version: 66.04
glider: 5
mission: 7
dive: 76
start: 9 10 109 1 42 57
data:
$ID,5
$MISSION,7
$DIVE,76
$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,-101713.6
$T_RSLEEP,27
$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,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,28
$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
$GPS1,013654,6217.447,-955.357,40,1.5,40,-10.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-59.7
$GPS2,014207,6217.459,-955.380,32,1.3,32,-10.0
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,DW
$TGT_LATLONG,6215.000,-1035.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.241,-0.106
$KALMAN_X,-78778.9,-1618.3,3080.3,10826.2,12647.3
$KALMAN_Y,53602.2,-932.8,1813.3,21186.2,16376.5
$MHEAD_RNG_PITCHd_Wd,256.2,34467,-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,-41.35,0.000,2,0.000,0.000,413,2147,2473
$GC,63,-1.44,-146.6,2.2,-2.4,2,114,10.82,0.00,-37.60,0.000,6,0.155,0.000,2422,2144,3430
$GC,417,-1.32,-146.6,53.9,-16.1,19,419,0.15,0.00,0.00,0.000,6,0.102,0.000,2452,2144,3431
$GC,724,-1.32,-146.6,96.0,-13.6,34,729,0.00,2.58,0.00,0.000,4,0.000,0.056,2452,712,3431
$GC,848,-1.32,-146.6,113.6,-14.4,39,854,0.00,2.50,0.00,0.000,6,0.000,0.046,2452,2132,3432
$GC,1164,-1.32,-146.6,158.3,-14.1,55,1165,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2132,3432
$GC,1473,-1.32,-146.6,198.1,-11.8,70,1477,0.00,2.55,0.00,0.000,4,0.000,0.067,2452,3538,3432
$GC,1535,-1.32,-146.6,205.2,-10.9,73,1539,0.00,2.50,0.00,0.000,6,0.000,0.051,2452,2127,3432
$GC,1862,-1.32,-146.6,235.9,-9.0,89,1863,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2113,3432
$GC,2173,-1.32,-146.6,271.0,-12.3,104,2177,0.00,2.50,0.00,0.000,4,0.000,0.061,2452,719,3432
$GC,2200,-1.32,-146.6,274.8,-12.9,105,2204,0.00,2.47,0.00,0.000,6,0.000,0.048,2452,2128,3432
$GC,2516,-1.32,-146.6,315.6,-12.8,120,2517,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2128,3433
$GC,2825,-1.32,-146.6,352.8,-11.5,135,2826,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2128,3433
$GC,3134,-1.32,-146.6,393.2,-14.2,150,3139,0.00,2.55,0.00,0.000,4,0.000,0.062,2452,719,3433
$GC,3185,-1.38,-146.6,401.0,-14.6,152,3189,0.00,2.50,0.00,0.000,6,0.000,0.049,2452,2132,3432
$GC,3501,-1.38,-146.6,450.8,-15.6,167,3505,0.00,2.58,0.00,0.000,4,0.000,0.062,2452,710,3433
$GC,3534,-1.42,-146.6,456.3,-16.2,168,3540,0.00,2.50,0.00,0.000,6,0.000,0.049,2452,2124,3432
$GC,3850,-1.42,-146.6,508.1,-16.4,184,3854,0.00,2.58,0.00,0.000,4,0.000,0.072,2452,3535,3432
$GC,3877,-1.42,-146.6,512.5,-16.1,185,3882,0.00,2.55,0.00,0.000,6,0.000,0.058,2452,2120,3432
$GC,4193,-1.42,-146.6,552.0,-10.2,200,4194,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2107,3431
$GC,4503,-1.47,-146.6,576.4,-7.0,215,4508,0.12,2.53,0.00,0.000,4,0.058,0.067,2417,714,3431
$GC,4543,-1.47,-146.6,579.2,-7.0,217,4548,0.00,2.47,0.00,0.000,6,0.000,0.051,2418,2107,3432
$GC,4871,-1.43,-146.6,605.3,-9.7,233,4876,0.00,2.58,0.00,0.000,4,0.000,0.071,2417,708,3431
$GC,4912,-1.43,-146.6,609.8,-11.3,235,4916,0.00,2.50,0.00,0.000,6,0.000,0.055,2417,2107,3431
$GC,5240,-1.38,-146.6,654.4,-16.5,251,5241,0.12,0.00,0.00,0.000,6,0.105,0.000,2442,2107,3430
$STATE,5524,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5524,begin apogee
$GC,5532,-0.33,0.0,694.8,12.6,265,5669,1.08,0.00,133.38,1.278,6,0.084,0.000,2671,1842,2831
$STATE,5670,end apogee,CONTROL_FINISHED_OK
$STATE,5670,begin climb
$GC,5673,1.44,146.6,700.1,0.0,272,5811,1.80,0.00,133.65,1.245,6,0.062,0.000,3058,1842,2233
$GC,6120,1.31,146.6,666.7,10.5,294,6125,0.15,2.65,0.00,0.000,4,0.103,0.071,3031,3262,2232
$GC,6162,1.27,151.5,662.5,9.8,296,6173,0.00,2.62,5.85,0.930,6,0.000,0.070,3031,1857,2213
$GC,6492,1.25,174.8,629.7,8.9,312,6521,0.00,2.67,22.00,1.186,4,0.000,0.071,3031,3253,2117
$GC,6557,1.31,209.2,624.3,8.4,315,6593,0.00,2.62,31.27,1.202,6,0.000,0.070,3031,1851,1979
$GC,6904,1.39,257.8,600.0,7.8,331,6954,0.00,2.70,43.47,1.213,4,0.000,0.071,3031,3248,1779
$GC,6984,1.44,262.6,592.4,9.8,334,6996,0.12,2.62,6.00,0.937,6,0.063,0.067,3062,1849,1760
$GC,7321,1.36,262.6,542.8,17.2,351,7322,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,1849,1760
$GC,7628,1.30,262.6,494.9,14.3,366,7630,0.17,0.00,0.00,0.000,6,0.098,0.000,3028,1849,1759
$GC,7937,1.30,262.6,462.4,10.4,381,7941,0.00,2.60,0.00,0.000,4,0.000,0.066,3028,3254,1759
$GC,8009,1.39,262.6,454.3,10.9,384,8014,0.00,2.55,0.00,0.000,6,0.000,0.061,3028,1860,1759
$GC,8326,1.44,262.6,418.7,11.2,399,8331,0.12,2.58,0.00,0.000,4,0.060,0.064,3062,3257,1759
$GC,8348,1.44,262.6,416.0,11.4,400,8352,0.00,2.53,0.00,0.000,6,0.000,0.059,3062,1869,1759
$GC,8669,1.39,262.6,375.2,12.9,416,8671,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,1869,1759
$GC,8978,1.39,262.6,334.2,12.6,431,8979,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,1869,1759
$GC,9288,1.35,262.6,297.0,11.9,446,9290,0.12,0.00,0.00,0.000,6,0.097,0.000,3038,1869,1759
$GC,9597,1.35,262.6,256.9,13.8,461,9601,0.00,2.53,0.00,0.000,4,0.000,0.061,3038,3261,1759
$GC,9624,1.41,262.6,253.0,13.7,462,9628,0.00,2.50,0.00,0.000,6,0.000,0.053,3037,1867,1760
$GC,9940,1.41,262.6,212.3,12.1,477,9944,0.00,2.58,0.00,0.000,4,0.000,0.068,3037,434,1760
$GC,9973,1.41,262.6,207.8,13.0,478,9977,0.00,2.58,0.00,0.000,6,0.000,0.048,3037,1893,1760
$GC,10289,1.42,265.6,175.1,9.9,493,10298,0.00,2.70,4.47,0.657,4,0.000,0.067,3037,438,1748
$GC,10344,1.42,265.6,168.9,11.1,495,10350,0.00,2.53,0.00,0.000,6,0.000,0.048,3038,1868,1748
$GC,10661,1.47,265.6,126.1,16.0,511,10666,0.12,2.62,0.00,0.000,4,0.054,0.065,3073,435,1748
$GC,10689,1.41,265.6,121.6,16.2,512,10694,0.12,2.50,0.00,0.000,6,0.100,0.047,3050,1855,1748
$GC,11005,1.45,290.2,91.5,8.9,527,11032,0.00,2.53,21.20,0.826,4,0.000,0.056,3049,3252,1647
$GC,11090,1.53,290.2,81.1,14.1,531,11095,0.12,2.50,0.00,0.000,6,0.055,0.048,3085,1855,1647
$GC,11418,1.46,290.2,39.7,12.1,547,11422,0.00,2.53,0.00,0.000,4,0.000,0.056,3085,3255,1647
$GC,11451,1.46,290.2,35.2,13.3,548,11457,0.00,2.47,0.00,0.000,6,0.000,0.048,3085,1854,1647
$STATE,11681,end climb,SURFACE_DEPTH_REACHED
$STATE,11681,begin surface coast
$FINISH,0.9,1.026921
$STATE,11705,end surface coast,CONTROL_FINISHED_OK
$STATE,11705,begin surface
$SM_CCo,11728,5.80,0.627,0,0,1609,300.00
$SM_GC,2.67,0.00,0.00,5.80,0.000,0.000,0.627,416,2146,1609,-10.71,0.42,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1832
$TCM_TEMP,18.00
$XPDR_PINGS,18
$ALTIM_BOTTOM_PING,621.0,82.1
$24V_AH,23.8,15.255
$10V_AH,10.1,6.828
$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,26.650,98.125,401.300,5.800,0.000,37.760,27.077,127.927,10.000,0.000,0.000,31.980,1050.226,8886.957,502.231,1206.075,409.742,33.362,1130.342,0.000,1158.418,0.000,38.279,0.000
$DEVICE_MAMPS,154.934,72.098,1277.822,626.639,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,383.960,417.743,344.276,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28598,561
$CAP_FILE_SIZE,90766,0
$CFSIZE,254472192,247713792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,100909,045954,6215.747,-1001.822,42,1.4,42,-10.1