version: 66.04
glider: 5
mission: 7
dive: 87
start: 9 12 109 1 43 43
data:
$ID,5
$MISSION,7
$DIVE,87
$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,-101906.89
$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,14
$R_STBD_OVSHOOT,24
$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
$GPS1,013701,6215.817,-1038.890,42,1.8,42,-10.4
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-56.4
$GPS2,014255,6215.776,-1038.691,17,1.9,17,-10.4
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,EW
$TGT_LATLONG,6225.000,-1100.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.172,0.175
$KALMAN_X,-72158.2,-669.5,41.3,-31853.4,1959.9
$KALMAN_Y,36155.6,335.8,375.2,35655.7,-2261.4
$MHEAD_RNG_PITCHd_Wd,326.0,25015,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.22,-146.6,0.0,0.0,0,43,0.00,0.00,-26.00,0.000,2,0.000,0.000,417,2110,2186
$GC,47,-1.22,-146.6,2.0,-1.6,2,121,11.00,0.00,-59.85,0.000,6,0.146,0.000,2471,2111,3429
$GC,421,-1.14,-146.6,41.0,-13.7,20,426,0.12,2.53,0.00,0.000,4,0.104,0.056,2497,705,3430
$GC,439,-1.08,-146.6,43.9,-14.4,21,444,0.00,2.53,0.00,0.000,6,0.000,0.046,2497,2137,3431
$GC,767,-1.08,-146.6,81.7,-11.7,37,768,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2137,3431
$GC,1076,-1.08,-146.6,117.1,-10.6,52,1080,0.00,2.58,0.00,0.000,4,0.000,0.059,2497,712,3432
$GC,1120,-1.08,-146.6,122.1,-10.9,54,1124,0.00,2.50,0.00,0.000,6,0.000,0.046,2497,2130,3432
$GC,1441,-1.08,-146.6,159.0,-11.8,70,1442,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2130,3432
$GC,1752,-1.08,-146.6,196.8,-12.1,85,1757,0.00,2.60,0.00,0.000,4,0.000,0.064,2497,702,3432
$GC,1780,-1.08,-146.6,200.5,-12.2,86,1785,0.00,2.53,0.00,0.000,6,0.000,0.048,2497,2128,3432
$GC,2097,-1.08,-146.6,237.0,-11.6,101,2098,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2128,3432
$GC,2408,-1.08,-146.6,271.9,-11.0,116,2412,0.00,2.60,0.00,0.000,4,0.000,0.065,2497,701,3433
$GC,2452,-1.08,-146.6,277.0,-11.0,118,2456,0.00,2.53,0.00,0.000,6,0.000,0.049,2497,2125,3432
$GC,2773,-1.08,-146.6,311.8,-10.8,134,2778,0.00,2.60,0.00,0.000,4,0.000,0.066,2497,696,3432
$GC,2807,-1.08,-146.6,315.5,-10.4,135,2813,0.00,2.50,0.00,0.000,6,0.000,0.050,2497,2113,3432
$GC,3124,-1.08,-146.6,346.7,-9.5,151,3125,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2113,3432
$GC,3432,-1.08,-146.6,378.9,-10.8,166,3433,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2114,3432
$GC,3742,-1.08,-146.6,413.4,-11.5,181,3746,0.00,2.55,0.00,0.000,4,0.000,0.065,2497,711,3431
$GC,3791,-1.08,-146.6,419.4,-11.4,183,3796,0.00,2.47,0.00,0.000,6,0.000,0.051,2497,2107,3430
$GC,4108,-1.08,-146.6,453.0,-10.1,198,4109,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2107,3431
$GC,4416,-1.08,-146.6,482.6,-9.1,213,4421,0.00,2.55,0.00,0.000,4,0.000,0.067,2497,709,3430
$GC,4461,-1.08,-146.6,486.9,-10.3,215,4465,0.00,2.47,0.00,0.000,6,0.000,0.051,2497,2103,3430
$GC,4783,-1.08,-146.6,518.9,-10.3,231,4787,0.00,2.55,0.00,0.000,4,0.000,0.067,2497,707,3430
$GC,4815,-1.08,-146.6,522.5,-10.1,232,4821,0.00,2.47,0.00,0.000,6,0.000,0.051,2497,2102,3430
$GC,5131,-1.08,-146.6,554.1,-10.0,248,5132,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2103,3430
$GC,5441,-1.08,-146.6,584.2,-10.3,263,5445,0.00,2.55,0.00,0.000,4,0.000,0.068,2497,706,3429
$GC,5504,-1.08,-146.6,590.7,-10.3,266,5508,0.00,2.45,0.00,0.000,6,0.000,0.051,2498,2085,3429
$GC,5830,-1.08,-146.6,623.5,-10.5,282,5835,0.00,2.65,0.00,0.000,4,0.000,0.071,2497,3541,3429
$GC,5863,-1.08,-146.6,627.3,-11.5,283,5870,0.00,2.65,0.00,0.000,6,0.000,0.058,2497,2067,3429
$GC,6179,-1.08,-146.6,658.5,-8.9,299,6181,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2067,3429
$GC,6489,-1.08,-146.6,686.2,-9.0,314,6493,0.00,2.45,0.00,0.000,4,0.000,0.069,2497,705,3429
$GC,6521,-1.08,-146.6,689.2,-8.9,315,6528,0.00,2.42,0.00,0.000,6,0.000,0.052,2497,2073,3429
$GC,6838,-1.08,-146.6,712.0,-8.5,331,6842,0.00,2.67,0.00,0.000,4,0.000,0.073,2497,3540,3429
$GC,6910,-1.08,-146.6,718.3,-9.7,334,6915,0.00,2.67,0.00,0.000,6,0.000,0.060,2497,2058,3429
$GC,7229,-1.08,-146.6,746.2,-8.6,349,7233,0.00,2.45,0.00,0.000,4,0.000,0.074,2497,707,3429
$GC,7279,-1.12,-146.6,750.9,-8.4,351,7283,0.00,2.42,0.00,0.000,6,0.000,0.055,2497,2070,3428
$GC,7601,-1.12,-146.6,773.6,-7.2,367,7605,0.00,2.50,0.00,0.000,4,0.000,0.071,2497,715,3428
$STATE,7715,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7716,begin apogee
$GC,7725,-0.33,0.0,786.7,13.6,372,7858,0.77,0.00,129.57,1.357,6,0.073,0.000,2668,1866,2831
$STATE,7859,end apogee,CONTROL_FINISHED_OK
$STATE,7859,begin climb
$GC,7862,1.22,146.6,790.6,0.0,379,7999,1.55,2.67,129.35,1.316,4,0.058,0.071,3010,3265,2233
$GC,8062,1.29,240.3,775.2,4.6,387,8151,0.00,2.65,82.80,1.285,6,0.000,0.065,3010,1842,1851
$GC,8461,1.22,240.3,732.5,10.5,407,8465,0.00,2.62,0.00,0.000,4,0.000,0.081,3010,435,1851
$GC,8578,1.14,240.3,717.4,12.3,412,8583,0.00,2.58,0.00,0.000,6,0.000,0.058,3010,1845,1851
$GC,8895,1.08,240.3,683.7,10.5,427,8900,0.15,2.58,0.00,0.000,4,0.100,0.072,2982,3256,1850
$GC,9013,1.12,240.3,671.8,9.6,432,9017,0.00,2.62,0.00,0.000,6,0.000,0.067,2982,1842,1849
$GC,9329,1.12,240.3,643.0,9.8,447,9333,0.00,2.60,0.00,0.000,4,0.000,0.077,2982,432,1848
$GC,9356,1.12,240.3,639.9,10.7,448,9361,0.00,2.58,0.00,0.000,6,0.000,0.056,2982,1857,1848
$GC,9672,1.12,240.3,610.6,8.0,463,9677,0.00,2.55,0.00,0.000,4,0.000,0.067,2982,3263,1847
$GC,9736,1.16,240.3,605.1,8.9,466,9741,0.00,2.58,0.00,0.000,6,0.000,0.061,2981,1856,1847
$GC,10063,1.16,240.3,577.3,8.4,482,10064,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,1856,1847
$GC,10372,1.19,261.7,553.2,7.2,497,10397,0.10,2.62,19.15,1.147,4,0.062,0.063,3011,3258,1763
$GC,10432,1.19,261.7,548.0,8.8,499,10438,0.00,2.58,0.00,0.000,6,0.000,0.059,3011,1856,1763
$GC,10748,1.16,261.7,520.2,9.2,515,10749,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,1856,1763
$GC,11057,1.12,261.7,492.1,9.4,530,11062,0.12,2.55,0.00,0.000,4,0.094,0.062,2986,3254,1764
$GC,11091,1.17,261.7,488.9,9.0,531,11097,0.00,2.53,0.00,0.000,6,0.000,0.058,2986,1860,1764
$GC,11407,1.17,261.7,462.0,8.8,547,11408,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,1860,1764
$GC,11716,1.17,261.7,434.1,9.1,562,11720,0.00,2.55,0.00,0.000,4,0.000,0.062,2986,3257,1764
$GC,11772,1.22,261.7,428.7,9.5,564,11779,0.10,2.50,0.00,0.000,6,0.059,0.055,3015,1869,1765
$GC,12088,1.18,261.7,394.6,11.0,580,12089,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,1869,1765
$GC,12397,1.14,261.7,360.0,11.2,595,12402,0.12,2.53,0.00,0.000,4,0.091,0.060,2991,3265,1765
$GC,12431,1.19,261.7,356.4,10.0,596,12437,0.00,2.50,0.00,0.000,6,0.000,0.054,2991,1871,1766
$GC,12747,1.19,261.7,326.6,9.7,612,12748,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,1871,1766
$GC,13056,1.19,261.7,298.7,8.8,627,13060,0.00,2.50,0.00,0.000,4,0.000,0.061,2991,3257,1766
$GC,13090,1.24,261.7,295.4,9.1,628,13097,0.12,2.47,0.00,0.000,6,0.054,0.052,3025,1870,1765
$GC,13406,1.19,261.7,260.6,11.2,644,13407,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,1870,1766
$GC,13715,1.14,261.7,225.4,11.1,659,13717,0.17,0.00,0.00,0.000,6,0.085,0.000,2991,1870,1766
$GC,14024,1.14,261.7,196.4,9.3,674,14028,0.00,2.50,0.00,0.000,4,0.000,0.060,2991,3258,1767
$GC,14064,1.20,261.7,192.8,9.0,675,14070,0.00,2.42,0.00,0.000,6,0.000,0.051,2991,1890,1766
$GC,14380,1.20,261.7,167.6,8.1,691,14382,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,1890,1767
$GC,14691,1.23,261.7,141.7,8.2,706,14692,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,1890,1767
$GC,14999,1.26,261.7,115.0,8.6,721,15004,0.12,2.47,0.00,0.000,4,0.054,0.058,3026,3260,1767
$GC,15066,1.26,261.7,108.3,10.1,724,15070,0.00,2.42,0.00,0.000,6,0.000,0.050,3026,1893,1767
$GC,15388,1.22,261.7,80.5,8.6,740,15392,0.00,2.47,0.00,0.000,4,0.000,0.058,3026,3265,1767
$GC,15443,1.22,261.7,74.6,10.5,742,15450,0.00,2.38,0.00,0.000,6,0.000,0.048,3026,1919,1767
$GC,15760,1.24,273.4,50.8,7.6,758,15778,0.00,0.00,11.60,0.762,6,0.000,0.000,3026,1919,1715
$GC,16090,1.21,273.4,20.2,11.4,774,16094,0.00,2.42,0.00,0.000,4,0.000,0.059,3026,3258,1716
$GC,16108,1.21,273.4,17.5,13.1,775,16112,0.00,2.40,0.00,0.000,6,0.000,0.048,3026,1905,1716
$STATE,16252,end climb,SURFACE_DEPTH_REACHED
$STATE,16252,begin surface coast
$FINISH,1.0,1.026856
$STATE,16275,end surface coast,CONTROL_FINISHED_OK
$STATE,16276,begin surface
$SM_CCo,16299,14.18,0.733,0,0,1608,300.00
$SM_GC,2.03,0.00,0.00,14.18,0.000,0.000,0.733,420,2165,1608,-10.70,1.07,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1820
$TCM_TEMP,17.90
$XPDR_PINGS,44
$ALTIM_BOTTOM_PING,746.2,49.9
$24V_AH,23.8,17.169
$10V_AH,10.1,7.628
$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,25.650,141.800,372.475,14.175,0.000,37.763,26.134,160.371,17.750,0.000,0.000,17.134,1437.143,12503.965,520.558,1682.394,521.471,33.360,1389.244,0.000,1642.026,0.000,46.112,0.000
$DEVICE_MAMPS,146.497,81.302,1356.823,733.252,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,535.576,584.697,473.041,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41149,783
$CAP_FILE_SIZE,122341,0
$CFSIZE,254472192,247042048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,120909,061700,6217.029,-1043.276,43,1.0,43,-10.4