version: 66.03
glider: 5
mission: 3
dive: 94
start: 6 25 108 22 0 37
data:
$ID,5
$MISSION,3
$DIVE,94
$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,-78383.805
$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,22
$R_STBD_OVSHOOT,28
$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
$GPS1,215438,6155.207,-912.188,41,1.0,41,-9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-56.8
$GPS2,215945,6155.161,-912.241,11,1.0,11,-9.5
$SPEED_LIMITS,0.104,0.201
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.040,-0.197
$KALMAN_X,-117147.1,140.5,86.1,67479.0,1538.9
$KALMAN_Y,29876.2,-903.2,-340.1,27472.6,1143.6
$MHEAD_RNG_PITCHd_Wd,200.9,26248,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-1.03,-117.2,0.0,0.0,0,99,0.00,0.00,-70.78,0.000,6,0.000,0.000,424,2163,3099
$GC,102,-1.03,-117.3,2.0,-3.2,3,119,10.57,2.58,0.00,0.000,4,0.139,0.058,2465,742,3099
$GC,345,-0.71,-117.3,31.5,-10.8,13,350,0.35,2.53,0.00,0.000,6,0.088,0.051,2540,2152,3101
$GC,673,-0.63,-117.3,59.9,-9.0,29,678,0.10,2.58,0.00,0.000,4,0.100,0.061,2560,743,3101
$GC,745,-0.63,-117.3,66.8,-9.3,32,750,0.00,2.50,0.00,0.000,6,0.000,0.051,2561,2137,3101
$GC,1062,-0.63,-117.3,93.4,-8.3,47,1066,0.00,2.55,0.00,0.000,4,0.000,0.062,2560,742,3102
$GC,1089,-0.63,-117.3,95.8,-8.5,48,1093,0.00,2.50,0.00,0.000,6,0.000,0.051,2560,2136,3102
$GC,1407,-0.63,-117.3,116.8,-6.1,63,1408,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2136,3102
$GC,1715,-0.63,-117.3,131.2,-3.9,78,1719,0.00,2.55,0.00,0.000,4,0.000,0.064,2560,3558,3102
$GC,1725,-0.63,-117.3,131.7,-3.9,78,1732,0.00,2.53,0.00,0.000,6,0.000,0.049,2560,2134,3102
$GC,2042,-0.63,-117.3,139.7,-2.2,94,2046,0.00,2.50,0.00,0.000,4,0.000,0.065,2560,745,3102
$GC,2054,-0.63,-117.3,139.8,-2.0,94,2060,0.00,2.50,0.00,0.000,6,0.000,0.052,2560,2137,3102
$GC,2370,-0.63,-117.3,151.3,-5.3,110,2371,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2137,3102
$GC,2682,-0.63,-117.3,176.9,-9.6,125,2683,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2138,3102
$GC,2988,-0.63,-117.3,207.2,-9.3,140,2992,0.00,2.55,0.00,0.000,4,0.000,0.065,2560,3558,3102
$GC,2998,-0.63,-117.3,208.2,-9.2,140,3005,0.00,2.55,0.00,0.000,6,0.000,0.051,2560,2130,3102
$GC,3315,-0.63,-117.3,231.3,-6.0,156,3319,0.00,2.60,0.00,0.000,4,0.000,0.065,2560,3557,3102
$GC,3325,-0.63,-117.3,232.0,-5.7,156,3331,0.00,2.55,0.00,0.000,6,0.000,0.051,2559,2128,3102
$GC,3641,-0.63,-117.3,246.3,-4.0,172,3646,0.00,2.60,0.00,0.000,4,0.000,0.064,2560,3557,3101
$GC,3710,-0.63,-117.3,249.5,-5.2,175,3714,0.00,2.53,0.00,0.000,6,0.000,0.050,2560,2140,3101
$GC,4031,-0.63,-117.3,268.7,-7.4,191,4035,0.00,2.58,0.00,0.000,4,0.000,0.064,2560,3561,3101
$GC,4041,-0.63,-117.3,269.6,-7.5,191,4047,0.00,2.53,0.00,0.000,6,0.000,0.051,2560,2145,3101
$GC,4357,-0.63,-117.3,297.1,-8.8,207,4361,0.00,2.55,0.00,0.000,4,0.000,0.066,2560,3557,3101
$GC,4367,-0.63,-117.3,297.9,-8.6,207,4373,0.00,2.53,0.00,0.000,6,0.000,0.051,2560,2143,3101
$GC,4683,-0.63,-117.3,321.7,-6.6,223,4684,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2143,3101
$GC,4992,-0.63,-117.3,339.4,-5.3,238,4994,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2143,3100
$GC,5301,-0.63,-117.3,357.1,-6.5,253,5302,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2143,3100
$GC,5611,-0.63,-117.3,381.4,-8.3,268,5612,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2143,3100
$GC,5920,-0.63,-117.3,404.4,-6.3,283,5924,0.00,2.50,0.00,0.000,4,0.000,0.066,2559,744,3100
$GC,5930,-0.63,-117.3,405.0,-6.0,283,5935,0.00,2.50,0.00,0.000,6,0.000,0.054,2560,2140,3100
$GC,6247,-0.63,-117.3,421.3,-4.7,298,6248,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2140,3100
$GC,6555,-0.63,-117.3,442.3,-8.0,313,6556,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2139,3100
$GC,6865,-0.63,-117.3,463.8,-5.5,328,6870,0.00,2.55,0.00,0.000,4,0.000,0.068,2560,746,3100
$GC,6883,-0.63,-117.3,464.7,-4.9,329,6887,0.00,2.50,0.00,0.000,6,0.000,0.054,2560,2145,3100
$GC,7210,-0.63,-117.3,478.9,-5.2,345,7214,0.00,2.55,0.00,0.000,4,0.000,0.067,2560,739,3100
$GC,7272,-0.63,-117.3,482.7,-6.5,348,7276,0.00,2.53,0.00,0.000,6,0.000,0.056,2560,2144,3100
$GC,7599,-0.63,-117.3,498.8,-4.6,364,7603,0.00,2.55,0.00,0.000,4,0.000,0.068,2560,745,3100
$GC,7729,-0.63,-117.3,505.0,-5.1,370,7733,0.00,2.47,0.00,0.000,6,0.000,0.055,2560,2132,3100
$GC,8056,-0.63,-117.3,520.0,-4.7,386,8060,0.00,2.55,0.00,0.000,4,0.000,0.068,2560,739,3099
$GC,8215,-0.63,-117.3,530.9,-7.7,393,8219,0.00,2.50,0.00,0.000,6,0.000,0.057,2560,2125,3100
$GC,8536,-0.63,-117.3,552.8,-5.8,409,8537,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2125,3100
$GC,8846,-0.69,-117.3,566.2,-3.4,424,8850,0.00,2.60,0.00,0.000,4,0.000,0.073,2560,3561,3099
$GC,8953,-0.73,-117.3,572.5,-6.3,429,8958,0.00,2.58,0.00,0.000,6,0.000,0.058,2560,2126,3099
$GC,9281,-0.93,-117.3,578.8,-0.0,445,9286,0.25,2.67,0.00,0.000,4,0.046,0.074,2488,3558,3099
$STATE,9439,end dive,NO_VERTICAL_VELOCITY
$STATE,9439,begin apogee
$GC,9449,-0.33,0.0,578.8,0.0,452,9551,0.60,0.00,98.82,1.210,6,0.072,0.000,2623,2085,2620
$STATE,9551,end apogee,CONTROL_FINISHED_OK
$STATE,9551,begin climb
$GC,9554,1.03,117.3,578.4,0.0,457,9660,1.40,2.70,97.20,1.183,4,0.069,0.079,2924,690,2141
$GC,9734,0.98,117.3,566.6,9.8,465,9738,0.00,2.60,0.00,0.000,6,0.000,0.062,2925,2099,2141
$GC,10050,0.94,117.3,537.8,7.5,480,10051,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2098,2140
$GC,10358,0.94,117.3,511.9,9.9,495,10360,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2098,2139
$GC,10668,0.97,141.3,495.6,5.2,510,10691,0.00,0.00,20.80,1.126,6,0.000,0.000,2924,2098,2043
$GC,10998,0.97,141.3,474.7,6.5,526,10999,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2098,2041
$GC,11307,0.98,145.3,455.2,5.9,541,11317,0.00,2.62,4.72,0.822,4,0.000,0.069,2925,3517,2027
$GC,11368,0.98,145.3,451.4,6.8,544,11373,0.00,2.58,0.00,0.000,6,0.000,0.056,2924,2093,2027
$GC,11695,0.98,146.9,431.9,5.9,560,11696,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2093,2027
$GC,12004,0.99,148.3,413.0,6.0,575,12013,0.00,2.62,4.28,0.755,4,0.000,0.066,2925,3513,2015
$GC,12087,0.99,148.3,407.4,6.1,578,12093,0.00,2.55,0.00,0.000,6,0.000,0.054,2925,2103,2015
$GC,12404,0.99,148.8,388.7,6.0,594,12405,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2103,2015
$GC,12712,0.99,148.8,369.7,6.4,609,12717,0.00,2.58,0.00,0.000,4,0.000,0.065,2925,3517,2015
$GC,12775,0.99,148.8,365.2,6.5,612,12779,0.00,2.50,0.00,0.000,6,0.000,0.052,2925,2121,2015
$GC,13101,0.99,148.8,344.2,6.5,628,13102,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2121,2015
$GC,13410,0.99,149.4,325.2,6.0,643,13415,0.00,2.55,0.00,0.000,4,0.000,0.064,2925,3510,2016
$GC,13485,0.99,153.7,320.8,5.9,646,13497,0.00,2.47,6.72,0.854,6,0.000,0.051,2925,2129,1993
$GC,13806,1.01,161.9,302.9,5.7,662,13816,0.00,0.00,8.50,0.890,6,0.000,0.000,2925,2129,1959
$GC,14115,1.01,161.9,283.7,6.5,677,14119,0.00,2.53,0.00,0.000,4,0.000,0.064,2924,3510,1958
$GC,14187,1.01,161.9,278.4,7.2,680,14192,0.00,2.45,0.00,0.000,6,0.000,0.050,2925,2136,1958
$GC,14503,1.01,161.9,256.7,7.1,695,14504,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2136,1958
$GC,14812,1.01,161.9,235.2,7.3,710,14816,0.00,2.53,0.00,0.000,4,0.000,0.062,2925,3515,1958
$GC,14862,1.01,161.9,231.1,7.8,712,14866,0.00,2.42,0.00,0.000,6,0.000,0.051,2925,2151,1958
$GC,15177,1.01,161.9,207.2,8.1,727,15182,0.00,2.62,0.00,0.000,4,0.000,0.066,2925,690,1959
$GC,15233,1.01,161.9,202.2,9.2,729,15239,0.00,2.62,0.00,0.000,6,0.000,0.053,2925,2163,1959
$GC,15549,1.01,161.9,177.6,8.2,745,15553,0.00,2.42,0.00,0.000,4,0.000,0.063,2925,3517,1959
$GC,15617,1.01,161.9,172.3,8.0,748,15621,0.00,2.40,0.00,0.000,6,0.000,0.051,2925,2171,1959
$GC,15945,1.06,193.4,153.5,4.9,764,15978,0.00,2.80,26.35,0.887,4,0.000,0.067,2924,686,1830
$GC,16019,1.15,219.9,149.7,5.1,767,16052,0.10,2.67,22.35,0.879,6,0.053,0.053,2959,2174,1722
$GC,16365,1.15,219.9,127.8,7.5,784,16366,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2174,1722
$GC,16670,1.15,219.9,96.2,10.3,799,16675,0.00,2.72,0.00,0.000,4,0.000,0.066,2959,690,1722
$GC,16715,1.15,219.9,91.6,9.4,801,16719,0.00,2.62,0.00,0.000,6,0.000,0.054,2958,2151,1722
$GC,17036,1.15,219.9,66.1,7.3,817,17040,0.00,2.45,0.00,0.000,4,0.000,0.061,2958,3516,1723
$GC,17080,1.15,219.9,62.9,7.7,819,17085,0.00,2.45,0.00,0.000,6,0.000,0.050,2959,2149,1722
$GC,17401,1.15,219.9,42.6,6.0,835,17406,0.00,2.62,0.00,0.000,4,0.000,0.067,2959,690,1723
$GC,17457,1.15,219.9,38.4,8.1,837,17463,0.00,2.62,0.00,0.000,6,0.000,0.053,2959,2161,1723
$GC,17774,1.15,219.9,16.0,7.6,853,17778,0.00,2.42,0.00,0.000,4,0.000,0.061,2959,3517,1723
$GC,17824,1.15,219.9,11.4,7.7,855,17828,0.00,2.45,0.00,0.000,6,0.000,0.049,2959,2144,1723
$STATE,17931,end climb,SURFACE_DEPTH_REACHED
$STATE,17931,begin surface coast
$FINISH,1.0,1.027118
$STATE,17953,end surface coast,CONTROL_FINISHED_OK
$STATE,17953,begin surface
$SM_CCo,17975,45.53,0.794,0,0,1397,300.00
$SM_GC,0.57,0.00,0.00,45.53,0.000,0.000,0.794,421,2131,1397,-10.48,-0.54,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1675
$TCM_TEMP,17.30
$XPDR_PINGS,602
$ALTIM_TOP_PING,19.1,17.9
$24V_AH,23.9,19.966
$10V_AH,10.1,9.006
$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,24.375,158.200,289.750,45.525,0.000,37.761,25.575,131.497,155.500,0.000,0.000,11.616,1607.498,13826.411,482.816,1907.082,507.239,33.363,1437.392,0.000,1876.066,0.000,34.308
$DEVICE_MAMPS,138.827,79.001,1210.326,793.845,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,590.039,641.996,574.686,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44238,861
$CAP_FILE_SIZE,132797,0
$CFSIZE,254472192,246071296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,21,0,0
$GPS,260608,030208,6152.525,-911.000,31,1.2,31,-9.5