,3100
$GC,7882,-0.65,-117.3,427.8,-1.1,378,7883,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2123,3100
$GC,8191,-0.65,-117.3,447.1,-9.7,393,8195,0.00,2.60,0.00,0.000,4,0.000,0.067,2559,3556,3100
$GC,8246,-0.65,-117.3,453.6,-11.9,395,8253,0.00,2.47,0.00,0.000,6,0.000,0.051,2559,2155,3100
$GC,8563,-0.65,-117.3,489.6,-10.7,411,8567,0.00,2.58,0.00,0.000,4,0.000,0.071,2559,3556,3100
$GC,8674,-0.65,-117.3,501.2,-10.0,416,8679,0.00,2.42,0.00,0.000,6,0.000,0.054,2559,2201,3100
$GC,8996,-0.65,-117.3,521.8,-4.3,432,9000,0.00,2.60,0.00,0.000,4,0.000,0.071,2559,759,3100
$GC,9040,-0.65,-117.3,524.0,-4.8,434,9045,0.00,2.55,0.00,0.000,6,0.000,0.058,2559,2167,3100
$GC,9363,-0.70,-117.3,541.3,-3.9,450,9367,0.00,2.53,0.00,0.000,4,0.000,0.074,2559,3562,3100
$GC,9380,-0.70,-117.3,541.9,-3.4,451,9385,0.00,2.42,0.00,0.000,6,0.000,0.058,2559,2213,3100
$STATE,9542,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9542,begin apogee
$GC,9550,-0.33,0.0,550.2,4.4,459,9651,0.32,0.00,98.57,1.195,6,0.084,0.000,2626,2085,2620
$STATE,9652,end apogee,CONTROL_FINISHED_OK
$STATE,9652,begin climb
$GC,9655,1.03,117.3,553.3,0.0,464,9764,1.38,2.70,97.00,1.164,4,0.071,0.076,2922,705,2141
$GC,9798,0.95,117.3,544.7,10.6,471,9803,0.00,2.60,0.00,0.000,6,0.000,0.061,2922,2105,2140
$GC,10114,0.95,117.3,521.7,7.0,486,10119,0.00,2.58,0.00,0.000,4,0.000,0.073,2922,3509,2139
$GC,10161,0.88,117.3,518.6,7.0,488,10166,0.15,2.60,0.00,0.000,6,0.087,0.061,2892,2095,2139
$GC,10483,1.10,218.4,506.2,2.5,504,10572,0.20,2.65,83.05,1.165,4,0.047,0.077,2947,689,1728
$GC,10606,1.13,238.1,502.1,5.3,510,10630,0.00,2.60,17.55,1.083,6,0.000,0.064,2946,2090,1649
$GC,10953,1.13,238.1,480.7,7.2,527,10958,0.00,2.62,0.00,0.000,4,0.000,0.074,2946,3507,1649
$GC,11003,1.13,238.1,475.7,10.1,529,11007,0.00,2.62,0.00,0.000,6,0.000,0.062,2946,2083,1649
$GC,11318,1.13,238.1,437.0,13.7,544,11320,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2083,1648
$GC,11628,1.13,238.1,394.5,13.0,559,11629,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2064,1648
$GC,11937,1.13,238.1,352.8,13.9,574,11941,0.00,2.62,0.00,0.000,4,0.000,0.067,2946,3507,1647
$GC,11999,1.13,238.1,344.2,13.8,577,12003,0.00,2.55,0.00,0.000,6,0.000,0.054,2946,2096,1647
$GC,12325,1.13,238.1,305.6,10.5,593,12330,0.00,2.55,0.00,0.000,4,0.000,0.071,2947,691,1647
$GC,12354,1.13,238.1,302.5,11.2,594,12359,0.00,2.58,0.00,0.000,6,0.000,0.057,2946,2116,1647
$GC,12670,1.13,238.1,272.5,8.7,609,12674,0.00,2.53,0.00,0.000,4,0.000,0.065,2946,3513,1647
$GC,12710,1.13,238.1,268.9,9.4,611,12714,0.00,2.53,0.00,0.000,6,0.000,0.054,2946,2108,1647
$GC,13036,1.13,238.1,243.2,7.5,627,13041,0.00,2.58,0.00,0.000,4,0.000,0.069,2946,683,1648
$GC,13076,1.13,238.1,240.0,8.0,629,13081,0.00,2.58,0.00,0.000,6,0.000,0.054,2946,2115,1648
$GC,13403,1.13,238.1,217.1,7.2,645,13408,0.00,2.50,0.00,0.000,4,0.000,0.064,2946,3508,1648
$GC,13448,1.17,238.1,213.4,7.6,647,13452,0.00,2.53,0.00,0.000,6,0.000,0.054,2946,2100,1648
$GC,13769,1.17,238.1,189.6,7.6,663,13771,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2100,1649
$GC,14079,1.17,238.1,165.1,8.3,678,14083,0.00,2.58,0.00,0.000,4,0.000,0.063,2946,3508,1649
$GC,14129,1.22,238.1,160.6,8.7,680,14133,0.00,2.47,0.00,0.000,6,0.000,0.051,2946,2122,1649
$GC,14445,1.22,238.1,134.4,8.2,695,14446,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2122,1649
$GC,14754,1.22,238.1,109.2,8.7,710,14756,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2122,1649
$GC,15063,1.22,238.1,77.4,10.1,725,15068,0.00,2.58,0.00,0.000,4,0.000,0.066,2946,685,1650
$GC,15091,1.22,238.1,74.4,10.3,726,15095,0.00,2.58,0.00,0.000,6,0.000,0.051,2946,2133,1650
$GC,15409,1.22,238.1,47.0,7.6,741,15410,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2132,1650
$GC,15717,1.27,238.1,25.0,6.7,756,15722,0.12,2.65,0.00,0.000,4,0.049,0.065,2988,685,1650
$GC,15757,1.19,238.1,21.2,10.4,758,15762,0.15,2.58,0.00,0.000,6,0.080,0.051,2957,2129,1650
$STATE,16019,end climb,SURFACE_DEPTH_REACHED
$STATE,16020,begin surface coast
$FINISH,0.0,1.014837
$STATE,16044,end surface coast,CONTROL_FINISHED_OK
$STATE,16044,begin surface
$SM_CCo,16066,35.28,0.783,0,0,1396,300.00
$SM_GC,0.63,0.00,0.00,35.28,0.000,0.000,0.783,419,2132,1396,-10.49,-0.11,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1695
$TCM_TEMP,17.40
$XPDR_PINGS,521
$ALTIM_TOP_PING,20.0,999.0
$ALTIM_BOTTOM_PING,550.2,7.8
$24V_AH,23.9,19.327
$10V_AH,10.1,8.616
$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,24.925,163.250,296.175,35.275,0.000,37.763,27.764,140.068,135.000,0.000,0.000,17.287,1459.319,12290.541,491.805,1688.599,503.055,33.378,1345.354,0.000,1651.452,0.000,32.878
$DEVICE_MAMPS,138.827,77.467,1194.986,783.107,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,529.040,571.378,544.117,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38044,772
$CAP_FILE_SIZE,126225,0
$CFSIZE,254472192,246386688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,0,0
$GPS,250608,035237,6209.132,-916.543,37,1.0,42,-9.6