version: 66.04
glider: 5
mission: 7
dive: 74
start: 9 9 109 17 38 15
data:
$ID,5
$MISSION,7
$DIVE,74
$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,-101663.91
$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,0.40000001
$PITCH_ADJ_DBAND,1
$ROLL_MIN,159
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,2130
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,43
$ROLL_AD_RATE,300
$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,6
$XPDR_INHIBIT,9
$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
$GPS1,172545,6212.206,-946.613,11,2.2,31,-9.9
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-62.6
$GPS2,173720,6212.201,-946.677,16,1.7,16,-9.9
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,DW
$TGT_LATLONG,6215.000,-1035.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.213,-0.062
$KALMAN_X,-78779.0,-2254.5,5536.5,16704.1,80521.2
$KALMAN_Y,41705.2,-1392.7,3762.5,21865.8,40879.3
$MHEAD_RNG_PITCHd_Wd,263.7,41991,-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,15,-0.97,-146.6,0.0,0.0,0,58,0.00,0.00,-41.03,0.000,2,0.000,0.000,420,2136,2417
$GC,62,-0.97,-146.6,2.1,-1.9,2,115,11.90,0.00,-38.85,0.000,6,0.171,0.000,2531,2139,3429
$GC,415,0.32,-146.6,37.7,-11.1,19,421,1.27,2.55,0.00,0.000,4,0.066,0.060,2810,730,3430
$GC,450,0.32,-146.6,39.1,0.8,20,457,0.00,2.42,0.00,0.000,6,0.000,0.042,2811,2121,3430
$GC,767,0.32,-146.6,67.4,-9.8,36,771,0.00,2.53,0.00,0.000,4,0.000,0.059,2811,3532,3430
$GC,884,0.32,-146.6,76.8,-6.6,41,889,0.00,2.45,0.00,0.000,6,0.000,0.042,2811,2127,3430
$GC,1202,0.32,-146.6,94.2,-5.3,56,1206,0.00,2.47,0.00,0.000,4,0.000,0.057,2811,724,3430
$GC,1257,0.32,-146.6,97.7,-6.1,58,1264,0.00,2.65,0.00,0.000,6,0.000,0.043,2811,2244,3430
$GC,1574,0.32,-146.6,118.9,-7.7,74,1579,0.00,2.72,0.00,0.000,4,0.000,0.055,2811,727,3430
$GC,1682,0.32,-146.6,126.8,-6.9,79,1686,0.00,2.55,0.00,0.000,6,0.000,0.043,2811,2187,3430
$GC,2009,0.32,-146.6,148.2,-6.8,95,2013,0.00,2.42,0.00,0.000,4,0.000,0.063,2811,3539,3430
$GC,2094,0.32,-146.6,152.6,-5.0,100,2098,0.00,2.25,0.00,0.000,6,0.000,0.044,2811,2245,3430
$GC,2420,0.32,-146.6,171.9,-6.1,121,2424,0.00,2.35,0.00,0.000,4,0.000,0.064,2811,3528,3430
$GC,2500,0.32,-146.6,176.9,-6.1,126,2503,0.00,1.88,0.00,0.000,6,0.000,0.044,2811,2446,3430
$GC,2830,0.32,-146.6,201.6,-8.1,147,2834,0.00,1.98,0.00,0.000,4,0.000,0.067,2811,3527,3429
$GC,2904,0.32,-146.6,207.8,-8.7,151,2907,0.00,1.83,0.00,0.000,6,0.000,0.045,2811,2475,3429
$GC,3229,0.32,-146.6,236.2,-9.1,172,3232,0.00,1.92,0.00,0.000,4,0.000,0.068,2811,3528,3429
$GC,3298,0.32,-146.6,242.6,-9.3,176,3301,0.00,1.85,0.00,0.000,6,0.000,0.047,2811,2468,3429
$GC,3633,0.32,-146.6,270.6,-7.9,197,3636,0.00,1.98,0.00,0.000,4,0.000,0.069,2811,3538,3428
$GC,3689,0.32,-146.6,275.2,-7.6,200,3693,0.00,1.85,0.00,0.000,6,0.000,0.048,2811,2480,3428
$GC,4015,0.32,-146.6,296.1,-6.1,221,4019,0.00,1.92,0.00,0.000,4,0.000,0.069,2811,3534,3428
$GC,4088,0.32,-146.6,300.4,-5.6,225,4092,0.00,1.85,0.00,0.000,6,0.000,0.048,2811,2475,3428
$GC,4414,0.32,-146.6,319.4,-6.1,246,4418,0.00,1.95,0.00,0.000,4,0.000,0.071,2811,3537,3428
$GC,4466,0.32,-146.6,322.7,-6.0,249,4469,0.00,1.88,0.00,0.000,6,0.000,0.048,2811,2470,3427
$GC,4796,0.32,-146.6,344.5,-6.8,270,4801,0.00,1.95,0.00,0.000,4,0.000,0.070,2811,3527,3427
$GC,4864,0.32,-146.6,349.2,-7.4,274,4868,0.00,2.20,0.00,0.000,6,0.000,0.049,2811,2283,3427
$GC,5189,0.32,-146.6,372.6,-7.1,295,5194,0.00,2.78,0.00,0.000,4,0.000,0.061,2811,718,3426
$GC,5211,0.32,-146.6,374.0,-6.2,296,5218,0.00,3.03,0.00,0.000,6,0.000,0.048,2811,2428,3426
$GC,5531,0.32,-146.6,394.7,-6.0,317,5532,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2428,3427
$GC,5843,0.32,-146.6,410.8,-4.8,337,5847,0.00,1.98,0.00,0.000,4,0.000,0.072,2811,3526,3426
$GC,5883,0.32,-146.6,412.6,-4.3,339,5887,0.00,1.88,0.00,0.000,6,0.000,0.051,2811,2481,3426
$GC,6211,0.32,-146.6,428.4,-5.3,360,6216,0.00,3.12,0.00,0.000,4,0.000,0.061,2811,718,3426
$GC,6224,0.32,-146.6,429.1,-5.5,361,6229,0.00,3.12,0.00,0.000,6,0.000,0.049,2811,2482,3426
$GC,6549,0.32,-146.6,450.8,-7.7,382,6553,0.00,1.92,0.00,0.000,4,0.000,0.074,2811,3527,3426
$GC,6584,0.32,-146.6,453.6,-7.9,384,6587,0.00,1.85,0.00,0.000,6,0.000,0.051,2811,2477,3425
$GC,6914,0.32,-146.6,477.0,-6.4,405,6918,0.00,1.95,0.00,0.000,4,0.000,0.072,2811,3529,3425
$GC,7018,0.32,-146.6,482.8,-5.6,411,7022,0.00,1.85,0.00,0.000,6,0.000,0.051,2811,2478,3425
$GC,7349,0.32,-146.6,508.0,-9.5,432,7353,0.00,1.95,0.00,0.000,4,0.000,0.074,2811,3527,3424
$GC,7428,0.32,-146.6,516.4,-10.6,436,7434,0.00,1.85,0.00,0.000,6,0.000,0.051,2811,2463,3425
$GC,7748,0.32,-146.6,543.6,-5.4,457,7751,0.00,1.95,0.00,0.000,4,0.000,0.074,2811,3527,3424
$GC,7838,0.32,-146.6,546.3,-1.9,462,7842,0.00,1.85,0.00,0.000,6,0.000,0.051,2811,2477,3424
$GC,8164,0.32,-146.6,549.6,-2.3,483,8168,0.00,1.95,0.00,0.000,4,0.000,0.073,2811,3529,3424
$GC,8226,0.32,-146.6,551.8,-3.7,486,8232,0.00,1.85,0.00,0.000,6,0.000,0.052,2811,2468,3424
$GC,8546,0.32,-146.6,573.0,-8.2,507,8550,0.00,1.95,0.00,0.000,4,0.000,0.074,2811,3535,3424
$GC,8642,0.32,-146.6,583.2,-11.3,512,8648,0.00,1.88,0.00,0.000,6,0.000,0.052,2811,2459,3423
$GC,8961,0.32,-146.6,617.7,-10.7,533,8965,0.00,1.98,0.00,0.000,4,0.000,0.076,2811,3534,3422
$GC,9018,0.32,-146.6,623.5,-9.4,536,9022,0.00,1.88,0.00,0.000,6,0.000,0.054,2811,2469,3422
$GC,9343,0.32,-146.6,648.1,-7.3,557,9348,0.00,3.15,0.00,0.000,4,0.000,0.066,2811,718,3421
$STATE,9379,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9379,begin apogee
$GC,9388,-0.33,0.0,650.2,5.4,559,9520,0.62,0.00,127.90,1.269,6,0.071,0.000,2676,1871,2831
$STATE,9520,end apogee,CONTROL_FINISHED_OK
$STATE,9520,begin climb
$GC,9524,0.97,146.6,656.5,0.0,568,9665,1.25,2.72,129.23,1.228,4,0.055,0.073,2953,459,2233
$GC,9780,-1.31,146.6,647.1,8.5,583,9787,2.35,2.50,0.00,0.000,6,0.077,0.051,2457,1861,2233
$GC,10102,-1.31,146.6,618.3,12.3,604,10106,0.00,2.62,0.00,0.000,4,0.000,0.077,2457,453,2232
$GC,10360,-1.31,146.6,588.4,10.2,619,10366,0.00,2.28,0.00,0.000,6,0.000,0.053,2456,1726,2232
$GC,10679,-1.30,154.6,566.3,5.8,640,10689,0.00,0.00,8.27,1.033,6,0.000,0.000,2457,1737,2200
$GC,11004,-1.22,202.2,550.1,4.7,660,11053,0.10,2.50,42.38,1.195,4,0.114,0.079,2474,448,2005
$GC,11274,-1.22,202.2,533.2,7.9,676,11278,0.00,2.20,0.00,0.000,6,0.000,0.054,2474,1671,2005
$GC,11599,-1.22,202.2,503.6,10.2,697,11603,0.00,2.28,0.00,0.000,4,0.000,0.081,2474,456,2004
$GC,11740,-1.22,202.2,488.5,9.5,705,11744,0.00,2.03,0.00,0.000,6,0.000,0.053,2475,1602,2004
$GC,12066,-1.22,202.2,460.4,7.1,726,12069,0.00,2.15,0.00,0.000,4,0.000,0.077,2474,453,2004
$GC,12242,-1.22,202.2,447.4,7.7,736,12246,0.00,1.90,0.00,0.000,6,0.000,0.052,2474,1531,2004
$GC,12567,-1.22,202.2,426.7,6.3,757,12571,0.00,2.00,0.00,0.000,4,0.000,0.077,2474,447,2004
$GC,12809,-1.22,202.2,409.8,6.9,771,12813,0.00,1.85,0.00,0.000,6,0.000,0.051,2474,1484,2004
$GC,13136,-1.22,202.2,389.4,6.4,792,13139,0.00,1.90,0.00,0.000,4,0.000,0.075,2474,451,2004
$GC,13367,-1.22,202.2,372.0,7.9,805,13373,0.00,1.85,0.00,0.000,6,0.000,0.049,2473,1507,2005
$GC,13687,-1.22,202.2,347.5,8.3,826,13692,0.00,3.15,0.00,0.000,4,0.000,0.061,2473,3245,2005
$GC,13884,-1.22,202.2,329.9,9.4,838,13889,0.00,3.17,0.00,0.000,6,0.000,0.061,2474,1501,2005
$GC,14208,-1.22,202.2,302.4,8.4,859,14209,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,1500,2006
$GC,14521,-1.22,202.2,278.2,8.2,879,14524,0.00,1.88,0.00,0.000,4,0.000,0.074,2473,452,2007
$GC,14549,-1.22,202.2,275.2,9.4,880,14555,0.00,1.83,0.00,0.000,6,0.000,0.050,2473,1499,2007
$GC,14869,-1.22,202.2,249.7,8.1,901,14872,0.00,1.88,0.00,0.000,4,0.000,0.068,2473,450,2006
$GC,15127,-1.22,202.2,228.2,8.9,916,15130,0.00,1.80,0.00,0.000,6,0.000,0.047,2472,1495,2006
$GC,15452,-1.22,202.2,208.0,6.4,937,15455,0.00,1.90,0.00,0.000,4,0.000,0.071,2472,454,2007
$GC,15624,-1.22,202.2,194.2,7.9,947,15627,0.00,1.80,0.00,0.000,6,0.000,0.048,2472,1496,2008
$GC,15955,-1.22,202.2,165.2,9.4,968,15958,0.00,1.90,0.00,0.000,4,0.000,0.070,2472,454,2008
$GC,16138,-1.22,202.2,148.5,9.9,979,16142,0.00,1.80,0.00,0.000,6,0.000,0.047,2472,1496,2008
$GC,16472,-1.22,202.2,120.1,9.6,995,16477,0.00,3.12,0.00,0.000,4,0.000,0.059,2472,3248,2008
$GC,16642,-1.22,202.2,101.0,13.0,1002,16649,0.00,3.15,0.00,0.000,6,0.000,0.054,2472,1500,2009
$GC,16959,-1.22,202.2,69.8,7.6,1018,16963,0.00,1.85,0.00,0.000,4,0.000,0.069,2471,453,2009
$GC,17163,-1.22,202.2,53.7,7.8,1027,17167,0.00,1.80,0.00,0.000,6,0.000,0.045,2471,1502,2009
$GC,17497,-1.22,202.2,26.9,9.2,1043,17498,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,1518,2010
$STATE,17763,end climb,SURFACE_DEPTH_REACHED
$STATE,17763,begin surface coast
$FINISH,0.9,1.026881
$STATE,17783,end surface coast,CONTROL_FINISHED_OK
$STATE,17783,begin surface
$SM_CCo,17804,51.17,0.752,0,0,1608,300.00
$SM_GC,1.23,0.00,0.00,51.17,0.000,0.000,0.752,415,2138,1608,-10.71,0.17,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1810
$TCM_TEMP,17.40
$XPDR_PINGS,44
$ALTIM_BOTTOM_PING,620.2,39.9
$24V_AH,23.9,14.953
$10V_AH,10.1,6.718
$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,26.300,163.025,307.775,51.175,0.000,37.758,43.710,514.777,16.500,0.000,0.000,16.701,1974.126,12593.051,492.358,2578.980,930.557,33.387,1730.581,0.000,2515.697,0.000,38.176,0.000
$DEVICE_MAMPS,171.041,80.535,1269.385,752.427,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,724.336,768.840,605.565,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56785,1057
$CAP_FILE_SIZE,163927,0
$CFSIZE,254472192,247730176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,090909,223727,6216.171,-950.860,35,2.4,54,-10.0