version: 66.04
glider: 5
mission: 7
dive: 43
start: 9 3 109 23 1 12
data:
$ID,5
$MISSION,7
$DIVE,43
$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,-101082.31
$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,22
$R_STBD_OVSHOOT,30
$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
$GPS1,225506,6132.195,-908.074,40,1.2,51,-9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-61.9
$GPS2,230022,6132.168,-908.215,16,2.4,35,-9.3
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,BW
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.246,0.094
$KALMAN_X,-33702.0,-1381.8,-523.5,10652.6,5812.6
$KALMAN_Y,38192.2,740.0,117.4,-47293.4,-5560.2
$MHEAD_RNG_PITCHd_Wd,300.1,24497,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-1.44,-146.6,0.0,0.0,0,59,0.00,0.00,-41.38,0.000,2,0.000,0.000,419,2148,2481
$GC,63,-1.44,-146.6,2.2,-4.0,2,119,10.88,2.50,-37.12,0.000,4,0.156,0.078,2425,3527,3429
$GC,374,-1.31,-146.6,48.2,-16.4,16,379,0.17,2.47,0.00,0.000,6,0.096,0.048,2460,2124,3429
$GC,701,-1.31,-146.6,90.3,-12.8,32,705,0.00,2.58,0.00,0.000,4,0.000,0.067,2460,3534,3430
$GC,779,-1.31,-146.6,100.3,-12.3,35,786,0.00,2.50,0.00,0.000,6,0.000,0.048,2461,2116,3429
$GC,1095,-1.31,-146.6,139.8,-12.9,51,1099,0.00,2.50,0.00,0.000,4,0.000,0.064,2461,716,3429
$GC,1138,-1.36,-146.6,145.3,-13.2,53,1143,0.00,2.47,0.00,0.000,6,0.000,0.049,2461,2127,3430
$GC,1465,-1.36,-146.6,188.5,-13.3,69,1466,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2127,3430
$GC,1774,-1.36,-146.6,228.7,-12.8,84,1775,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2128,3430
$GC,2083,-1.36,-146.6,266.8,-11.9,99,2085,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2128,3430
$GC,2393,-1.36,-146.6,305.1,-12.9,114,2397,0.00,2.55,0.00,0.000,4,0.000,0.070,2460,723,3430
$GC,2420,-1.41,-146.6,308.7,-13.4,115,2424,0.00,2.47,0.00,0.000,6,0.000,0.055,2461,2126,3430
$GC,2736,-1.41,-146.6,350.9,-13.4,130,2738,0.10,0.00,0.00,0.000,6,0.060,0.000,2431,2125,3430
$GC,3046,-1.36,-146.6,395.5,-14.3,145,3048,0.00,0.00,0.00,0.000,6,0.000,0.000,2431,2125,3430
$GC,3354,-1.36,-146.6,438.6,-13.7,160,3359,0.00,2.55,0.00,0.000,4,0.000,0.069,2431,716,3429
$GC,3400,-1.36,-146.6,445.1,-14.5,162,3404,0.00,2.47,0.00,0.000,6,0.000,0.054,2431,2118,3429
$GC,3721,-1.36,-146.6,490.1,-14.4,178,3725,0.00,2.53,0.00,0.000,4,0.000,0.067,2431,721,3429
$GC,3748,-1.36,-146.6,494.2,-14.9,179,3752,0.00,2.45,0.00,0.000,6,0.000,0.053,2431,2119,3429
$GC,4064,-1.36,-146.6,538.7,-14.2,194,4068,0.00,2.60,0.00,0.000,4,0.000,0.074,2431,3541,3429
$GC,4111,-1.32,-146.6,545.1,-14.2,196,4116,0.12,2.55,0.00,0.000,6,0.097,0.058,2455,2116,3428
$GC,4432,-1.32,-146.6,585.7,-12.2,212,4437,0.00,2.62,0.00,0.000,4,0.000,0.073,2455,3540,3428
$GC,4460,-1.32,-146.6,589.3,-12.5,213,4464,0.00,2.55,0.00,0.000,6,0.000,0.058,2455,2116,3428
$GC,4776,-1.32,-146.6,626.1,-11.5,228,4777,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2107,3428
$GC,5085,-1.32,-146.6,661.6,-11.4,243,5090,0.00,2.50,0.00,0.000,4,0.000,0.068,2455,717,3427
$GC,5108,-1.37,-146.6,664.3,-11.5,244,5112,0.00,2.47,0.00,0.000,6,0.000,0.054,2455,2121,3427
$GC,5429,-1.37,-146.6,700.3,-11.6,260,5430,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,2121,3427
$STATE,5694,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5694,begin apogee
$GC,5702,-0.33,0.0,731.6,11.7,273,5830,1.00,0.00,125.18,1.284,6,0.075,0.000,2674,1897,2831
$STATE,5831,end apogee,CONTROL_FINISHED_OK
$STATE,5831,begin climb
$GC,5834,1.44,146.6,735.8,0.0,279,5964,1.73,0.00,125.57,1.247,6,0.051,0.000,3060,1897,2233
$GC,6270,1.33,146.6,701.5,10.8,300,6275,0.15,2.65,0.00,0.000,4,0.101,0.066,3032,3327,2233
$GC,6338,1.29,168.9,694.5,9.0,303,6363,0.00,2.53,20.25,1.151,6,0.000,0.061,3032,1940,2142
$GC,6682,1.26,174.9,663.6,9.7,320,6691,0.00,0.00,6.80,0.963,6,0.000,0.000,3032,1939,2118
$GC,7015,1.32,213.9,635.3,8.2,336,7057,0.00,2.67,34.12,1.175,4,0.000,0.072,3032,514,1958
$GC,7161,1.26,213.9,620.9,11.0,342,7165,0.00,2.53,0.00,0.000,6,0.000,0.052,3032,1929,1958
$GC,7477,1.29,229.6,589.7,9.3,357,7498,0.00,2.60,14.60,1.092,4,0.000,0.068,3032,3330,1895
$GC,7522,1.30,235.2,585.4,9.7,359,7536,0.00,2.58,6.53,0.927,6,0.000,0.061,3032,1923,1872
$GC,7854,1.31,240.6,552.7,9.8,375,7862,0.00,0.00,6.45,0.917,6,0.000,0.000,3032,1923,1850
$GC,8163,1.32,246.4,522.8,9.7,390,8171,0.00,0.00,6.57,0.918,6,0.000,0.000,3032,1923,1826
$GC,8471,1.32,246.4,491.2,10.4,405,8476,0.00,2.58,0.00,0.000,4,0.000,0.074,3032,508,1826
$GC,8512,1.32,246.4,486.8,10.9,407,8516,0.00,2.53,0.00,0.000,6,0.000,0.053,3032,1933,1826
$GC,8838,1.32,246.4,453.2,10.3,423,8843,0.00,2.62,0.00,0.000,4,0.000,0.074,3032,512,1826
$GC,8883,1.32,246.4,448.1,11.4,425,8887,0.00,2.50,0.00,0.000,6,0.000,0.052,3032,1925,1826
$GC,9204,1.32,246.4,414.0,10.7,441,9206,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,1926,1826
$GC,9513,1.32,246.4,380.7,10.6,456,9518,0.00,2.60,0.00,0.000,4,0.000,0.071,3032,509,1826
$GC,9569,1.32,246.4,374.1,11.7,458,9575,0.00,2.47,0.00,0.000,6,0.000,0.051,3032,1914,1826
$GC,9885,1.32,246.4,339.8,11.0,474,9886,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,1919,1826
$GC,10194,1.32,246.4,304.4,11.7,489,10198,0.00,2.58,0.00,0.000,4,0.000,0.074,3032,508,1826
$GC,10244,1.32,246.4,298.2,12.2,491,10248,0.00,2.47,0.00,0.000,6,0.000,0.050,3032,1915,1826
$GC,10565,1.32,246.4,259.7,12.3,507,10569,0.00,2.58,0.00,0.000,4,0.000,0.072,3032,511,1826
$GC,10598,1.32,246.4,255.3,12.8,508,10604,0.00,2.42,0.00,0.000,6,0.000,0.050,3032,1894,1826
$GC,10913,1.32,246.4,219.3,11.3,524,10915,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,1905,1826
$GC,11223,1.32,246.4,185.5,10.7,539,11227,0.00,2.53,0.00,0.000,4,0.000,0.072,3032,507,1826
$GC,11272,1.32,246.4,179.6,11.8,541,11277,0.00,2.42,0.00,0.000,6,0.000,0.048,3032,1890,1826
$GC,11589,1.32,246.4,146.4,10.5,556,11590,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,1904,1826
$GC,11898,1.32,246.4,113.6,10.6,571,11899,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,1904,1826
$GC,12209,1.36,246.4,78.7,11.3,586,12213,0.00,2.53,0.00,0.000,4,0.000,0.071,3032,508,1826
$GC,12298,1.36,246.4,67.4,12.8,590,12302,0.00,2.42,0.00,0.000,6,0.000,0.051,3032,1895,1826
$GC,12620,1.43,246.8,32.0,10.0,606,12625,0.10,2.55,0.00,0.000,4,0.059,0.069,3062,506,1826
$GC,12665,1.36,246.8,26.4,12.0,608,12670,0.12,2.42,0.00,0.000,6,0.093,0.050,3038,1895,1826
$STATE,12902,end climb,SURFACE_DEPTH_REACHED
$STATE,12902,begin surface coast
$FINISH,0.5,1.015709
$STATE,12923,end surface coast,CONTROL_FINISHED_OK
$STATE,12923,begin surface
$SM_CCo,12947,27.83,0.763,0,0,1608,300.00
$SM_GC,1.76,0.00,0.00,27.83,0.000,0.000,0.763,424,2146,1608,-10.67,0.48,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1853
$TCM_TEMP,17.80
$XPDR_PINGS,30
$ALTIM_BOTTOM_PING,670.3,70.6
$24V_AH,23.8,8.970
$10V_AH,10.1,4.330
$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,25.625,101.850,346.075,27.825,0.000,39.015,30.015,116.695,13.500,0.000,0.000,35.901,1161.765,9859.070,486.036,1369.814,419.951,33.350,1176.614,0.000,1316.874,0.000,43.248,0.000
$DEVICE_MAMPS,156.468,78.234,1283.958,763.165,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,424.532,464.516,379.990,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31680,621
$CAP_FILE_SIZE,96932,0
$CFSIZE,254472192,249671680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,34,0,0
$GPS,040909,023836,6131.230,-915.308,29,1.0,29,-9.4