version: 66.04
glider: 5
mission: 7
dive: 85
start: 9 11 109 16 27 33
data:
$ID,5
$MISSION,7
$DIVE,85
$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,412.5
$T_MISSION,440
$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,-101875.73
$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,0.029999999
$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,23
$R_STBD_OVSHOOT,37
$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
$GPS1,162107,6215.747,-1027.123,27,1.9,27,-10.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-54.5
$GPS2,162644,6215.731,-1027.121,14,2.0,14,-10.3
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,DW
$TGT_LATLONG,6215.000,-1035.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.221,-0.107
$KALMAN_X,-72262.3,-4.7,-358.1,-21810.8,4209.9
$KALMAN_Y,38002.5,-380.9,-107.0,34915.9,2416.3
$MHEAD_RNG_PITCHd_Wd,254.4,6928,-14.8,-8.000
$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,-1.22,-146.6,0.0,0.0,0,61,0.00,0.00,-41.60,0.000,2,0.000,0.000,422,2142,2328
$GC,65,-1.22,-146.6,2.1,-2.9,2,137,11.27,2.53,-54.58,0.000,4,0.156,0.076,2476,3519,3428
$GC,144,-0.99,-146.6,3.6,-7.8,5,149,0.25,2.50,0.00,0.000,6,0.097,0.048,2528,2116,3428
$GC,465,-0.99,-146.6,37.2,-9.9,21,467,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2095,3428
$GC,776,-1.03,-146.6,71.4,-12.6,36,781,0.00,2.60,0.00,0.000,4,0.000,0.064,2528,3534,3429
$GC,822,-1.07,-146.6,77.0,-11.4,38,826,0.00,2.47,0.00,0.000,6,0.000,0.045,2528,2134,3429
$GC,1144,-1.11,-146.6,108.7,-9.9,54,1149,0.12,2.50,0.00,0.000,4,0.053,0.058,2487,722,3429
$GC,1172,-1.11,-146.6,111.8,-10.8,55,1176,0.00,2.47,0.00,0.000,6,0.000,0.046,2488,2130,3429
$GC,1489,-1.07,-146.6,144.4,-11.0,70,1497,0.10,2.55,0.00,0.000,4,0.097,0.061,2510,720,3430
$GC,1531,-1.11,-146.6,149.1,-10.7,71,1538,0.00,2.47,0.00,0.000,6,0.000,0.047,2510,2129,3430
$GC,1847,-1.11,-146.6,179.6,-9.8,87,1852,0.00,2.55,0.00,0.000,4,0.000,0.063,2510,724,3430
$GC,1875,-1.11,-146.6,182.5,-9.9,88,1879,0.00,2.45,0.00,0.000,6,0.000,0.048,2510,2111,3430
$GC,2197,-1.11,-146.6,212.9,-9.6,104,2198,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2111,3430
$GC,2506,-1.11,-146.6,241.9,-9.3,119,2510,0.00,2.53,0.00,0.000,4,0.000,0.062,2510,717,3430
$GC,2546,-1.15,-146.6,245.8,-9.9,121,2550,0.00,2.45,0.00,0.000,6,0.000,0.049,2511,2110,3430
$GC,2879,-1.15,-146.6,276.5,-9.2,137,2883,0.00,2.53,0.00,0.000,4,0.000,0.063,2510,717,3430
$GC,2907,-1.15,-146.6,279.3,-10.4,138,2911,0.00,2.45,0.00,0.000,6,0.000,0.049,2510,2101,3430
$GC,3222,-1.15,-146.6,312.8,-11.1,153,3223,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2102,3429
$GC,3532,-1.15,-146.6,347.5,-11.3,168,3536,0.00,2.53,0.00,0.000,4,0.000,0.066,2510,717,3429
$GC,3560,-1.18,-146.6,350.8,-12.3,169,3564,0.00,2.45,0.00,0.000,6,0.000,0.051,2510,2097,3429
$GC,3876,-1.18,-146.6,386.5,-11.2,184,3880,0.00,2.50,0.00,0.000,4,0.000,0.064,2510,717,3429
$GC,3903,-1.18,-146.6,389.6,-11.3,185,3907,0.00,2.42,0.00,0.000,6,0.000,0.050,2510,2088,3428
$GC,4221,-1.18,-146.6,421.1,-9.3,200,4222,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2088,3428
$GC,4528,-1.18,-146.6,447.6,-8.1,215,4532,0.00,2.62,0.00,0.000,4,0.000,0.071,2510,3531,3428
$GC,4561,-1.18,-146.6,450.5,-9.0,216,4567,0.00,2.62,0.00,0.000,6,0.000,0.057,2510,2072,3428
$GC,4877,-1.18,-146.6,478.1,-9.5,232,4881,0.00,2.70,0.00,0.000,4,0.000,0.070,2510,3534,3428
$GC,4905,-1.18,-146.6,481.0,-10.5,233,4910,0.00,2.60,0.00,0.000,6,0.000,0.057,2510,2089,3427
$GC,5221,-1.18,-146.6,514.1,-11.0,248,5226,0.00,2.67,0.00,0.000,4,0.000,0.071,2510,3535,3427
$GC,5262,-1.18,-146.6,518.5,-11.6,250,5266,0.00,2.60,0.00,0.000,6,0.000,0.057,2510,2089,3427
$GC,5588,-1.18,-146.6,551.5,-9.7,266,5590,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2073,3427
$GC,5898,-1.18,-146.6,579.2,-8.8,281,5902,0.00,2.67,0.00,0.000,4,0.000,0.071,2510,3538,3427
$GC,5937,-1.18,-146.6,582.8,-9.3,283,5942,0.00,2.60,0.00,0.000,6,0.000,0.057,2511,2083,3427
$GC,6265,-1.18,-146.6,608.2,-6.7,299,6269,0.00,2.70,0.00,0.000,4,0.000,0.071,2510,3539,3427
$GC,6309,-1.18,-146.6,611.3,-7.2,301,6314,0.00,2.58,0.00,0.000,6,0.000,0.056,2510,2100,3427
$GC,6632,-1.21,-146.6,634.8,-7.6,317,6637,0.12,2.65,0.00,0.000,4,0.059,0.070,2472,3528,3427
$GC,6682,-1.17,-146.6,639.7,-9.6,319,6687,0.00,2.58,0.00,0.000,6,0.000,0.058,2472,2100,3426
$GC,6999,-1.13,-146.6,666.9,-10.0,334,7004,0.12,2.67,0.00,0.000,4,0.096,0.072,2498,3538,3427
$GC,7094,-1.13,-146.6,676.1,-9.5,338,7098,0.00,2.53,0.00,0.000,6,0.000,0.058,2498,2138,3427
$GC,7410,-1.13,-146.6,706.5,-9.3,353,7414,0.00,2.58,0.00,0.000,4,0.000,0.072,2498,717,3426
$GC,7439,-1.16,-146.6,709.0,-9.1,354,7444,0.00,2.55,0.00,0.000,6,0.000,0.054,2499,2146,3426
$GC,7755,-1.16,-146.6,735.7,-8.4,369,7759,0.00,2.65,0.00,0.000,4,0.000,0.076,2498,718,3426
$GC,7788,-1.19,-146.6,738.8,-8.9,370,7795,0.00,2.55,0.00,0.000,6,0.000,0.058,2498,2143,3426
$GC,8105,-1.19,-146.6,766.4,-8.1,386,8109,0.00,2.62,0.00,0.000,4,0.000,0.075,2499,723,3425
$GC,8168,-1.23,-146.6,771.3,-7.6,389,8172,0.00,2.50,0.00,0.000,6,0.000,0.059,2498,2119,3425
$STATE,8244,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8244,begin apogee
$GC,8252,-0.33,0.0,776.8,7.1,393,8387,0.80,0.00,130.20,1.355,6,0.079,0.000,2670,1838,2831
$STATE,8388,end apogee,CONTROL_FINISHED_OK
$STATE,8388,begin climb
$GC,8391,1.22,146.6,778.3,0.0,400,8528,1.55,0.00,131.90,1.317,6,0.061,0.000,3010,1839,2233
$GC,8825,1.12,146.6,746.1,9.3,421,8826,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,1839,2232
$GC,9135,1.04,154.1,720.9,7.7,436,9145,0.20,0.00,8.10,1.098,6,0.094,0.000,2973,1839,2202
$GC,9444,1.07,172.8,699.7,7.3,451,9463,0.00,0.00,17.48,1.242,6,0.000,0.000,2973,1839,2126
$GC,9772,1.07,172.8,670.3,9.1,467,9777,0.00,2.65,0.00,0.000,4,0.000,0.071,2973,3255,2125
$GC,9844,1.07,172.8,663.5,9.2,470,9849,0.00,2.60,0.00,0.000,6,0.000,0.067,2973,1854,2125
$GC,10161,1.28,309.0,644.4,3.1,485,10286,0.20,2.70,116.70,1.295,4,0.055,0.069,3024,3260,1570
$GC,10320,1.39,373.8,636.7,5.6,492,10383,0.10,2.60,56.75,1.242,6,0.065,0.067,3049,1872,1306
$GC,10700,1.29,373.8,593.5,12.4,511,10702,0.12,0.00,0.00,0.000,6,0.104,0.000,3027,1872,1307
$GC,11009,1.26,373.8,550.1,14.1,526,11014,0.00,2.55,0.00,0.000,4,0.000,0.065,3027,3258,1307
$GC,11037,1.26,373.8,545.7,14.9,527,11041,0.00,2.53,0.00,0.000,6,0.000,0.061,3027,1881,1307
$GC,11353,1.22,373.8,502.6,13.0,542,11358,0.00,2.65,0.00,0.000,4,0.000,0.074,3027,433,1307
$GC,11381,1.16,373.8,498.8,13.8,543,11387,0.15,2.62,0.00,0.000,6,0.094,0.052,2998,1896,1307
$GC,11698,1.20,373.8,465.9,10.6,558,11702,0.00,2.72,0.00,0.000,4,0.000,0.072,2998,435,1308
$GC,11731,1.20,373.8,461.9,10.9,559,11737,0.00,2.58,0.00,0.000,6,0.000,0.051,2998,1876,1308
$GC,12047,1.24,373.8,425.8,12.3,575,12048,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,1891,1308
$GC,12356,1.28,373.8,387.0,12.6,590,12362,0.12,2.65,0.00,0.000,4,0.054,0.071,3032,439,1309
$GC,12407,1.23,373.8,379.3,15.5,592,12412,0.00,2.53,0.00,0.000,6,0.000,0.049,3032,1861,1309
$GC,12723,1.19,373.8,333.9,13.9,607,12728,0.15,2.62,0.00,0.000,4,0.088,0.067,3002,438,1309
$GC,12751,1.19,373.8,329.8,14.8,608,12756,0.00,2.53,0.00,0.000,6,0.000,0.049,3002,1861,1309
$GC,13068,1.22,373.8,291.7,12.3,623,13072,0.00,2.62,0.00,0.000,4,0.000,0.069,3002,439,1309
$GC,13095,1.22,373.8,288.0,13.0,624,13099,0.00,2.50,0.00,0.000,6,0.000,0.049,3002,1849,1310
$GC,13411,1.26,373.8,252.8,10.7,639,13412,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,1864,1309
$GC,13720,1.29,373.8,220.5,10.8,654,13725,0.12,2.60,0.00,0.000,4,0.055,0.069,3037,433,1310
$GC,13761,1.24,373.8,215.3,13.5,656,13766,0.12,2.47,0.00,0.000,6,0.089,0.050,3012,1830,1310
$GC,14088,1.24,373.8,177.9,10.9,672,14089,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1845,1310
$GC,14398,1.24,373.8,144.1,11.6,687,14399,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1845,1311
$GC,14707,1.24,373.8,109.0,11.4,702,14711,0.00,2.55,0.00,0.000,4,0.000,0.067,3012,440,1311
$GC,14741,1.24,373.8,104.8,12.4,703,14747,0.00,2.45,0.00,0.000,6,0.000,0.049,3013,1826,1311
$GC,15058,1.24,373.8,70.8,10.1,719,15063,0.00,2.55,0.00,0.000,4,0.000,0.059,3012,3261,1311
$GC,15083,1.29,373.8,68.6,9.1,720,15087,0.00,2.60,0.00,0.000,6,0.000,0.051,3012,1805,1311
$GC,15404,1.34,373.8,34.5,10.8,736,15409,0.12,2.45,0.00,0.000,4,0.052,0.067,3048,442,1311
$GC,15449,1.29,373.8,29.0,12.3,738,15454,0.12,2.40,0.00,0.000,6,0.088,0.047,3024,1808,1311
$STATE,15665,end climb,SURFACE_DEPTH_REACHED
$STATE,15665,begin surface coast
$FINISH,0.8,1.026870
$STATE,15687,end surface coast,CONTROL_FINISHED_OK
$STATE,15687,begin surface
$SM_CCo,15771,0.00,0.000,0,0,1310,373.10
$SM_GC,1.32,11.25,0.00,0.00,0.038,0.000,0.000,425,2149,1310,-10.59,0.54,373.10
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1832
$TCM_TEMP,17.50
$XPDR_PINGS,42
$ALTIM_BOTTOM_PING,770.4,16.1
$24V_AH,23.8,16.858
$10V_AH,10.1,7.477
$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,27.150,159.975,461.125,0.000,0.000,37.761,30.341,150.298,18.000,0.000,0.000,14.262,1399.525,11993.637,585.407,1611.661,514.202,33.359,1446.616,0.000,1564.081,0.000,53.431,0.000
$DEVICE_MAMPS,156.468,75.933,1355.289,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,513.498,558.591,447.390,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37964,750
$CAP_FILE_SIZE,125449,0
$CFSIZE,254472192,247164928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,110909,205137,6213.960,-1033.622,36,1.4,36,-10.3