version: 66.04
glider: 5
mission: 7
dive: 95
start: 9 13 109 16 20 15
data:
$ID,5
$MISSION,7
$DIVE,95
$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,-102067.21
$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,31
$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
$GPS1,161336,6224.780,-1121.263,34,1.7,34,-10.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-63.7
$GPS2,161925,6224.756,-1121.141,14,1.7,31,-10.8
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,FW
$TGT_LATLONG,6230.000,-1140.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.112,0.218
$KALMAN_X,-87813.3,368.8,807.8,-55408.9,-7695.7
$KALMAN_Y,16909.6,80.2,418.5,71740.2,-7671.5
$MHEAD_RNG_PITCHd_Wd,343.7,18826,-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,-146.6,0.0,0.0,0,59,0.00,0.00,-41.80,0.000,2,0.000,0.000,421,2151,2521
$GC,63,-1.22,-146.6,2.4,-2.9,2,114,11.25,2.65,-33.17,0.000,4,0.159,0.069,2470,714,3430
$GC,289,-1.16,-146.6,28.9,-13.5,12,294,0.10,2.50,0.00,0.000,6,0.114,0.046,2489,2130,3431
$GC,611,-1.16,-146.6,66.4,-11.1,28,615,0.00,2.55,0.00,0.000,4,0.000,0.059,2489,717,3431
$GC,674,-1.16,-146.6,73.7,-11.5,31,678,0.00,2.50,0.00,0.000,6,0.000,0.046,2489,2136,3431
$GC,1003,-1.16,-146.6,109.9,-11.0,47,1007,0.00,2.58,0.00,0.000,4,0.000,0.059,2489,707,3432
$GC,1035,-1.16,-146.6,113.8,-11.1,48,1042,0.00,2.50,0.00,0.000,6,0.000,0.047,2489,2122,3432
$GC,1352,-1.16,-146.6,148.3,-11.2,64,1357,0.00,2.55,0.00,0.000,4,0.000,0.061,2489,715,3432
$GC,1386,-1.16,-146.6,152.3,-11.8,65,1392,0.00,2.47,0.00,0.000,6,0.000,0.048,2489,2117,3432
$GC,1702,-1.16,-146.6,187.1,-10.8,81,1706,0.00,2.53,0.00,0.000,4,0.000,0.061,2490,714,3432
$GC,1729,-1.16,-146.6,190.3,-11.1,82,1734,0.00,2.47,0.00,0.000,6,0.000,0.048,2489,2113,3432
$GC,2045,-1.16,-146.6,224.5,-10.8,97,2046,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2113,3432
$GC,2354,-1.16,-146.6,259.4,-11.4,112,2359,0.00,2.53,0.00,0.000,4,0.000,0.062,2490,721,3432
$GC,2417,-1.16,-146.6,266.8,-11.8,115,2421,0.00,2.45,0.00,0.000,6,0.000,0.050,2490,2102,3432
$GC,2750,-1.16,-146.6,303.9,-11.1,131,2751,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2102,3432
$GC,3059,-1.16,-146.6,337.3,-10.6,146,3063,0.00,2.53,0.00,0.000,4,0.000,0.065,2490,715,3432
$GC,3086,-1.16,-146.6,340.5,-10.8,147,3090,0.00,2.45,0.00,0.000,6,0.000,0.050,2489,2095,3432
$GC,3402,-1.16,-146.6,374.6,-10.7,162,3403,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2099,3431
$GC,3711,-1.16,-146.6,407.4,-10.8,177,3713,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2099,3431
$GC,4020,-1.16,-146.6,441.5,-11.3,192,4025,0.00,2.50,0.00,0.000,4,0.000,0.064,2490,718,3431
$GC,4055,-1.16,-146.6,445.5,-12.0,193,4061,0.00,2.42,0.00,0.000,6,0.000,0.050,2490,2086,3431
$GC,4371,-1.16,-146.6,481.1,-11.4,209,4372,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2086,3430
$GC,4680,-1.16,-146.6,516.2,-11.4,224,4684,0.00,2.50,0.00,0.000,4,0.000,0.064,2490,709,3431
$GC,4707,-1.16,-146.6,519.5,-12.0,225,4711,0.00,2.45,0.00,0.000,6,0.000,0.051,2490,2088,3430
$GC,5023,-1.16,-146.6,555.2,-11.1,240,5024,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2088,3430
$GC,5332,-1.16,-146.6,589.4,-10.7,255,5333,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2088,3429
$GC,5641,-1.16,-146.6,622.7,-10.7,270,5645,0.00,2.50,0.00,0.000,4,0.000,0.064,2490,713,3429
$GC,5681,-1.16,-146.6,627.1,-10.6,272,5685,0.00,2.45,0.00,0.000,6,0.000,0.054,2490,2088,3429
$GC,6008,-1.16,-146.6,660.9,-9.9,288,6012,0.00,2.50,0.00,0.000,4,0.000,0.066,2490,712,3429
$GC,6052,-1.16,-146.6,665.7,-10.8,290,6056,0.00,2.42,0.00,0.000,6,0.000,0.054,2489,2075,3429
$GC,6375,-1.16,-146.6,696.8,-9.7,306,6379,0.00,2.50,0.00,0.000,4,0.000,0.069,2490,711,3429
$GC,6464,-1.16,-146.6,706.5,-10.6,310,6468,0.00,2.40,0.00,0.000,6,0.000,0.056,2490,2054,3429
$GC,6785,-1.16,-146.6,738.5,-10.1,326,6787,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2054,3429
$GC,7095,-1.16,-146.6,766.2,-9.1,341,7099,0.00,2.50,0.00,0.000,4,0.000,0.078,2490,712,3428
$GC,7203,-1.16,-146.6,776.4,-10.3,346,7207,0.00,2.42,0.00,0.000,6,0.000,0.060,2490,2065,3428
$GC,7529,-1.16,-146.6,807.6,-9.7,362,7531,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2065,3427
$STATE,7568,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7568,begin apogee
$GC,7575,-0.33,0.0,811.8,9.8,364,7711,0.85,0.00,131.00,1.372,6,0.078,0.000,2674,1834,2831
$STATE,7712,end apogee,CONTROL_FINISHED_OK
$STATE,7712,begin climb
$GC,7715,1.22,146.6,817.3,0.0,371,7862,1.52,2.70,131.88,1.335,4,0.060,0.071,3007,3252,2233
$GC,7918,1.12,146.6,809.0,8.7,380,7923,0.00,2.62,0.00,0.000,6,0.000,0.070,3007,1853,2232
$GC,8235,1.03,156.9,785.5,7.6,395,8252,0.20,2.67,10.60,1.165,4,0.096,0.074,2969,3258,2191
$GC,8314,1.08,186.8,780.0,6.9,397,8349,0.00,2.62,27.73,1.289,6,0.000,0.071,2969,1857,2069
$GC,8674,1.14,220.7,754.0,6.8,415,8711,0.12,2.72,30.60,1.302,4,0.061,0.084,3000,439,1931
$GC,8751,1.05,220.7,747.1,9.9,417,8758,0.12,2.60,0.00,0.000,6,0.098,0.067,2977,1850,1930
$GC,9067,1.06,225.4,722.8,7.8,433,9075,0.00,0.00,5.75,1.017,6,0.000,0.000,2977,1864,1912
$GC,9377,1.07,229.0,698.1,7.9,448,9386,0.00,2.72,4.78,0.936,4,0.000,0.084,2977,432,1898
$GC,9476,1.07,229.0,688.5,10.5,452,9483,0.00,2.55,0.00,0.000,6,0.000,0.061,2977,1831,1897
$GC,9792,1.07,229.0,660.3,9.0,468,9797,0.00,2.60,0.00,0.000,4,0.000,0.073,2977,3263,1897
$GC,9849,1.10,229.0,655.2,8.4,470,9855,0.00,2.62,0.00,0.000,6,0.000,0.066,2977,1839,1897
$GC,10165,1.10,229.0,628.0,8.6,486,10169,0.00,2.58,0.00,0.000,4,0.000,0.079,2977,434,1897
$GC,10204,1.10,229.0,624.4,9.8,488,10209,0.00,2.55,0.00,0.000,6,0.000,0.061,2977,1854,1896
$GC,10531,1.10,229.0,597.0,8.3,504,10532,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,1868,1896
$GC,10841,1.14,229.0,571.2,8.2,519,10845,0.00,2.53,0.00,0.000,4,0.000,0.067,2977,3257,1897
$GC,10874,1.19,229.0,568.1,9.0,520,10881,0.12,2.60,0.00,0.000,6,0.058,0.061,3010,1828,1896
$GC,11191,1.15,229.0,538.2,9.3,536,11196,0.00,2.60,0.00,0.000,4,0.000,0.065,3010,3257,1896
$GC,11232,1.15,229.0,534.4,9.4,538,11236,0.00,2.55,0.00,0.000,6,0.000,0.061,3010,1842,1896
$GC,11559,1.10,229.0,505.8,8.6,554,11561,0.12,0.00,0.00,0.000,6,0.092,0.000,2985,1842,1897
$GC,11867,1.16,266.8,484.4,6.6,569,11910,0.00,2.67,33.35,1.134,4,0.000,0.062,2985,3257,1743
$GC,11957,1.25,280.7,478.0,7.5,573,11979,0.15,2.55,13.48,1.059,6,0.052,0.059,3025,1860,1686
$GC,12291,1.20,280.7,446.9,9.4,589,12294,0.00,2.58,0.00,0.000,4,0.000,0.071,3024,438,1686
$GC,12324,1.13,280.7,443.0,10.3,590,12329,0.17,2.55,0.00,0.000,6,0.087,0.054,2991,1867,1686
$GC,12641,1.16,283.3,418.5,7.9,605,12647,0.00,0.00,4.07,0.721,6,0.000,0.000,2991,1881,1676
$GC,12950,1.20,283.3,392.9,8.4,620,12951,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,1881,1676
$GC,13259,1.23,283.3,366.3,8.6,635,13261,0.10,0.00,0.00,0.000,6,0.059,0.000,3019,1881,1676
$GC,13568,1.23,283.3,335.2,10.1,650,13573,0.00,2.65,0.00,0.000,4,0.000,0.079,3019,432,1677
$GC,13601,1.18,283.3,331.5,11.3,651,13607,0.00,2.55,0.00,0.000,6,0.000,0.059,3019,1868,1677
$GC,13917,1.18,283.3,299.5,10.2,667,13921,0.00,2.50,0.00,0.000,4,0.000,0.074,3019,3264,1677
$GC,13951,1.18,283.3,296.0,10.3,668,13957,0.00,2.55,0.00,0.000,6,0.000,0.058,3019,1847,1677
$GC,14267,1.18,283.3,264.1,10.2,684,14268,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,1846,1677
$GC,14576,1.18,283.3,233.8,9.7,699,14580,0.00,2.58,0.00,0.000,4,0.000,0.064,3019,3262,1677
$GC,14616,1.18,283.3,230.1,9.1,701,14621,0.00,2.50,0.00,0.000,6,0.000,0.057,3019,1858,1677
$GC,14943,1.18,283.3,200.1,8.9,717,14944,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,1858,1678
$GC,15252,1.18,283.3,172.0,9.3,732,15257,0.00,2.55,0.00,0.000,4,0.000,0.064,3019,3262,1678
$GC,15303,1.18,283.3,167.1,9.0,734,15307,0.00,2.50,0.00,0.000,6,0.000,0.056,3019,1862,1678
$GC,15619,1.18,283.3,136.7,10.3,749,15620,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,1862,1678
$GC,15928,1.18,283.3,102.9,11.2,764,15933,0.00,2.53,0.00,0.000,4,0.000,0.062,3019,3254,1678
$GC,15973,1.18,283.3,97.4,10.9,766,15978,0.00,2.45,0.00,0.000,6,0.000,0.052,3019,1874,1678
$GC,16295,1.18,283.3,57.9,13.6,782,16300,0.00,2.58,0.00,0.000,4,0.000,0.069,3019,439,1679
$GC,16317,1.18,283.3,54.9,12.3,783,16322,0.00,2.58,0.00,0.000,6,0.000,0.054,3019,1895,1679
$GC,16640,1.18,283.3,22.8,8.6,799,16644,0.00,2.42,0.00,0.000,4,0.000,0.068,3019,3264,1679
$GC,16703,1.23,283.3,17.0,9.8,802,16707,0.00,2.45,0.00,0.000,6,0.000,0.050,3020,1878,1678
$STATE,16862,end climb,SURFACE_DEPTH_REACHED
$STATE,16862,begin surface coast
$FINISH,0.9,1.026853
$STATE,16884,end surface coast,CONTROL_FINISHED_OK
$STATE,16884,begin surface
$SM_CCo,16908,9.57,0.718,0,0,1608,300.00
$SM_GC,2.40,0.00,0.00,9.57,0.000,0.000,0.718,419,2159,1608,-10.70,0.76,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1820
$TCM_TEMP,17.60
$XPDR_PINGS,98
$ALTIM_BOTTOM_PING,770.2,49.6
$24V_AH,23.8,18.472
$10V_AH,10.1,8.247
$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,26.075,153.300,393.225,9.575,0.000,37.761,27.339,141.102,31.500,0.000,0.000,31.432,1495.003,12933.010,522.645,1796.846,519.744,33.390,1450.424,0.000,1736.780,0.000,47.701,0.000
$DEVICE_MAMPS,158.769,84.370,1372.163,717.912,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,555.424,602.154,462.695,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41021,811
$CAP_FILE_SIZE,128235,0
$CFSIZE,254472192,246550528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,130909,210337,6225.515,-1127.347,43,1.0,43,-10.9