version: 66.03
glider: 5
mission: 3
dive: 106
start: 6 29 108 5 35 13
data:
$ID,5
$MISSION,3
$DIVE,106
$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,600
$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,547.01898
$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,-78587.688
$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,23
$R_STBD_OVSHOOT,48
$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
$GPS1,052455,6146.729,-913.239,39,1.7,39,-9.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.46
$_SM_ANGLEo,-49.1
$GPS2,053421,6146.801,-913.250,12,1.5,12,-9.4
$SPEED_LIMITS,0.104,0.201
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.025,-0.199
$KALMAN_X,-767.1,-138.0,241.3,26377.3,-339.2
$KALMAN_Y,12318.4,925.2,644.8,-18556.5,3869.7
$MHEAD_RNG_PITCHd_Wd,182.1,10924,-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,-117.3,0.0,0.0,0,140,0.00,0.00,-111.82,0.000,6,0.000,0.000,419,2158,3100
$GC,144,-1.03,-117.3,1.8,-1.5,5,160,10.68,2.58,0.00,0.000,4,0.140,0.059,2468,743,3100
$GC,336,-0.70,-117.3,27.8,-12.0,12,343,0.35,2.47,0.00,0.000,6,0.089,0.048,2543,2134,3099
$GC,652,-0.61,-117.3,52.1,-8.4,28,654,0.12,0.00,0.00,0.000,6,0.099,0.000,2568,2133,3099
$GC,963,-0.61,-117.3,74.7,-6.8,43,967,0.00,2.55,0.00,0.000,4,0.000,0.060,2568,3558,3099
$GC,1007,-0.61,-117.3,78.1,-7.3,45,1011,0.00,2.53,0.00,0.000,6,0.000,0.045,2568,2132,3099
$GC,1328,-0.61,-117.3,98.3,-6.2,61,1332,0.00,2.60,0.00,0.000,4,0.000,0.060,2568,3557,3099
$GC,1355,-0.61,-117.3,100.1,-6.6,62,1359,0.00,2.50,0.00,0.000,6,0.000,0.047,2568,2144,3099
$GC,1671,-0.61,-117.3,117.3,-4.7,77,1673,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2125,3099
$GC,1980,-0.61,-117.3,135.5,-6.2,92,1981,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2125,3098
$GC,2289,-0.61,-117.3,156.0,-7.1,107,2294,0.00,2.58,0.00,0.000,4,0.000,0.061,2568,3555,3097
$GC,2300,-0.61,-117.3,156.8,-7.1,107,2306,0.00,2.50,0.00,0.000,6,0.000,0.048,2568,2146,3097
$GC,2616,-0.61,-117.3,180.6,-6.9,123,2620,0.00,2.58,0.00,0.000,4,0.000,0.062,2568,3554,3097
$GC,2633,-0.61,-117.3,181.7,-7.0,124,2637,0.00,2.47,0.00,0.000,6,0.000,0.048,2568,2154,3097
$GC,2960,-0.61,-117.3,201.6,-5.7,140,2964,0.00,2.53,0.00,0.000,4,0.000,0.062,2568,3554,3097
$GC,2978,-0.61,-117.3,202.5,-5.7,141,2982,0.00,2.47,0.00,0.000,6,0.000,0.048,2568,2160,3097
$GC,3305,-0.61,-117.3,219.3,-4.4,157,3309,0.00,2.53,0.00,0.000,4,0.000,0.062,2568,3553,3097
$GC,3315,-0.61,-117.3,219.7,-4.3,157,3321,0.00,2.47,0.00,0.000,6,0.000,0.049,2568,2160,3097
$GC,3631,-0.61,-117.3,238.5,-7.2,173,3632,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2159,3096
$GC,3940,-0.61,-117.3,261.2,-6.9,188,3942,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2159,3096
$GC,4249,-0.61,-117.3,281.4,-6.2,203,4250,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2159,3096
$GC,4559,-0.61,-117.3,298.6,-5.3,218,4563,0.00,2.53,0.00,0.000,4,0.000,0.064,2568,3553,3096
$GC,4569,-0.61,-117.3,299.3,-5.4,218,4575,0.00,2.50,0.00,0.000,6,0.000,0.053,2568,2159,3096
$GC,4886,-0.61,-117.3,315.4,-4.4,234,4887,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2159,3095
$GC,5195,-0.61,-117.3,327.5,-3.5,249,5196,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2159,3095
$GC,5504,-0.61,-117.3,337.2,-3.0,264,5505,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2159,3095
$GC,5813,-0.61,-117.3,344.8,-2.3,279,5814,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2159,3095
$GC,6122,-0.61,-117.3,353.1,-2.8,294,6124,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2159,3095
$GC,6432,-0.61,-117.3,363.1,-3.4,309,6436,0.00,2.53,0.00,0.000,4,0.000,0.069,2568,746,3095
$GC,6443,-0.61,-117.3,363.5,-3.6,309,6449,0.00,2.53,0.00,0.000,6,0.000,0.054,2568,2156,3095
$GC,6759,-0.61,-117.3,375.3,-3.7,325,6764,0.00,2.55,0.00,0.000,4,0.000,0.067,2568,746,3094
$GC,6771,-0.61,-117.3,375.7,-3.6,325,6777,0.00,2.53,0.00,0.000,6,0.000,0.054,2568,2154,3094
$GC,7087,-0.61,-117.3,387.8,-4.2,341,7092,0.00,2.58,0.00,0.000,4,0.000,0.068,2568,745,3094
$GC,7132,-0.61,-117.3,389.8,-4.7,343,7137,0.00,2.50,0.00,0.000,6,0.000,0.054,2568,2141,3094
$GC,7454,-0.61,-117.3,404.4,-5.0,359,7459,0.00,2.58,0.00,0.000,4,0.000,0.068,2568,745,3094
$GC,7482,-0.61,-117.3,406.0,-6.1,360,7486,0.00,2.50,0.00,0.000,6,0.000,0.054,2568,2133,3094
$GC,7798,-0.61,-117.3,421.6,-4.6,375,7802,0.00,2.53,0.00,0.000,4,0.000,0.067,2568,744,3094
$GC,7831,-0.61,-117.3,423.4,-5.2,376,7837,0.00,2.47,0.00,0.000,6,0.000,0.054,2568,2126,3093
$GC,8147,-0.61,-117.3,433.8,-2.5,392,8151,0.00,2.55,0.00,0.000,4,0.000,0.068,2568,743,3094
$GC,8169,-0.61,-117.3,434.6,-3.6,393,8173,0.00,2.47,0.00,0.000,6,0.000,0.055,2568,2121,3094
$GC,8490,-0.61,-117.3,445.9,-3.8,409,8495,0.00,2.53,0.00,0.000,4,0.000,0.066,2568,745,3093
$GC,8553,-0.61,-117.3,448.8,-3.7,412,8557,0.00,2.42,0.00,0.000,6,0.000,0.054,2567,2098,3093
$GC,8880,-0.61,-117.3,461.1,-3.7,428,8884,0.00,2.50,0.00,0.000,4,0.000,0.067,2568,738,3093
$GC,8908,-0.61,-117.3,462.1,-3.9,429,8912,0.00,2.42,0.00,0.000,6,0.000,0.054,2568,2087,3093
$GC,9225,-0.61,-117.3,475.3,-4.4,444,9226,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2087,3093
$GC,9533,-0.61,-117.3,489.0,-4.6,459,9537,0.00,2.45,0.00,0.000,4,0.000,0.066,2568,737,3093
$GC,9550,-0.61,-117.3,489.9,-4.7,460,9555,0.00,2.42,0.00,0.000,6,0.000,0.054,2568,2090,3093
$GC,9878,-0.61,-117.3,507.1,-5.4,476,9882,0.00,2.45,0.00,0.000,4,0.000,0.066,2568,746,3093
$GC,9934,-0.61,-117.3,510.3,-5.7,478,9940,0.00,2.40,0.00,0.000,6,0.000,0.054,2568,2078,3093
$GC,10251,-0.61,-117.3,526.8,-5.4,494,10252,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2078,3092
$GC,10559,-0.61,-117.3,545.1,-6.4,509,10564,0.00,2.67,0.00,0.000,4,0.000,0.067,2568,3562,3092
$GC,10586,-0.61,-117.3,546.9,-6.8,510,10591,0.00,2.65,0.00,0.000,6,0.000,0.054,2568,2074,3092
$GC,10903,-0.61,-117.3,566.3,-5.5,525,10907,0.00,2.72,0.00,0.000,4,0.000,0.067,2568,3557,3092
$GC,10965,-0.61,-117.3,569.8,-5.4,528,10969,0.00,2.60,0.00,0.000,6,0.000,0.052,2568,2094,3092
$GC,11292,-0.61,-117.3,589.3,-6.1,544,11296,0.00,2.67,0.00,0.000,4,0.000,0.066,2568,3562,3092
$GC,11302,-0.61,-117.3,590.0,-5.9,544,11308,0.00,2.60,0.00,0.000,6,0.000,0.051,2568,2104,3092
$GC,11618,-0.61,-117.3,607.8,-5.8,560,11623,0.00,2.67,0.00,0.000,4,0.000,0.067,2568,3563,3092
$GC,11651,-0.61,-117.3,610.0,-7.0,561,11657,0.00,2.58,0.00,0.000,6,0.000,0.052,2568,2115,3092
$GC,11968,-0.67,-117.3,623.0,-3.3,577,11972,0.00,2.65,0.00,0.000,4,0.000,0.067,2568,3558,3092
$GC,12225,-0.67,-117.3,637.2,-5.5,588,12232,0.00,2.53,0.00,0.000,6,0.000,0.051,2568,2123,3092
$GC,12542,-0.67,-117.3,652.1,-4.1,604,12546,0.00,2.62,0.00,0.000,4,0.000,0.071,2568,3557,3092
$GC,12798,-0.67,-117.3,664.6,-6.4,615,12805,0.00,2.45,0.00,0.000,6,0.000,0.054,2568,2165,3092
$GC,13115,-0.73,-117.3,680.4,-7.7,631,13120,0.12,2.58,0.00,0.000,4,0.054,0.074,2533,3561,3092
$GC,13171,-0.66,-117.3,684.6,-6.7,633,13178,0.10,2.47,0.00,0.000,6,0.103,0.058,2552,2166,3092
$GC,13489,-0.66,-117.3,704.2,-5.0,649,13494,0.00,2.62,0.00,0.000,4,0.000,0.078,2552,759,3091
$GC,13507,-0.66,-117.3,704.8,-4.0,650,13512,0.00,2.55,0.00,0.000,6,0.000,0.065,2552,2152,3092
$GC,13836,-0.72,-117.3,703.6,2.8,666,13840,0.00,2.62,0.00,0.000,4,0.000,0.085,2552,762,3091
$GC,13847,-0.79,-117.3,703.5,1.5,666,13854,0.12,2.53,0.00,0.000,6,0.058,0.069,2516,2132,3091
$GC,14164,-0.69,-117.3,710.1,-2.6,682,14169,0.15,2.60,0.00,0.000,4,0.096,0.087,2550,760,3090
$GC,14343,-0.69,-117.3,721.1,-6.7,690,14347,0.00,2.60,0.00,0.000,6,0.000,0.074,2550,2161,3089
$GC,14665,-1.18,-117.3,735.4,-1.2,706,14670,0.45,2.65,0.00,0.000,4,0.061,0.086,2441,766,3088
$GC,14924,-1.62,-117.3,736.4,0.2,717,14931,0.45,2.55,0.00,0.000,6,0.057,0.076,2342,2133,3086
$STATE,15093,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,15093,begin apogee
$GC,15100,-0.33,0.0,737.1,0.7,726,15203,1.30,0.00,99.15,1.395,6,0.067,0.000,2626,2133,2620
$STATE,15204,end apogee,CONTROL_FINISHED_OK
$STATE,15204,begin climb
$GC,15207,1.03,117.3,737.6,0.0,731,15314,1.40,2.83,99.97,1.358,4,0.079,0.088,2922,712,2141
$GC,15387,1.03,117.3,733.8,12.1,739,15393,0.00,2.62,0.00,0.000,6,0.000,0.071,2923,2120,2140
$GC,15703,0.96,117.3,701.3,7.8,755,15707,0.00,2.65,0.00,0.000,4,0.000,0.087,2923,3495,2139
$GC,15788,0.89,117.3,693.9,8.5,759,15793,0.15,2.53,0.00,0.000,6,0.101,0.069,2894,2147,2138
$GC,16115,0.97,162.9,680.3,4.4,775,16157,0.00,0.00,39.35,1.341,6,0.000,0.000,2895,2130,1955
$GC,16467,1.05,188.0,658.9,5.1,792,16492,0.15,0.00,22.55,1.309,6,0.058,0.000,2935,2129,1853
$GC,16795,1.05,188.0,638.6,6.4,808,16800,0.00,2.58,0.00,0.000,4,0.000,0.084,2935,3490,1851
$GC,16846,1.05,188.0,634.4,8.4,810,16850,0.00,2.53,0.00,0.000,6,0.000,0.069,2935,2145,1850
$GC,17162,1.08,203.1,612.9,5.5,825,17184,0.00,2.62,13.60,1.238,4,0.000,0.077,2934,3484,1791
$GC,17234,1.08,203.1,606.4,9.6,828,17238,0.00,2.45,0.00,0.000,6,0.000,0.061,2935,2160,1791
$GC,17556,1.08,203.1,582.7,6.5,844,17560,0.00,2.72,0.00,0.000,4,0.000,0.075,2935,681,1790
$GC,17622,1.08,203.1,577.9,7.4,847,17627,0.00,2.65,0.00,0.000,6,0.000,0.060,2934,2146,1790
$GC,17943,1.08,203.1,554.7,7.4,863,17947,0.00,2.50,0.00,0.000,4,0.000,0.070,2935,3511,1791
$GC,17998,1.08,203.1,549.4,9.8,865,18005,0.00,2.47,0.00,0.000,6,0.000,0.056,2935,2151,1791
$GC,18314,1.08,203.1,522.8,8.2,881,18319,0.00,2.67,0.00,0.000,4,0.000,0.072,2935,685,1792
$GC,18370,1.08,203.1,517.6,8.6,883,18376,0.00,2.67,0.00,0.000,6,0.000,0.058,2935,2163,1792
$GC,18686,1.08,203.1,489.9,9.0,899,18690,0.00,2.42,0.00,0.000,4,0.000,0.067,2936,3508,1793
$GC,18732,1.08,203.1,485.5,10.8,901,18736,0.00,2.45,0.00,0.000,6,0.000,0.054,2935,2147,1793
$GC,19058,1.08,203.1,457.3,8.2,917,19062,0.00,2.65,0.00,0.000,4,0.000,0.070,2935,686,1794
$GC,19114,1.08,203.1,452.4,8.7,919,19119,0.00,2.65,0.00,0.000,6,0.000,0.056,2935,2161,1794
$GC,19429,1.08,203.1,428.1,8.2,935,19433,0.00,2.45,0.00,0.000,4,0.000,0.065,2935,3515,1795
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$STATE,25083,end climb,SURFACE_DEPTH_REACHED
$STATE,25083,begin surface coast
$FINISH,0.2,1.027014
$STATE,25107,end surface coast,CONTROL_FINISHED_OK
$STATE,25107,begin surface
$SM_CCo,25129,201.75,0.769,0,0,389,547.02
$SM_GC,0.33,0.00,0.00,201.75,0.000,0.000,0.769,422,2158,389,-10.48,0.23,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1652
$TCM_TEMP,16.60
$XPDR_PINGS,706
$ALTIM_TOP_PING,18.7,999.0
$ALTIM_BOTTOM_PING,700.1,46.9
$24V_AH,23.8,22.404
$10V_AH,10.1,10.328
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$DEVICE_SECS,26.725,255.150,278.500,201.750,0.000,76.786,52.036,234.134,182.750,0.000,0.000,12.703,2253.841,19416.697,743.705,2671.150,804.906,33.353,2082.869,0.000,2618.500,0.000,42.684
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,829.755,893.068,693.218,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,63174,1209
$CAP_FILE_SIZE,196424,0
$CFSIZE,254472192,245018624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,25,0,0
$GPS,290608,123837,6145.684,-913.716,32,1.0,33,-9.4