version: 66.04
glider: 5
mission: 7
dive: 23
start: 9 1 109 17 43 59
data:
$ID,5
$MISSION,7
$DIVE,23
$D_SURF,3
$D_FLARE,2
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$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,330
$T_MISSION,350
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,990
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$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,61.599998
$TGT_DEFAULT_LON,-8.75
$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,-100670.33
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,432
$PITCH_MAX,3760
$C_PITCH,2745
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,170
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,159
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,2130
$C_ROLL_CLIMB,1920
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,48
$ROLL_AD_RATE,360
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,390
$VBD_MAX,3851
$C_VBD,2831
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0016
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-23.674383
$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,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,120
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,5
$XPDR_INHIBIT,0
$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
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043731672
$SEABIRD_T_H,0.00064376107
$SEABIRD_T_I,2.5908092e-05
$SEABIRD_T_J,2.8225327e-06
$SEABIRD_C_G,-9.8535681
$SEABIRD_C_H,1.1081258
$SEABIRD_C_I,-0.00043031506
$SEABIRD_C_J,0.00012618699
$GPS1,173755,6129.521,-821.243,40,1.6,40,-8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-64.3
$GPS2,174307,6129.519,-821.297,12,1.7,17,-8.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,AW
$TGT_LATLONG,6120.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.162,-0.208
$KALMAN_X,-51879.1,1353.1,877.7,65940.0,-13888.6
$KALMAN_Y,42231.4,-684.0,-154.1,-54514.3,8170.0
$MHEAD_RNG_PITCHd_Wd,226.9,38640,-18.1,-10.000
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.44,-146.6,0.0,0.0,0,78,0.00,0.00,-58.55,0.000,2,0.000,0.000,415,2154,2534
$GC,81,-1.44,-146.6,2.2,-2.5,3,134,11.23,2.50,-35.00,0.000,4,0.171,0.081,2423,3513,3431
$GC,389,-1.31,-146.6,45.8,-16.6,17,394,0.17,2.47,0.00,0.000,6,0.104,0.051,2458,2117,3431
$GC,716,-1.31,-146.6,90.9,-13.3,33,720,0.00,2.55,0.00,0.000,4,0.000,0.066,2458,3510,3431
$GC,872,-1.31,-146.6,112.8,-14.8,40,877,0.00,2.45,0.00,0.000,6,0.000,0.051,2458,2125,3431
$GC,1194,-1.31,-146.6,166.2,-16.5,56,1199,0.00,2.55,0.00,0.000,4,0.000,0.067,2458,3513,3431
$GC,1228,-1.31,-146.6,172.1,-16.7,57,1234,0.00,2.47,0.00,0.000,6,0.000,0.052,2458,2123,3432
$GC,1544,-1.31,-146.6,219.7,-14.8,73,1545,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2110,3432
$GC,1853,-1.31,-146.6,264.6,-14.1,88,1857,0.00,2.55,0.00,0.000,4,0.000,0.071,2458,3508,3432
$GC,1886,-1.31,-146.6,269.5,-14.8,89,1893,0.00,2.47,0.00,0.000,6,0.000,0.054,2458,2123,3431
$GC,2202,-1.31,-146.6,314.7,-14.5,105,2203,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2114,3432
$GC,2511,-1.31,-146.6,359.0,-13.8,120,2515,0.00,2.55,0.00,0.000,4,0.000,0.071,2458,3507,3432
$GC,2578,-1.31,-146.6,368.5,-13.7,123,2582,0.00,2.45,0.00,0.000,6,0.000,0.056,2458,2139,3432
$GC,2898,-1.31,-146.6,412.4,-13.3,139,2900,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2126,3432
$GC,3208,-1.31,-146.6,450.6,-12.2,154,3209,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2126,3432
$GC,3517,-1.31,-146.6,485.9,-11.0,169,3521,0.00,2.53,0.00,0.000,4,0.000,0.072,2458,3506,3431
$GC,3544,-1.31,-146.6,488.9,-11.0,170,3548,0.00,2.42,0.00,0.000,6,0.000,0.058,2458,2146,3431
$GC,3865,-1.31,-146.6,524.4,-11.8,186,3870,0.00,2.55,0.00,0.000,4,0.000,0.067,2458,722,3431
$GC,3910,-1.37,-146.6,530.1,-12.6,188,3915,0.00,2.47,0.00,0.000,6,0.000,0.053,2458,2122,3431
$GC,4232,-1.42,-146.6,564.1,-10.6,204,4237,0.00,2.55,0.00,0.000,4,0.000,0.070,2458,720,3431
$GC,4289,-1.51,-146.6,570.8,-12.8,206,4295,0.20,2.50,0.00,0.000,6,0.049,0.053,2408,2131,3431
$GC,4605,-1.44,-146.6,610.3,-12.4,222,4610,0.12,2.58,0.00,0.000,4,0.099,0.074,2431,3534,3431
$GC,4862,-1.44,-146.6,637.8,-11.1,233,4868,0.00,2.53,0.00,0.000,6,0.000,0.059,2431,2129,3431
$GC,5178,-1.44,-146.6,677.9,-13.8,249,5182,0.00,2.65,0.00,0.000,4,0.000,0.080,2431,3536,3430
$GC,5354,-1.44,-146.6,705.9,-16.7,257,5359,0.00,2.50,0.00,0.000,6,0.000,0.065,2431,2156,3430
$GC,5684,-1.36,-146.6,762.9,-13.0,273,5688,0.00,2.62,0.00,0.000,4,0.000,0.078,2431,720,3429
$STATE,5744,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5744,begin apogee
$GC,5753,-0.33,0.0,768.4,5.5,276,5887,1.15,0.00,128.55,1.363,6,0.097,0.000,2670,1934,2831
$STATE,5887,end apogee,CONTROL_FINISHED_OK
$STATE,5887,begin climb
$GC,5890,1.44,146.6,772.3,0.0,283,6028,1.70,2.78,128.05,1.321,4,0.041,0.088,3060,524,2234
$GC,6287,1.48,309.7,748.3,2.6,301,6434,0.00,2.55,140.93,1.305,6,0.000,0.063,3060,1935,1568
$GC,6763,1.41,309.7,688.5,15.2,324,6767,0.00,2.72,0.00,0.000,4,0.000,0.089,3060,516,1568
$GC,6922,1.30,309.7,662.5,16.8,331,6927,0.17,2.55,0.00,0.000,6,0.106,0.065,3029,1901,1568
$GC,7243,1.30,309.7,626.7,11.3,347,7248,0.00,2.65,0.00,0.000,4,0.000,0.080,3029,3333,1567
$GC,7322,1.36,309.7,618.4,11.1,350,7328,0.00,2.62,0.00,0.000,6,0.000,0.077,3028,1936,1566
$GC,7638,1.36,309.7,576.4,14.7,366,7639,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,1936,1565
$GC,7947,1.36,309.7,530.7,13.5,381,7951,0.00,2.60,0.00,0.000,4,0.000,0.074,3029,3337,1565
$GC,7980,1.43,309.7,526.2,12.9,382,7987,0.12,2.62,0.00,0.000,6,0.064,0.067,3059,1910,1565
$GC,8296,1.37,309.7,479.7,14.9,398,8301,0.00,2.58,0.00,0.000,4,0.000,0.077,3059,504,1564
$GC,8319,1.28,309.7,475.8,16.0,399,8324,0.20,2.55,0.00,0.000,6,0.098,0.055,3021,1929,1564
$GC,8641,1.34,309.7,434.1,12.9,415,8645,0.00,2.65,0.00,0.000,4,0.000,0.074,3021,500,1565
$GC,8680,1.34,309.7,428.7,14.8,417,8685,0.00,2.50,0.00,0.000,6,0.000,0.053,3021,1905,1565
$GC,9008,1.41,309.7,383.3,14.0,433,9013,0.15,2.60,0.00,0.000,4,0.057,0.074,3060,506,1566
$GC,9036,1.36,309.7,378.6,16.6,434,9040,0.00,2.47,0.00,0.000,6,0.000,0.052,3059,1901,1566
$GC,9352,1.31,309.7,329.6,15.8,449,9357,0.15,2.58,0.00,0.000,4,0.095,0.074,3030,509,1566
$GC,9385,1.31,309.7,324.1,15.4,450,9392,0.00,2.45,0.00,0.000,6,0.000,0.051,3030,1891,1566
$GC,9702,1.36,309.7,281.4,13.3,466,9706,0.00,2.58,0.00,0.000,4,0.000,0.067,3030,3330,1566
$GC,9719,1.43,309.7,279.0,13.4,467,9725,0.12,2.60,0.00,0.000,6,0.059,0.058,3064,1882,1567
$GC,10047,1.38,309.7,230.2,14.7,483,10051,0.00,2.50,0.00,0.000,4,0.000,0.073,3064,507,1567
$GC,10069,1.30,309.7,226.6,15.9,484,10074,0.20,2.45,0.00,0.000,6,0.094,0.051,3025,1896,1567
$GC,10391,1.38,309.7,187.7,12.1,500,10392,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,1909,1567
$GC,10700,1.45,309.7,149.0,12.5,515,10705,0.17,2.55,0.00,0.000,4,0.053,0.074,3071,513,1568
$GC,10741,1.36,309.7,142.7,16.4,517,10746,0.15,2.40,0.00,0.000,6,0.095,0.050,3042,1879,1568
$GC,11068,1.36,309.7,100.6,12.0,533,11073,0.00,2.58,0.00,0.000,4,0.000,0.065,3042,3326,1568
$GC,11102,1.43,309.7,96.4,11.7,534,11109,0.00,2.58,0.00,0.000,6,0.000,0.055,3041,1884,1569
$GC,11420,1.43,309.7,58.7,12.2,550,11424,0.00,2.50,0.00,0.000,4,0.000,0.072,3041,504,1569
$GC,11447,1.43,309.7,55.1,12.7,551,11451,0.00,2.42,0.00,0.000,6,0.000,0.049,3041,1885,1570
$GC,11764,1.48,309.7,20.9,10.8,566,11769,0.12,2.55,0.00,0.000,4,0.056,0.073,3075,504,1570
$GC,11797,1.39,309.7,16.2,14.7,567,11804,0.15,2.38,0.00,0.000,6,0.095,0.047,3047,1870,1570
$STATE,11926,end climb,SURFACE_DEPTH_REACHED
$STATE,11927,begin surface coast
$FINISH,0.4,1.007257
$STATE,11947,end surface coast,CONTROL_FINISHED_OK
$STATE,11947,begin surface
$SM_CCo,12031,0.00,0.000,0,0,1570,309.32
$SM_GC,1.32,11.38,0.00,0.00,0.038,0.000,0.000,424,2143,1570,-10.58,0.40,309.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1850
$TCM_TEMP,17.70
$XPDR_PINGS,63
$ALTIM_BOTTOM_PING,748.1,30.2
$24V_AH,23.7,6.488
$10V_AH,10.1,3.357
$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,Compass2
$DEVICE_SECS,27.675,127.100,397.525,0.000,0.000,37.762,26.555,137.226,22.500,0.000,0.000,17.302,1126.132,8800.142,505.653,1474.937,440.203,33.351,1277.699,0.000,1427.162,0.000,47.827,0.000
$DEVICE_MAMPS,171.041,88.972,1362.959,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,393.230,422.494,350.906,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28584,575
$CAP_FILE_SIZE,102733,0
$CFSIZE,254472192,250437632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,39,0,0
$GPS,010909,210537,6130.376,-826.354,30,1.5,30,-8.9