version: 66.03
glider: 5
mission: 3
dive: 300
start: 8 8 108 21 11 0
data:
$ID,5
$MISSION,3
$DIVE,300
$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,-82345.008
$T_RSLEEP,12
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,432
$PITCH_MAX,3760
$C_PITCH,2730
$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,53
$R_STBD_OVSHOOT,24
$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,0
$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
$GPS1,210515,6301.493,-904.115,36,3.2,55,-9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.58
$_SM_ANGLEo,-57.9
$GPS2,211009,6301.447,-904.153,11,1.3,11,-9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,IFRVAL
$TGT_LATLONG,6312.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.014,0.221
$KALMAN_X,-135359.5,-636.9,-922.7,231641.8,6476.8
$KALMAN_Y,-56761.9,2223.9,1260.0,149878.8,-26028.0
$MHEAD_RNG_PITCHd_Wd,6.1,19850,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.30,-117.3,0.0,0.0,0,142,0.00,0.00,-114.40,0.000,6,0.000,0.000,419,2118,3098
$GC,146,-1.30,-117.3,2.0,-1.5,5,162,10.48,2.58,0.00,0.000,4,0.137,0.057,2436,3556,3098
$GC,397,-1.00,-117.3,35.7,-10.4,15,403,0.35,2.45,0.00,0.000,6,0.091,0.043,2511,2172,3096
$GC,715,-1.00,-117.3,63.4,-9.0,30,719,0.00,2.55,0.00,0.000,4,0.000,0.056,2511,744,3097
$GC,972,-0.95,-117.3,82.1,-6.9,41,979,0.00,2.50,0.00,0.000,6,0.000,0.049,2511,2140,3097
$GC,1289,-0.95,-117.3,104.8,-7.7,57,1293,0.00,2.53,0.00,0.000,4,0.000,0.057,2511,751,3097
$GC,1375,-0.91,-117.3,112.4,-9.1,61,1379,0.00,2.47,0.00,0.000,6,0.000,0.049,2510,2137,3097
$GC,1702,-0.91,-117.3,141.1,-8.8,77,1703,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2136,3097
$GC,2011,-0.91,-117.3,168.1,-8.7,92,2015,0.00,2.50,0.00,0.000,4,0.000,0.058,2511,752,3097
$GC,2106,-0.91,-117.3,176.7,-8.8,96,2110,0.00,2.45,0.00,0.000,6,0.000,0.050,2511,2119,3097
$GC,2424,-0.91,-117.3,200.4,-7.0,111,2428,0.00,2.58,0.00,0.000,4,0.000,0.061,2511,3555,3097
$GC,2595,-0.87,-117.3,212.9,-7.5,118,2602,0.15,2.55,0.00,0.000,6,0.095,0.048,2541,2123,3097
$GC,2912,-0.94,-117.3,229.7,-5.0,134,2916,0.00,2.47,0.00,0.000,4,0.000,0.061,2541,744,3097
$GC,3020,-1.01,-117.3,235.5,-5.2,139,3025,0.15,2.47,0.00,0.000,6,0.051,0.052,2498,2122,3097
$GC,3350,-0.95,-117.3,258.2,-7.4,155,3352,0.10,0.00,0.00,0.000,6,0.099,0.000,2518,2122,3097
$GC,3657,-0.95,-117.3,281.3,-7.8,170,3658,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2122,3097
$GC,3966,-0.95,-117.3,304.9,-7.2,185,3967,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2123,3096
$GC,4275,-0.95,-117.3,328.0,-7.9,200,4279,0.00,2.53,0.00,0.000,4,0.000,0.061,2518,739,3096
$GC,4509,-0.95,-117.3,348.6,-9.2,210,4515,0.00,2.47,0.00,0.000,6,0.000,0.054,2518,2113,3096
$GC,4826,-0.95,-117.3,376.0,-8.1,226,4831,0.00,2.50,0.00,0.000,4,0.000,0.061,2518,747,3096
$GC,4959,-0.95,-117.3,385.8,-7.1,232,4963,0.00,2.45,0.00,0.000,6,0.000,0.054,2518,2108,3096
$GC,5286,-0.95,-117.3,402.9,-5.3,248,5290,0.00,2.62,0.00,0.000,4,0.000,0.067,2519,3553,3096
$GC,5479,-0.95,-117.3,417.3,-7.9,256,5485,0.00,2.60,0.00,0.000,6,0.000,0.054,2519,2111,3096
$GC,5795,-0.95,-117.3,441.2,-7.7,272,5799,0.00,2.47,0.00,0.000,4,0.000,0.064,2518,737,3095
$GC,5874,-0.95,-117.3,447.2,-7.6,275,5880,0.00,2.55,0.00,0.000,6,0.000,0.058,2518,2140,3095
$GC,6191,-0.99,-117.3,469.5,-7.3,291,6195,0.00,2.60,0.00,0.000,4,0.000,0.072,2519,3565,3094
$STATE,6283,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6283,begin apogee
$GC,6293,-0.33,0.0,476.8,7.5,295,6394,0.62,0.00,98.00,1.151,6,0.086,0.000,2651,2078,2620
$STATE,6395,end apogee,CONTROL_FINISHED_OK
$STATE,6395,begin climb
$GC,6398,1.30,117.3,479.0,0.0,300,6504,1.67,2.65,96.78,1.122,4,0.071,0.069,3012,692,2141
$GC,6582,1.21,117.3,464.5,10.3,308,6589,0.00,2.60,0.00,0.000,6,0.000,0.061,3012,2102,2141
$GC,6899,1.13,117.3,436.2,8.9,324,6904,0.15,2.60,0.00,0.000,4,0.096,0.074,2979,3505,2139
$GC,6984,1.16,137.2,429.8,7.1,328,7008,0.00,2.53,17.58,1.062,6,0.000,0.061,2979,2122,2060
$GC,7337,1.20,159.0,404.9,7.0,345,7362,0.00,2.67,19.42,1.073,4,0.000,0.073,2979,3511,1971
$GC,7464,1.21,168.5,395.0,7.6,350,7479,0.00,2.53,9.00,0.974,6,0.000,0.060,2979,2145,1933
$GC,7802,1.27,168.5,367.6,8.8,367,7807,0.12,2.58,0.00,0.000,4,0.057,0.071,3013,3508,1931
$GC,7858,1.22,168.5,361.3,11.6,369,7864,0.00,2.47,0.00,0.000,6,0.000,0.061,3012,2162,1930
$GC,8175,1.22,168.5,329.0,10.1,385,8176,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2161,1929
$GC,8483,1.22,168.5,297.3,10.1,400,8488,0.00,2.47,0.00,0.000,4,0.000,0.066,3013,3508,1929
$GC,8494,1.22,168.5,296.1,10.0,400,8500,0.00,2.42,0.00,0.000,6,0.000,0.054,3012,2174,1929
$GC,8812,1.22,168.5,263.0,10.6,416,8817,0.00,2.47,0.00,0.000,4,0.000,0.065,3013,3512,1929
$GC,8823,1.22,168.5,261.5,10.6,416,8829,0.00,2.42,0.00,0.000,6,0.000,0.053,3013,2172,1928
$GC,9139,1.22,168.5,227.0,11.2,432,9143,0.00,2.45,0.00,0.000,4,0.000,0.064,3013,3511,1929
$GC,9160,1.22,168.5,224.3,12.5,433,9164,0.00,2.40,0.00,0.000,6,0.000,0.051,3012,2179,1928
$GC,9482,1.22,168.5,188.5,11.2,449,9486,0.00,2.42,0.00,0.000,4,0.000,0.062,3013,3508,1929
$GC,9500,1.22,168.5,186.5,10.9,450,9504,0.00,2.38,0.00,0.000,6,0.000,0.049,3013,2182,1929
$GC,9827,1.22,168.5,152.7,10.3,466,9831,0.00,2.42,0.00,0.000,4,0.000,0.061,3012,3508,1929
$GC,9872,1.22,168.5,147.8,10.8,468,9876,0.00,2.38,0.00,0.000,6,0.000,0.048,3013,2184,1929
$GC,10193,1.22,168.5,117.5,9.5,484,10197,0.00,2.42,0.00,0.000,4,0.000,0.060,3013,3511,1930
$GC,10238,1.22,168.5,112.9,10.3,486,10242,0.00,2.35,0.00,0.000,6,0.000,0.048,3012,2193,1930
$GC,10560,1.22,168.5,82.5,9.1,502,10564,0.00,2.40,0.00,0.000,4,0.000,0.061,3013,3508,1930
$GC,10582,1.22,168.5,80.2,9.1,503,10586,0.00,2.33,0.00,0.000,6,0.000,0.048,3012,2207,1930
$GC,10903,1.22,168.5,51.2,9.1,519,10908,0.00,2.38,0.00,0.000,4,0.000,0.059,3012,3512,1931
$GC,10915,1.22,168.5,50.1,9.1,519,10921,0.00,2.33,0.00,0.000,6,0.000,0.047,3013,2208,1931
$GC,11232,1.22,168.5,19.3,9.5,535,11236,0.00,2.38,0.00,0.000,4,0.000,0.058,3013,3514,1931
$GC,11327,1.22,168.5,9.4,10.2,539,11331,0.00,2.25,0.00,0.000,6,0.000,0.045,3013,2248,1931
$STATE,11418,end climb,SURFACE_DEPTH_REACHED
$STATE,11418,begin surface coast
$FINISH,-0.1,1.009543
$STATE,11440,end surface coast,CONTROL_FINISHED_OK
$STATE,11441,begin surface
$SM_CCo,11464,222.27,0.781,0,0,390,547.02
$SM_GC,0.43,0.00,0.00,222.27,0.000,0.000,0.781,420,2127,390,-10.62,-0.65,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1700
$TCM_TEMP,17.40
$XPDR_PINGS,358
$ALTIM_TOP_PING,19.3,999.0
$ALTIM_BOTTOM_PING,400.6,86.0
$24V_AH,23.8,55.558
$10V_AH,10.1,26.639
$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,24.975,119.450,240.775,222.275,0.000,37.761,28.659,116.099,92.750,0.000,0.000,11.602,1087.500,8379.898,627.882,1460.637,430.282,33.359,1361.125,0.000,1430.100,0.000,23.398
$DEVICE_MAMPS,137.293,73.632,1151.267,780.806,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,373.014,398.875,406.263,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28525,545
$CAP_FILE_SIZE,97489,0
$CFSIZE,254472192,232841216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,20,0,0
$GPS,090808,002702,6303.104,-904.730,35,1.8,35,-9.8