version: 66.04
glider: 5
mission: 7
dive: 54
start: 9 6 109 4 39 12
data:
$ID,5
$MISSION,7
$DIVE,54
$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,550
$T_MISSION,560
$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,-101280.76
$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,18
$R_STBD_OVSHOOT,27
$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
$GPS1,043106,6146.310,-933.481,33,1.4,33,-9.6
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-55.7
$GPS2,043820,6146.251,-933.627,13,1.6,13,-9.6
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,CW
$TGT_LATLONG,6205.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.061,0.213
$KALMAN_X,-84589.8,1971.6,415.1,34798.8,-25276.0
$KALMAN_Y,22402.2,-654.1,-220.5,-3668.6,-3495.6
$MHEAD_RNG_PITCHd_Wd,25.5,37513,-11.0,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-0.97,-146.6,0.0,0.0,0,119,0.00,0.00,-101.12,0.000,2,0.000,0.000,417,2140,2515
$GC,123,-0.97,-146.6,2.1,-1.2,5,179,11.55,2.60,-38.47,0.000,4,0.160,0.074,2530,719,3429
$GC,435,-0.88,-146.6,35.7,-13.2,19,440,0.10,2.50,0.00,0.000,6,0.099,0.046,2551,2138,3428
$GC,762,-0.81,-146.6,79.9,-10.8,35,767,0.00,2.58,0.00,0.000,4,0.000,0.061,2551,707,3428
$GC,813,-0.81,-146.6,85.8,-10.8,37,817,0.00,2.47,0.00,0.000,6,0.000,0.045,2551,2121,3428
$GC,1130,-0.76,-146.6,108.0,-4.9,52,1135,0.15,2.55,0.00,0.000,4,0.083,0.061,2583,717,3429
$GC,1198,-0.82,-146.6,109.6,-1.6,55,1202,0.00,2.45,0.00,0.000,6,0.000,0.047,2583,2117,3429
$GC,1520,-0.86,-146.6,110.2,-1.0,71,1525,0.12,2.55,0.00,0.000,4,0.051,0.061,2543,714,3429
$GC,1553,-0.86,-146.6,111.4,-4.4,72,1560,0.00,2.45,0.00,0.000,6,0.000,0.049,2544,2109,3429
$GC,1870,-0.80,-146.6,127.8,-6.1,88,1872,0.12,0.00,0.00,0.000,6,0.080,0.000,2571,2109,3429
$GC,2179,-0.80,-146.6,148.7,-8.1,103,2183,0.00,2.53,0.00,0.000,4,0.000,0.064,2571,711,3429
$GC,2245,-0.80,-146.6,154.7,-9.4,106,2250,0.00,2.42,0.00,0.000,6,0.000,0.048,2571,2094,3429
$GC,2567,-0.80,-146.6,185.9,-10.2,122,2568,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2094,3429
$GC,2876,-0.80,-146.6,215.1,-8.3,137,2877,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2094,3429
$GC,3186,-0.80,-146.6,233.3,-4.5,152,3187,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2094,3428
$GC,3495,-0.80,-146.6,246.5,-4.3,167,3496,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2094,3428
$GC,3804,-0.80,-146.6,260.0,-4.3,182,3805,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2094,3427
$GC,4113,-0.80,-146.6,275.1,-4.8,197,4115,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2094,3427
$GC,4423,-0.80,-146.6,290.2,-4.9,212,4424,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2094,3427
$GC,4732,-0.80,-146.6,304.9,-4.8,227,4736,0.00,2.50,0.00,0.000,4,0.000,0.067,2571,714,3427
$GC,4766,-0.86,-146.6,306.7,-5.5,228,4772,0.00,2.45,0.00,0.000,6,0.000,0.051,2571,2105,3427
$GC,5082,-0.86,-146.6,322.0,-5.2,244,5083,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2105,3426
$GC,5391,-0.86,-146.6,339.4,-6.4,259,5395,0.00,2.53,0.00,0.000,4,0.000,0.068,2571,715,3426
$GC,5448,-0.91,-146.6,343.4,-7.5,261,5455,0.12,2.42,0.00,0.000,6,0.053,0.051,2532,2093,3426
$GC,5765,-0.83,-146.6,371.6,-9.1,277,5767,0.15,0.00,0.00,0.000,6,0.081,0.000,2564,2093,3426
$GC,6073,-0.83,-146.6,397.8,-8.8,292,6074,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2093,3426
$GC,6383,-0.83,-146.6,425.4,-9.4,307,6387,0.00,2.53,0.00,0.000,4,0.000,0.070,2564,710,3425
$GC,6427,-0.88,-146.6,430.1,-10.4,309,6431,0.00,2.42,0.00,0.000,6,0.000,0.051,2564,2087,3426
$GC,6748,-0.88,-146.6,467.0,-13.5,325,6749,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2088,3425
$GC,7057,-0.88,-146.6,508.1,-13.4,340,7062,0.00,2.50,0.00,0.000,4,0.000,0.069,2564,715,3424
$GC,7085,-0.93,-146.6,512.0,-14.6,341,7090,0.00,2.40,0.00,0.000,6,0.000,0.051,2564,2075,3425
$GC,7402,-0.93,-146.6,555.8,-14.1,356,7403,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2076,3424
$GC,7712,-0.93,-146.6,595.6,-12.4,371,7716,0.00,2.47,0.00,0.000,4,0.000,0.069,2564,716,3424
$GC,7740,-0.97,-146.6,599.3,-12.8,372,7745,0.15,2.38,0.00,0.000,6,0.049,0.050,2519,2067,3424
$GC,8057,-0.89,-146.6,637.0,-10.9,387,8062,0.15,2.50,0.00,0.000,4,0.084,0.071,2552,706,3424
$GC,8154,-0.89,-146.6,645.1,-8.1,391,8158,0.00,2.38,0.00,0.000,6,0.000,0.051,2552,2053,3424
$GC,8471,-0.89,-146.6,661.3,-2.8,406,8475,0.00,2.45,0.00,0.000,4,0.000,0.074,2552,715,3424
$GC,8493,-0.89,-146.6,662.0,-3.0,407,8497,0.00,2.38,0.00,0.000,6,0.000,0.054,2552,2054,3424
$GC,8815,-0.89,-146.6,667.5,-1.4,423,8819,0.00,2.70,0.00,0.000,4,0.000,0.077,2552,3530,3424
$GC,8864,-0.89,-146.6,668.3,-2.3,425,8869,0.00,2.67,0.00,0.000,6,0.000,0.061,2552,2043,3423
$GC,9181,-0.89,-146.6,675.8,-2.6,440,9185,0.00,2.40,0.00,0.000,4,0.000,0.074,2552,716,3424
$GC,9225,-0.89,-146.6,677.4,-3.5,442,9229,0.00,2.35,0.00,0.000,6,0.000,0.053,2552,2043,3423
$GC,9547,-0.89,-146.6,702.4,-9.7,458,9548,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2043,3423
$GC,9856,-0.89,-146.6,729.4,-9.0,473,9860,0.00,2.45,0.00,0.000,4,0.000,0.076,2552,718,3422
$GC,9963,-0.95,-146.6,739.0,-9.3,478,9967,0.00,2.33,0.00,0.000,6,0.000,0.055,2552,2034,3423
$GC,10296,-0.95,-146.6,769.7,-9.9,494,10297,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2035,3421
$GC,10606,-0.95,-146.6,800.9,-9.9,509,10610,0.00,2.80,0.00,0.000,4,0.000,0.084,2552,3537,3421
$GC,10627,-1.04,-146.6,803.0,-9.5,510,10633,0.15,2.78,0.00,0.000,6,0.054,0.074,2511,2033,3421
$GC,10950,-0.94,-146.6,823.2,-8.4,526,10955,0.15,2.83,0.00,0.000,4,0.091,0.085,2542,3530,3420
$GC,11013,-0.94,-146.6,827.4,-6.3,529,11017,0.00,2.75,0.00,0.000,6,0.000,0.075,2542,2041,3420
$GC,11340,-0.94,-146.6,848.2,-4.7,545,11344,0.00,2.83,0.00,0.000,4,0.000,0.086,2542,3534,3419
$GC,11414,-0.94,-146.6,851.9,-5.4,548,11418,0.00,2.72,0.00,0.000,6,0.000,0.074,2541,2063,3418
$STATE,11583,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11583,begin apogee
$GC,11591,-0.33,0.0,861.5,7.7,556,11725,0.60,0.00,128.43,1.452,6,0.066,0.000,2677,1891,2831
$STATE,11726,end apogee,CONTROL_FINISHED_OK
$STATE,11726,begin climb
$GC,11729,0.97,146.6,860.8,0.0,563,11867,1.30,2.70,129.90,1.411,4,0.083,0.097,2948,530,2234
$GC,12120,0.78,146.6,827.2,8.1,580,12127,0.17,2.55,0.00,0.000,6,0.094,0.064,2914,1919,2232
$GC,12437,0.76,164.8,819.6,5.5,596,12459,0.00,2.80,17.45,1.325,4,0.000,0.092,2914,530,2158
$GC,12506,0.81,243.5,816.9,3.8,599,12582,0.00,2.55,69.72,1.397,6,0.000,0.067,2914,1924,1838
$GC,12899,0.92,315.8,797.5,4.0,618,12970,0.12,2.78,64.05,1.392,4,0.060,0.097,2947,528,1543
$GC,13012,0.84,315.8,789.4,12.2,623,13016,0.00,2.55,0.00,0.000,6,0.000,0.071,2947,1891,1543
$GC,13328,0.86,327.1,767.0,5.7,638,13349,0.00,2.80,11.60,1.261,4,0.000,0.083,2947,3333,1497
$GC,13366,1.03,434.6,765.5,3.1,639,13469,0.10,2.70,95.03,1.383,6,0.065,0.081,2974,1918,1058
$GC,13785,1.03,434.6,735.6,8.8,660,13790,0.00,2.70,0.00,0.000,4,0.000,0.097,2975,512,1059
$GC,13849,0.98,434.6,729.3,10.1,663,13853,0.00,2.55,0.00,0.000,6,0.000,0.066,2974,1896,1059
$GC,14176,0.98,434.6,695.4,10.8,679,14180,0.00,2.65,0.00,0.000,4,0.000,0.088,2974,512,1059
$GC,14231,0.93,434.6,688.3,12.6,681,14238,0.15,2.47,0.00,0.000,6,0.093,0.062,2944,1869,1059
$GC,14548,1.01,434.6,660.7,7.0,697,14549,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,1884,1059
$GC,14857,1.17,476.1,644.2,4.9,712,14900,0.22,2.70,37.38,1.290,4,0.049,0.082,3004,508,890
$GC,14963,1.06,476.1,634.4,10.0,716,14969,0.15,2.45,0.00,0.000,6,0.087,0.058,2975,1860,891
$GC,15279,1.06,476.1,608.8,8.8,732,15283,0.00,2.55,0.00,0.000,4,0.000,0.080,2975,503,892
$GC,15323,1.06,476.1,603.9,10.3,734,15327,0.00,2.40,0.00,0.000,6,0.000,0.056,2975,1840,892
$GC,15644,1.06,476.1,573.8,9.4,750,15648,0.00,2.50,0.00,0.000,4,0.000,0.081,2975,510,892
$GC,15677,1.06,476.1,570.4,9.7,751,15683,0.00,2.33,0.00,0.000,6,0.000,0.053,2975,1817,892
$GC,15992,1.06,476.1,537.2,12.4,767,15994,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,1831,893
$GC,16302,1.06,476.1,498.0,12.7,782,16306,0.00,2.42,0.00,0.000,4,0.000,0.075,2975,505,893
$GC,16342,1.06,476.1,492.6,13.7,784,16346,0.00,2.30,0.00,0.000,6,0.000,0.051,2975,1806,893
$GC,16669,1.06,476.1,448.3,13.7,800,16670,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,1821,894
$GC,16978,1.06,476.1,408.8,11.9,815,16979,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,1821,894
$GC,17287,1.11,476.1,376.5,9.5,830,17292,0.00,2.40,0.00,0.000,4,0.000,0.074,2975,505,894
$GC,17315,1.11,476.1,373.6,10.8,831,17319,0.00,2.28,0.00,0.000,6,0.000,0.051,2975,1798,895
$GC,17632,1.15,476.1,348.7,7.4,846,17633,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,1813,895
$GC,17941,1.19,476.1,325.9,7.3,861,17943,0.12,0.00,0.00,0.000,6,0.051,0.000,3012,1814,896
$GC,18250,1.09,476.1,292.5,10.9,876,18255,0.15,2.40,0.00,0.000,4,0.081,0.074,2980,502,896
$GC,18290,1.09,476.1,288.4,9.0,878,18294,0.00,2.28,0.00,0.000,6,0.000,0.051,2980,1794,896
$GC,18622,1.09,476.1,262.9,8.1,894,18627,0.00,2.75,0.00,0.000,4,0.000,0.063,2980,3337,896
$GC,18651,1.18,476.1,260.5,7.9,895,18655,0.00,2.80,0.00,0.000,6,0.000,0.058,2980,1780,896
$GC,18967,1.18,476.1,234.3,8.4,910,18968,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,1780,896
$GC,19276,1.18,476.1,208.9,8.6,925,19280,0.00,2.80,0.00,0.000,4,0.000,0.061,2980,3329,897
$GC,19303,1.27,476.1,206.6,8.4,926,19308,0.20,2.78,0.00,0.000,6,0.044,0.058,3035,1782,896
$GC,19620,1.10,476.1,164.6,13.8,941,19622,0.25,0.00,0.00,0.000,6,0.080,0.000,2984,1782,896
$GC,19929,1.10,476.1,139.2,7.2,956,19933,0.00,2.80,0.00,0.000,4,0.000,0.064,2983,3330,897
$GC,19956,1.19,476.1,137.3,6.0,957,19961,0.00,2.75,0.00,0.000,6,0.000,0.056,2983,1793,897
$GC,20273,1.19,476.1,116.2,7.0,972,20274,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,1794,897
$GC,20581,1.19,476.1,96.7,6.3,987,20586,0.00,2.78,0.00,0.000,4,0.000,0.061,2984,3330,897
$GC,20615,1.34,497.3,94.8,5.4,988,20644,0.22,2.75,20.17,0.828,6,0.042,0.057,3045,1795,803
$GC,20957,1.16,497.3,48.1,18.0,1005,20962,0.22,2.80,0.00,0.000,4,0.079,0.061,2996,3330,803
$GC,20991,1.24,497.3,41.2,14.4,1006,20998,0.00,2.72,0.00,0.000,6,0.000,0.061,2995,1807,803
$GC,21309,1.29,497.3,5.8,9.0,1022,21314,0.15,2.35,0.00,0.000,4,0.048,0.077,3037,507,803
$STATE,21334,end climb,SURFACE_DEPTH_REACHED
$STATE,21334,begin surface coast
$FINISH,0.6,1.026762
$STATE,21357,end surface coast,CONTROL_FINISHED_OK
$STATE,21357,begin surface
$SM_CCo,21443,0.00,0.000,0,0,803,497.71
$SM_GC,1.41,11.27,0.00,0.00,0.033,0.000,0.000,423,2162,803,-10.59,0.90,497.71
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1835
$TCM_TEMP,19.40
$XPDR_PINGS,82
$ALTIM_BOTTOM_PING,796.7,74.1
$24V_AH,23.7,11.305
$10V_AH,10.0,5.238
$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,28.350,185.025,573.725,0.000,0.000,37.761,30.137,240.562,27.750,0.000,0.000,13.612,1878.108,16337.165,719.638,2265.558,672.510,33.359,1904.766,0.000,2214.447,0.000,48.979,0.000
$DEVICE_MAMPS,159.536,97.409,1451.931,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,702.089,765.492,598.627,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53569,1024
$CAP_FILE_SIZE,163185,0
$CFSIZE,254472192,248885248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,61,0,0
$GPS,060909,103758,6149.286,-940.274,46,1.6,46,-9.7