version: 66.04
glider: 5
mission: 7
dive: 96
start: 9 13 109 21 9 51
data:
$ID,5
$MISSION,7
$DIVE,96
$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,-102082.64
$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,30
$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
$GPS1,210337,6225.515,-1127.347,43,1.0,43,-10.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-64.0
$GPS2,210902,6225.499,-1127.485,14,1.6,14,-10.9
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,FW
$TGT_LATLONG,6230.000,-1140.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.083,0.231
$KALMAN_X,-89196.7,106.7,55.2,-58607.0,-4746.6
$KALMAN_Y,12546.9,969.6,174.1,76823.8,-9054.3
$MHEAD_RNG_PITCHd_Wd,351.2,13565,-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,-41.65,0.000,2,0.000,0.000,419,2150,2526
$GC,65,-1.22,-146.6,2.6,-4.5,2,116,11.38,2.60,-33.67,0.000,4,0.163,0.068,2469,716,3429
$GC,369,-1.17,-146.6,43.1,-15.3,15,376,0.10,2.50,0.00,0.000,6,0.117,0.054,2488,2137,3430
$GC,687,-1.17,-146.6,88.5,-12.1,31,691,0.00,2.55,0.00,0.000,4,0.000,0.062,2488,718,3430
$GC,742,-1.17,-146.6,95.8,-13.1,33,749,0.00,2.50,0.00,0.000,6,0.000,0.052,2488,2137,3430
$GC,1059,-1.17,-146.6,135.5,-12.3,49,1060,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2137,3431
$GC,1367,-1.17,-146.6,169.9,-10.5,64,1375,0.00,2.58,0.00,0.000,4,0.000,0.062,2488,711,3432
$GC,1409,-1.17,-146.6,174.3,-10.5,65,1416,0.00,2.50,0.00,0.000,6,0.000,0.058,2488,2123,3432
$GC,1725,-1.17,-146.6,205.8,-9.7,81,1727,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2124,3432
$GC,2034,-1.17,-146.6,235.9,-9.9,96,2038,0.00,2.55,0.00,0.000,4,0.000,0.070,2488,719,3432
$GC,2085,-1.17,-146.6,241.4,-10.8,98,2089,0.00,2.50,0.00,0.000,6,0.000,0.054,2488,2130,3431
$GC,2407,-1.17,-146.6,274.4,-10.4,114,2411,0.00,2.55,0.00,0.000,4,0.000,0.061,2488,714,3431
$GC,2440,-1.17,-146.6,278.0,-10.8,115,2446,0.00,2.47,0.00,0.000,6,0.000,0.049,2488,2107,3431
$GC,2756,-1.17,-146.6,311.9,-11.0,131,2757,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2107,3431
$GC,3066,-1.17,-146.6,346.4,-11.3,146,3070,0.00,2.50,0.00,0.000,4,0.000,0.064,2488,719,3431
$GC,3105,-1.17,-146.6,351.2,-11.6,147,3111,0.00,2.47,0.00,0.000,6,0.000,0.055,2488,2121,3431
$GC,3421,-1.17,-146.6,387.2,-11.3,163,3425,0.00,2.55,0.00,0.000,4,0.000,0.064,2488,717,3430
$GC,3454,-1.17,-146.6,391.1,-11.6,164,3460,0.00,2.47,0.00,0.000,6,0.000,0.055,2488,2111,3430
$GC,3770,-1.17,-146.6,425.8,-11.0,180,3771,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2111,3430
$GC,4079,-1.17,-146.6,458.7,-10.2,195,4083,0.00,2.53,0.00,0.000,4,0.000,0.064,2488,718,3430
$GC,4129,-1.17,-146.6,464.0,-10.1,197,4133,0.00,2.45,0.00,0.000,6,0.000,0.056,2488,2101,3430
$GC,4451,-1.17,-146.6,495.1,-9.5,213,4452,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2101,3430
$GC,4759,-1.17,-146.6,525.6,-10.3,228,4763,0.00,2.53,0.00,0.000,4,0.000,0.068,2488,715,3429
$GC,4810,-1.17,-146.6,531.1,-11.4,230,4814,0.00,2.47,0.00,0.000,6,0.000,0.055,2488,2106,3429
$GC,5131,-1.17,-146.6,566.4,-11.5,246,5132,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2106,3429
$GC,5440,-1.17,-146.6,604.0,-12.4,261,5444,0.00,2.53,0.00,0.000,4,0.000,0.068,2488,720,3429
$GC,5467,-1.17,-146.6,607.7,-13.1,262,5472,0.00,2.45,0.00,0.000,6,0.000,0.055,2488,2095,3429
$GC,5784,-1.17,-146.6,647.1,-12.2,277,5785,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2096,3428
$GC,6092,-1.17,-146.6,682.7,-10.9,292,6094,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2096,3428
$GC,6402,-1.17,-146.6,714.3,-9.5,307,6406,0.00,2.53,0.00,0.000,4,0.000,0.068,2488,712,3428
$GC,6547,-1.17,-146.6,728.6,-9.7,313,6553,0.00,2.45,0.00,0.000,6,0.000,0.058,2488,2087,3428
$GC,6863,-1.17,-146.6,758.9,-10.1,329,6864,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2086,3428
$GC,7173,-1.17,-146.6,791.6,-10.9,344,7177,0.00,2.53,0.00,0.000,4,0.000,0.072,2488,717,3427
$GC,7218,-1.20,-146.6,796.8,-11.4,346,7222,0.00,2.42,0.00,0.000,6,0.000,0.060,2488,2068,3427
$STATE,7459,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7459,begin apogee
$GC,7467,-0.33,0.0,821.7,9.3,358,7602,0.85,0.00,130.07,1.380,6,0.078,0.000,2671,1848,2831
$STATE,7603,end apogee,CONTROL_FINISHED_OK
$STATE,7603,begin climb
$GC,7606,1.22,146.6,825.5,0.0,365,7745,1.55,2.67,130.62,1.338,4,0.064,0.079,3008,447,2233
$GC,7777,1.06,146.6,815.9,8.7,373,7782,0.17,2.58,0.00,0.000,6,0.094,0.064,2976,1846,2233
$GC,8105,1.09,188.3,792.9,6.5,389,8145,0.00,0.00,38.12,1.297,6,0.000,0.000,2976,1861,2063
$GC,8454,1.13,213.3,766.6,7.1,406,8479,0.00,0.00,23.33,1.273,6,0.000,0.000,2976,1861,1961
$GC,8783,1.16,234.9,742.9,7.2,422,8810,0.10,2.72,20.40,1.269,4,0.065,0.081,3002,447,1873
$GC,8845,1.08,234.9,737.3,10.1,425,8850,0.12,2.58,0.00,0.000,6,0.098,0.064,2979,1847,1872
$GC,9173,1.08,234.9,708.9,8.8,441,9174,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,1850,1872
$GC,9482,1.08,234.9,682.3,8.3,456,9486,0.00,2.62,0.00,0.000,4,0.000,0.080,2979,448,1871
$GC,9577,1.09,238.3,674.1,7.9,460,9589,0.00,2.53,4.53,0.894,6,0.000,0.060,2979,1854,1859
$GC,9899,1.14,270.9,649.6,6.8,476,9934,0.00,2.65,29.33,1.262,4,0.000,0.072,2979,3238,1726
$GC,9969,1.21,272.7,644.2,7.9,479,9974,0.12,2.60,0.00,0.000,6,0.060,0.064,3011,1840,1726
$GC,10291,1.18,272.7,613.7,9.7,495,10295,0.00,2.60,0.00,0.000,4,0.000,0.069,3011,3244,1726
$GC,10346,1.18,272.7,608.0,9.5,497,10353,0.00,2.55,0.00,0.000,6,0.000,0.063,3011,1851,1726
$GC,10662,1.18,272.7,576.7,10.1,513,10664,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,1852,1726
$GC,10971,1.18,272.7,543.7,10.7,528,10973,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1852,1726
$GC,11281,1.18,272.7,509.6,11.1,543,11285,0.00,2.55,0.00,0.000,4,0.000,0.063,3012,3246,1727
$GC,11331,1.18,272.7,503.8,10.8,545,11335,0.00,2.53,0.00,0.000,6,0.000,0.060,3011,1853,1727
$GC,11652,1.18,272.7,468.5,11.0,561,11657,0.00,2.55,0.00,0.000,4,0.000,0.067,3011,3247,1727
$GC,11686,1.18,272.7,464.6,10.4,562,11692,0.00,2.50,0.00,0.000,6,0.000,0.056,3012,1862,1727
$GC,12002,1.18,272.7,431.7,10.4,578,12003,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,1862,1727
$GC,12311,1.18,272.7,399.6,10.4,593,12316,0.00,0.00,3.85,0.685,6,0.000,0.000,3012,1862,1719
$GC,12621,1.18,272.7,367.6,10.3,608,12624,0.00,2.50,0.00,0.000,4,0.000,0.063,3012,3243,1719
$GC,12672,1.18,272.7,362.1,10.2,610,12677,0.00,2.47,0.00,0.000,6,0.000,0.056,3012,1865,1719
$GC,12994,1.18,272.7,329.1,10.2,626,12995,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1864,1719
$GC,13304,1.18,272.7,299.0,9.5,641,13308,0.00,2.50,0.00,0.000,4,0.000,0.064,3012,3253,1719
$GC,13354,1.18,272.7,294.0,9.7,643,13358,0.00,2.47,0.00,0.000,6,0.000,0.053,3011,1868,1720
$GC,13675,1.18,272.7,264.6,9.2,659,13676,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1868,1720
$GC,13984,1.18,272.7,236.7,8.9,674,13989,0.00,2.50,0.00,0.000,4,0.000,0.062,3012,3246,1720
$GC,14029,1.18,272.7,232.4,9.2,676,14033,0.00,2.42,0.00,0.000,6,0.000,0.053,3012,1877,1720
$GC,14356,1.18,272.7,202.7,9.2,692,14357,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1877,1720
$GC,14665,1.18,272.7,174.4,9.2,707,14670,0.00,2.47,0.00,0.000,4,0.000,0.062,3012,3246,1720
$GC,14710,1.21,272.7,170.1,9.4,709,14715,0.00,2.42,0.00,0.000,6,0.000,0.052,3011,1881,1721
$GC,15032,1.21,272.7,139.5,9.6,725,15034,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1881,1721
$GC,15343,1.21,272.7,108.2,9.8,740,15347,0.00,2.47,0.00,0.000,4,0.000,0.060,3012,3251,1721
$GC,15384,1.25,272.7,104.0,10.6,742,15388,0.00,2.40,0.00,0.000,6,0.000,0.054,3011,1897,1721
$GC,15712,1.26,279.3,76.2,7.8,758,15721,0.00,0.00,7.57,0.739,6,0.000,0.000,3012,1897,1692
$GC,16023,1.31,312.7,54.6,6.8,773,16053,0.00,0.00,27.75,0.830,6,0.000,0.000,3012,1897,1556
$GC,16352,1.35,312.7,27.9,8.4,789,16357,0.12,2.62,0.00,0.000,4,0.052,0.065,3047,439,1556
$GC,16403,1.26,312.7,21.9,12.9,791,16408,0.15,2.58,0.00,0.000,6,0.084,0.051,3017,1893,1556
$STATE,16613,end climb,SURFACE_DEPTH_REACHED
$STATE,16613,begin surface coast
$FINISH,0.9,1.026837
$STATE,16635,end surface coast,CONTROL_FINISHED_OK
$STATE,16635,begin surface
$SM_CCo,16719,0.00,0.000,0,0,1555,313.00
$SM_GC,1.70,11.27,0.00,0.00,0.037,0.000,0.000,420,2148,1555,-10.61,0.51,313.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1832
$TCM_TEMP,17.70
$XPDR_PINGS,40
$ALTIM_BOTTOM_PING,772.0,59.4
$24V_AH,23.8,18.635
$10V_AH,10.1,8.323
$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,25.950,127.025,415.575,0.000,0.000,37.762,29.557,136.418,17.000,0.000,0.000,14.801,1459.211,12856.194,527.599,1704.899,491.410,33.365,1403.217,0.000,1663.712,0.000,47.736,0.000
$DEVICE_MAMPS,162.604,81.302,1379.833,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,549.158,601.378,464.377,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41237,802
$CAP_FILE_SIZE,118312,0
$CFSIZE,254472192,246509568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,140909,014937,6226.701,-1133.253,30,1.0,30,-11.0