version: 66.03
glider: 5
mission: 3
dive: 192
start: 7 18 108 4 46 38
data:
$ID,5
$MISSION,3
$DIVE,192
$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,412.5
$T_MISSION,440
$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,-80192.75
$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,39
$R_STBD_OVSHOOT,16
$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
$GPS1,043637,6150.784,-904.639,26,1.2,26,-9.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.51
$_SM_ANGLEo,-57.0
$GPS2,044545,6150.701,-904.809,12,1.5,12,-9.4
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.112,-0.191
$KALMAN_X,14967.8,-696.5,-971.4,-13938.1,7966.3
$KALMAN_Y,9878.9,-490.0,-723.6,-39505.6,4784.7
$MHEAD_RNG_PITCHd_Wd,219.8,18771,-16.7,-8.000
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,24,-1.30,-117.3,0.0,0.0,0,138,0.00,0.00,-111.55,0.000,6,0.000,0.000,419,2131,3099
$GC,142,-1.30,-117.3,1.9,-1.4,5,158,10.45,2.47,0.00,0.000,4,0.145,0.057,2406,755,3098
$GC,164,0.22,-117.3,6.7,-12.3,5,173,1.62,2.53,0.00,0.000,6,0.094,0.048,2743,2162,3098
$GC,492,-0.54,-117.3,20.8,-3.6,21,497,0.70,2.55,0.00,0.000,4,0.047,0.054,2578,754,3098
$GC,543,-0.69,-117.3,24.1,-5.9,23,548,0.12,2.45,0.00,0.000,6,0.049,0.048,2537,2134,3097
$GC,862,-0.74,-117.3,48.4,-7.7,38,866,0.00,2.50,0.00,0.000,4,0.000,0.055,2536,753,3098
$GC,873,-0.79,-117.3,49.7,-7.9,38,879,0.00,2.42,0.00,0.000,6,0.000,0.048,2536,2119,3098
$GC,1191,-0.85,-117.3,74.3,-8.2,54,1195,0.00,2.45,0.00,0.000,4,0.000,0.058,2537,757,3098
$GC,1339,-0.90,-117.3,86.4,-7.3,60,1346,0.15,2.42,0.00,0.000,6,0.046,0.048,2490,2122,3098
$GC,1656,-0.85,-117.3,113.4,-8.2,76,1661,0.10,2.47,0.00,0.000,4,0.099,0.058,2512,758,3099
$GC,1669,-0.80,-117.3,114.3,-7.7,76,1676,0.00,2.45,0.00,0.000,6,0.000,0.049,2511,2131,3099
$GC,1986,-0.80,-117.3,137.3,-7.5,92,1987,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2131,3099
$GC,2294,-0.80,-117.3,160.0,-7.4,107,2299,0.00,2.50,0.00,0.000,4,0.000,0.059,2511,756,3099
$GC,2358,-0.80,-117.3,164.5,-7.3,110,2362,0.00,2.45,0.00,0.000,6,0.000,0.051,2512,2132,3098
$GC,2685,-0.80,-117.3,189.9,-7.9,126,2686,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2132,3098
$GC,2994,-0.80,-117.3,212.5,-6.9,141,2995,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2132,3098
$GC,3304,-0.80,-117.3,233.5,-7.0,156,3306,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2132,3098
$GC,3613,-0.80,-117.3,256.5,-7.5,171,3617,0.00,2.50,0.00,0.000,4,0.000,0.061,2512,752,3097
$GC,3640,-0.80,-117.3,258.8,-7.5,172,3644,0.00,2.47,0.00,0.000,6,0.000,0.051,2512,2134,3098
$GC,3957,-0.80,-117.3,282.9,-7.5,187,3961,0.00,2.47,0.00,0.000,4,0.000,0.062,2512,759,3097
$GC,3990,-0.80,-117.3,285.6,-8.0,188,3996,0.00,2.47,0.00,0.000,6,0.000,0.053,2511,2137,3097
$GC,4306,-0.80,-117.3,308.9,-7.5,204,4311,0.00,2.53,0.00,0.000,4,0.000,0.062,2512,754,3097
$GC,4340,-0.80,-117.3,311.6,-7.6,205,4347,0.00,2.45,0.00,0.000,6,0.000,0.053,2512,2123,3097
$GC,4657,-0.80,-117.3,334.4,-7.2,221,4661,0.00,2.47,0.00,0.000,4,0.000,0.063,2512,760,3096
$GC,4707,-0.80,-117.3,338.2,-7.0,223,4712,0.00,2.45,0.00,0.000,6,0.000,0.053,2511,2123,3096
$GC,5024,-0.80,-117.3,361.2,-7.6,238,5028,0.00,2.50,0.00,0.000,4,0.000,0.064,2512,758,3096
$GC,5080,-0.80,-117.3,365.5,-7.7,240,5086,0.00,2.45,0.00,0.000,6,0.000,0.053,2512,2123,3096
$GC,5397,-0.80,-117.3,389.8,-7.8,256,5398,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2125,3096
$GC,5705,-0.80,-117.3,414.1,-7.8,271,5707,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2125,3095
$GC,6015,-0.80,-117.3,438.4,-8.0,286,6019,0.00,2.50,0.00,0.000,4,0.000,0.064,2511,752,3095
$GC,6077,-0.80,-117.3,443.5,-7.8,289,6082,0.00,2.42,0.00,0.000,6,0.000,0.054,2512,2117,3095
$GC,6405,-0.80,-117.3,465.0,-5.9,305,6409,0.00,2.50,0.00,0.000,4,0.000,0.064,2512,757,3095
$GC,6500,-0.80,-117.3,470.8,-6.0,309,6505,0.00,2.42,0.00,0.000,6,0.000,0.054,2511,2108,3094
$GC,6817,-0.85,-117.3,486.3,-4.7,324,6821,0.00,2.62,0.00,0.000,4,0.000,0.067,2511,3556,3094
$GC,6828,-0.89,-117.3,486.6,-4.2,324,6834,0.00,2.60,0.00,0.000,6,0.000,0.054,2511,2104,3094
$GC,7147,-0.89,-117.3,500.9,-4.6,340,7148,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2086,3094
$GC,7453,-0.89,-117.3,521.1,-7.7,355,7457,0.00,2.72,0.00,0.000,4,0.000,0.074,2512,3563,3094
$GC,7463,-0.89,-117.3,522.0,-8.0,355,7470,0.00,2.65,0.00,0.000,6,0.000,0.061,2512,2099,3094
$GC,7781,-0.93,-117.3,543.2,-5.9,371,7785,0.00,2.72,0.00,0.000,4,0.000,0.077,2511,3559,3094
$GC,7859,-0.93,-117.3,548.3,-5.8,374,7865,0.00,2.65,0.00,0.000,6,0.000,0.061,2511,2103,3093
$GC,8176,-0.97,-117.3,567.3,-5.7,390,8181,0.00,2.72,0.00,0.000,4,0.000,0.079,2511,3554,3093
$GC,8216,-0.97,-117.3,570.0,-6.9,392,8220,0.00,2.62,0.00,0.000,6,0.000,0.062,2511,2111,3092
$GC,8543,-0.97,-117.3,587.2,-5.4,408,8547,0.00,2.72,0.00,0.000,4,0.000,0.080,2511,3553,3091
$GC,8660,-0.97,-117.3,594.1,-5.9,413,8665,0.00,2.60,0.00,0.000,6,0.000,0.064,2511,2122,3090
$GC,8977,-1.02,-117.3,612.2,-5.8,428,8982,0.15,2.72,0.00,0.000,4,0.060,0.081,2471,3560,3089
$GC,9073,-0.91,-117.3,619.5,-8.2,432,9078,0.15,2.62,0.00,0.000,6,0.107,0.066,2499,2130,3089
$GC,9389,-0.91,-117.3,640.6,-6.6,447,9393,0.00,2.67,0.00,0.000,4,0.000,0.084,2499,3550,3088
$STATE,9397,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9397,begin apogee
$GC,9407,-0.33,0.0,641.4,6.7,447,9513,0.57,0.00,98.80,1.315,6,0.095,0.000,2621,2090,2620
$STATE,9513,end apogee,CONTROL_FINISHED_OK
$STATE,9513,begin climb
$GC,9516,1.30,117.3,644.4,0.0,453,9620,1.70,0.00,99.62,1.283,6,0.080,0.000,2979,2089,2141
$GC,9928,1.30,117.3,612.7,8.8,473,9932,0.00,2.67,0.00,0.000,4,0.000,0.082,2978,3503,2139
$GC,10098,1.26,117.3,596.4,9.7,480,10104,0.00,2.55,0.00,0.000,6,0.000,0.071,2979,2138,2138
$GC,10414,1.26,117.3,569.2,8.3,496,10415,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2122,2137
$GC,10724,1.29,133.5,545.8,7.3,511,10746,0.00,2.67,14.40,1.197,4,0.000,0.081,2979,3506,2074
$GC,10824,1.29,133.5,537.7,8.6,515,10829,0.00,2.55,0.00,0.000,6,0.000,0.067,2979,2147,2074
$GC,11140,1.29,133.5,511.2,8.4,530,11144,0.00,2.60,0.00,0.000,4,0.000,0.081,2979,3502,2073
$GC,11190,1.29,134.4,507.0,8.0,532,11195,0.00,2.47,0.00,0.000,6,0.000,0.067,2979,2167,2073
$GC,11506,1.32,151.4,485.4,7.2,547,11526,0.00,0.00,16.38,1.202,6,0.000,0.000,2979,2153,2002
$GC,11835,1.32,151.4,453.8,9.1,563,11840,0.00,2.53,0.00,0.000,4,0.000,0.078,2979,3502,2000
$GC,11882,1.32,151.4,450.1,8.1,565,11886,0.00,2.45,0.00,0.000,6,0.000,0.062,2979,2173,2000
$GC,12203,1.32,151.4,421.7,8.6,581,12207,0.00,2.53,0.00,0.000,4,0.000,0.074,2979,3509,1999
$GC,12247,1.32,151.4,417.6,9.5,583,12251,0.00,2.45,0.00,0.000,6,0.000,0.060,2979,2176,1998
$GC,12568,1.32,151.4,387.9,9.4,599,12573,0.00,2.72,0.00,0.000,4,0.000,0.071,2979,678,1999
$GC,12609,1.32,151.4,384.0,10.0,601,12613,0.00,2.75,0.00,0.000,6,0.000,0.061,2979,2192,1998
$GC,12935,1.32,151.4,353.8,9.4,617,12939,0.00,2.38,0.00,0.000,4,0.000,0.067,2979,3505,1999
$GC,12991,1.32,151.4,348.0,10.7,619,12995,0.00,2.38,0.00,0.000,6,0.000,0.054,2979,2191,1999
$GC,13307,1.32,151.4,318.5,8.9,634,13311,0.00,2.72,0.00,0.000,4,0.000,0.068,2980,681,2000
$GC,13369,1.32,151.4,312.7,9.5,637,13373,0.00,2.70,0.00,0.000,6,0.000,0.056,2980,2189,2000
$GC,13696,1.32,154.1,284.8,7.9,653,13705,0.00,2.42,4.10,0.703,4,0.000,0.064,2979,3505,1991
$GC,13750,1.32,154.1,280.2,8.2,655,13754,0.00,2.38,0.00,0.000,6,0.000,0.051,2979,2184,1990
$GC,14067,1.34,167.5,256.6,7.4,670,14089,0.00,2.78,12.35,0.942,4,0.000,0.064,2979,688,1937
$GC,14122,1.34,167.5,252.0,8.1,672,14127,0.00,2.72,0.00,0.000,6,0.000,0.054,2979,2192,1937
$GC,14439,1.40,173.6,227.7,7.7,687,14453,0.10,2.45,6.85,0.824,4,0.053,0.061,3013,3512,1911
$GC,14512,1.35,173.6,220.4,10.5,690,14516,0.00,2.35,0.00,0.000,6,0.000,0.050,3013,2200,1912
$GC,14833,1.35,173.6,186.7,11.1,706,14834,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2199,1912
$GC,15143,1.35,173.6,152.3,11.2,721,15144,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2197,1913
$GC,15452,1.35,173.6,119.2,10.8,736,15456,0.00,2.38,0.00,0.000,4,0.000,0.060,3013,3506,1913
$GC,15502,1.30,173.6,113.4,10.5,738,15507,0.15,2.33,0.00,0.000,6,0.087,0.049,2983,2207,1914
$GC,15819,1.38,177.8,86.9,7.8,753,15830,0.00,2.75,5.95,0.709,4,0.000,0.062,2983,681,1895
$GC,15883,1.44,182.1,81.8,7.8,756,15894,0.12,2.75,5.38,0.682,6,0.048,0.052,3021,2217,1876
$GC,16214,1.40,182.1,49.1,10.3,772,16218,0.00,2.30,0.00,0.000,4,0.000,0.060,3021,3507,1877
$GC,16258,1.36,182.1,43.8,10.7,774,16263,0.15,2.30,0.00,0.000,6,0.087,0.049,2993,2213,1877
$GC,16580,1.36,182.1,14.9,9.1,790,16584,0.00,2.72,0.00,0.000,4,0.000,0.062,2993,687,1877
$GC,16669,1.36,182.1,6.2,9.5,794,16674,0.00,2.72,0.00,0.000,6,0.000,0.048,2993,2218,1877
$STATE,16719,end climb,SURFACE_DEPTH_REACHED
$STATE,16719,begin surface coast
$FINISH,-0.2,1.018171
$STATE,16743,end surface coast,CONTROL_FINISHED_OK
$STATE,16743,begin surface
$SM_CCo,16766,215.10,0.777,0,0,390,547.02
$SM_GC,0.30,0.00,0.00,215.10,0.000,0.000,0.777,419,2124,390,-10.49,-0.74,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1674
$TCM_TEMP,17.70
$XPDR_PINGS,348
$ALTIM_TOP_PING,18.6,999.0
$ALTIM_BOTTOM_PING,575.9,75.2
$24V_AH,23.8,37.496
$10V_AH,10.1,17.896
$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,27.375,178.300,263.825,215.100,0.000,75.523,61.300,228.296,92.250,0.000,0.000,15.262,1543.676,12794.714,708.358,1792.790,693.588,33.349,1615.767,0.000,1753.550,0.000,37.627
$DEVICE_MAMPS,144.963,83.603,1315.405,776.971,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,548.349,595.222,516.445,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41112,798
$CAP_FILE_SIZE,140134,0
$CFSIZE,254472192,239452160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,23,0,0
$GPS,180708,093102,6148.826,-906.638,42,1.4,42,-9.4