version: 66.04
glider: 5
mission: 7
dive: 420
start: 11 1 109 20 53 29
data:
$ID,5
$MISSION,7
$DIVE,420
$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,-108284.59
$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,20
$R_STBD_OVSHOOT,22
$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
$GPS1,204631,6227.514,-1012.090,38,1.6,38,-10.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-62.9
$GPS2,205238,6227.549,-1012.004,14,1.1,14,-10.2
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,BE
$TGT_LATLONG,6220.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.234,-0.122
$KALMAN_X,-243596.9,1124.6,1264.2,379358.1,-10564.6
$KALMAN_Y,68827.2,323.7,866.8,-182531.9,1052.5
$MHEAD_RNG_PITCHd_Wd,127.7,23527,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.44,-146.6,0.0,0.0,0,79,0.00,0.00,-60.58,0.000,2,0.000,0.000,423,2147,2745
$GC,83,-1.44,-146.6,2.3,-2.6,3,126,10.82,2.60,-26.60,0.000,4,0.158,0.069,2423,706,3428
$GC,308,-1.36,-146.6,33.4,-15.6,13,313,0.12,2.53,0.00,0.000,6,0.110,0.048,2447,2131,3428
$GC,635,-1.30,-146.6,83.5,-15.2,29,640,0.00,2.58,0.00,0.000,4,0.000,0.058,2447,708,3428
$GC,677,-1.30,-146.6,89.7,-15.3,31,681,0.00,2.50,0.00,0.000,6,0.000,0.048,2447,2123,3428
$GC,1004,-1.24,-146.6,138.1,-15.4,47,1009,0.12,2.58,0.00,0.000,4,0.107,0.060,2471,703,3428
$GC,1050,-1.24,-146.6,145.0,-14.1,49,1054,0.00,2.50,0.00,0.000,6,0.000,0.048,2472,2114,3429
$GC,1370,-1.24,-146.6,188.7,-13.5,69,1374,0.00,2.55,0.00,0.000,4,0.000,0.060,2472,705,3429
$GC,1399,-1.24,-146.6,192.6,-13.4,71,1403,0.00,2.45,0.00,0.000,6,0.000,0.048,2472,2089,3429
$GC,1723,-1.24,-146.6,233.9,-13.0,92,1727,0.00,2.62,0.00,0.000,4,0.000,0.069,2472,3531,3429
$GC,1752,-1.24,-146.6,237.5,-13.1,94,1756,0.00,2.62,0.00,0.000,6,0.000,0.057,2472,2079,3429
$GC,2076,-1.24,-146.6,280.6,-13.8,115,2077,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2079,3429
$GC,2389,-1.24,-146.6,322.1,-12.5,135,2390,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2079,3429
$GC,2701,-1.24,-146.6,359.6,-11.7,155,2705,0.00,2.72,0.00,0.000,4,0.000,0.073,2472,3537,3429
$GC,2729,-1.24,-146.6,363.0,-12.2,157,2733,0.00,2.65,0.00,0.000,6,0.000,0.060,2472,2078,3429
$GC,3054,-1.24,-146.6,399.8,-11.6,178,3058,0.00,2.72,0.00,0.000,4,0.000,0.073,2472,3533,3429
$GC,3121,-1.24,-146.6,408.4,-12.8,182,3125,0.00,2.58,0.00,0.000,6,0.000,0.059,2472,2114,3429
$GC,3441,-1.24,-146.6,450.6,-13.1,202,3445,0.00,2.47,0.00,0.000,4,0.000,0.064,2472,719,3429
$GC,3508,-1.29,-146.6,459.4,-12.6,206,3512,0.00,2.50,0.00,0.000,6,0.000,0.051,2472,2125,3429
$GC,3828,-1.29,-146.6,491.8,-8.9,226,3832,0.00,2.58,0.00,0.000,4,0.000,0.067,2472,719,3429
$GC,3891,-1.35,-146.6,497.5,-9.3,230,3896,0.00,2.42,0.00,0.000,6,0.000,0.052,2472,2082,3429
$GC,4218,-1.35,-146.6,529.2,-11.3,251,4222,0.00,2.50,0.00,0.000,4,0.000,0.068,2472,721,3429
$GC,4286,-1.43,-146.6,538.2,-13.0,255,4291,0.17,2.40,0.00,0.000,6,0.056,0.054,2427,2062,3429
$GC,4608,-1.36,-146.6,585.4,-14.0,275,4612,0.00,2.72,0.00,0.000,4,0.000,0.079,2427,3531,3428
$GC,4692,-1.30,-146.6,597.8,-14.4,280,4698,0.17,2.65,0.00,0.000,6,0.101,0.065,2460,2085,3428
$STATE,4759,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4759,begin apogee
$GC,4766,-0.33,0.0,606.6,12.6,284,4903,0.98,0.00,133.02,1.214,6,0.081,0.000,2670,1843,2832
$STATE,4903,end apogee,CONTROL_FINISHED_OK
$STATE,4904,begin climb
$GC,4907,1.44,146.6,611.5,0.0,293,5047,1.77,0.00,133.95,1.172,6,0.060,0.000,3058,1842,2233
$GC,5360,1.44,182.3,578.4,8.4,322,5398,0.00,2.70,33.08,1.133,4,0.000,0.072,3058,3248,2087
$GC,5418,1.41,198.7,573.3,9.3,325,5439,0.00,2.62,16.23,1.071,6,0.000,0.068,3058,1846,2021
$GC,5763,1.38,209.1,540.6,9.5,347,5780,0.00,2.70,11.07,1.039,4,0.000,0.071,3058,3254,1977
$GC,5859,1.38,209.1,528.3,12.2,352,5865,0.00,2.58,0.00,0.000,6,0.000,0.067,3058,1863,1977
$GC,6179,1.34,209.1,490.8,10.3,373,6183,0.00,2.60,0.00,0.000,4,0.000,0.074,3058,440,1976
$GC,6218,1.25,209.1,486.3,11.6,375,6225,0.20,2.58,0.00,0.000,6,0.100,0.057,3020,1859,1976
$GC,6541,1.32,226.4,457.4,9.2,396,6559,0.00,0.00,15.75,1.082,6,0.000,0.000,3020,1872,1908
$GC,6865,1.38,226.4,426.9,10.1,417,6870,0.12,2.55,0.00,0.000,4,0.063,0.068,3051,3255,1907
$GC,6881,1.41,226.4,425.0,10.5,418,6886,0.00,2.58,0.00,0.000,6,0.000,0.061,3051,1846,1907
$GC,7201,1.41,226.4,389.2,10.2,438,7205,0.00,2.62,0.00,0.000,4,0.000,0.067,3052,3258,1907
$GC,7256,1.41,226.6,383.5,10.0,441,7262,0.00,2.50,0.00,0.000,6,0.000,0.059,3052,1878,1907
$GC,7578,1.46,258.3,355.6,8.6,462,7613,0.00,2.62,28.85,1.052,4,0.000,0.064,3052,3252,1777
$GC,7636,1.49,276.5,350.1,9.2,465,7659,0.00,2.50,17.00,1.006,6,0.000,0.058,3052,1892,1703
$GC,7975,1.53,302.0,319.9,8.8,487,8007,0.12,2.60,22.95,1.006,4,0.061,0.064,3086,3255,1600
$GC,8035,1.53,302.0,312.8,12.0,490,8042,0.00,2.47,0.00,0.000,6,0.000,0.056,3085,1903,1601
$GC,8355,1.48,302.0,275.4,11.7,511,8359,0.00,2.50,0.00,0.000,4,0.000,0.063,3085,3257,1601
$GC,8389,1.48,302.0,271.3,12.2,513,8393,0.00,2.42,0.00,0.000,6,0.000,0.054,3085,1917,1602
$GC,8708,1.44,302.0,234.1,11.5,533,8713,0.15,2.47,0.00,0.000,4,0.097,0.062,3056,3261,1601
$GC,8737,1.44,302.0,230.8,11.4,535,8741,0.00,2.40,0.00,0.000,6,0.000,0.053,3057,1923,1602
$GC,9062,1.44,302.0,196.9,10.6,556,9066,0.00,2.45,0.00,0.000,4,0.000,0.062,3056,3257,1602
$GC,9092,1.48,302.0,193.5,11.5,558,9096,0.00,2.38,0.00,0.000,6,0.000,0.052,3057,1938,1602
$GC,9417,1.48,302.0,157.6,11.0,579,9421,0.00,2.42,0.00,0.000,4,0.000,0.061,3057,3261,1602
$GC,9434,1.51,302.0,155.5,11.3,580,9438,0.00,2.35,0.00,0.000,6,0.000,0.050,3057,1947,1602
$GC,9756,1.51,302.0,116.8,12.6,596,9757,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1947,1602
$GC,10066,1.55,302.0,77.5,12.7,611,10071,0.12,2.40,0.00,0.000,4,0.058,0.059,3092,3264,1603
$GC,10106,1.55,302.0,71.2,16.2,613,10111,0.00,2.35,0.00,0.000,6,0.000,0.050,3091,1952,1603
$GC,10436,1.50,302.0,27.8,13.3,629,10437,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,1950,1603
$STATE,10637,end climb,SURFACE_DEPTH_REACHED
$STATE,10637,begin surface coast
$FINISH,0.4,1.027216
$STATE,10661,end surface coast,CONTROL_FINISHED_OK
$STATE,10661,begin surface
$SM_CCo,10746,0.00,0.000,0,0,1603,301.23
$SM_GC,1.46,11.60,0.00,0.00,0.038,0.000,0.000,418,2164,1603,-10.60,0.96,301.23
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1832
$TCM_TEMP,17.40
$XPDR_PINGS,58
$ALTIM_BOTTOM_PING,546.2,70.0
$24V_AH,23.7,67.445
$10V_AH,10.1,30.438
$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,26.500,117.575,411.900,0.000,0.000,37.759,84.257,122.715,19.250,0.000,0.000,14.350,1161.878,7587.548,503.490,1355.190,504.324,33.362,1220.782,0.000,1321.022,0.000,36.788,0.000
$DEVICE_MAMPS,158.002,79.001,1214.161,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,437.468,468.035,369.666,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31745,640
$CAP_FILE_SIZE,96087,0
$CFSIZE,254472192,229351424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,011109,235336,6227.045,-1008.040,14,1.5,24,-10.2