version: 66.04
glider: 5
mission: 7
dive: 456
start: 11 6 109 14 21 27
data:
$ID,5
$MISSION,7
$DIVE,456
$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,-108993.1
$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,21
$R_STBD_OVSHOOT,27
$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
$GPS1,140007,6212.291,-937.521,45,1.3,45,-9.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-57.7
$GPS2,142037,6212.352,-937.401,14,1.3,14,-9.8
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,AE
$TGT_LATLONG,6153.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.247,-0.093
$KALMAN_X,-292765.8,778.9,966.5,457796.6,-6342.9
$KALMAN_Y,123348.6,-441.9,-143.1,-263397.8,4665.3
$MHEAD_RNG_PITCHd_Wd,120.5,40826,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-1.44,-146.6,0.0,0.0,0,79,0.00,0.00,-60.88,0.000,2,0.000,0.000,418,2152,2784
$GC,83,-1.44,-146.6,2.5,-3.6,3,120,11.25,2.58,-20.05,0.000,4,0.164,0.081,2424,3535,3428
$GC,182,-1.32,-146.6,20.1,-20.6,6,189,0.15,2.60,0.00,0.000,6,0.108,0.062,2453,2123,3428
$GC,500,-1.27,-146.6,77.0,-16.8,22,504,0.00,2.50,0.00,0.000,4,0.000,0.058,2453,721,3429
$GC,545,-1.27,-146.6,84.0,-13.8,24,550,0.00,2.53,0.00,0.000,6,0.000,0.048,2454,2139,3429
$GC,868,-1.22,-146.6,130.6,-14.3,40,873,0.12,2.58,0.00,0.000,4,0.107,0.058,2478,721,3429
$GC,908,-1.26,-146.6,136.4,-14.1,42,913,0.00,2.50,0.00,0.000,6,0.000,0.048,2478,2128,3429
$GC,1234,-1.26,-146.6,176.5,-12.5,61,1238,0.00,2.58,0.00,0.000,4,0.000,0.061,2478,714,3429
$GC,1268,-1.29,-146.6,181.1,-13.2,63,1272,0.00,2.50,0.00,0.000,6,0.000,0.048,2478,2117,3429
$GC,1588,-1.29,-146.6,215.4,-9.4,83,1592,0.00,2.55,0.00,0.000,4,0.000,0.060,2478,712,3429
$GC,1627,-1.33,-146.6,219.2,-9.6,85,1634,0.12,2.47,0.00,0.000,6,0.058,0.048,2444,2104,3429
$GC,1952,-1.28,-146.6,253.3,-10.8,106,1957,0.10,2.53,0.00,0.000,4,0.107,0.061,2462,719,3429
$GC,2083,-1.28,-146.6,267.8,-10.7,114,2088,0.00,2.40,0.00,0.000,6,0.000,0.048,2462,2069,3429
$GC,2409,-1.28,-146.6,306.4,-12.7,135,2413,0.00,2.47,0.00,0.000,4,0.000,0.061,2462,713,3429
$GC,2505,-1.28,-146.6,319.1,-12.5,141,2510,0.00,2.38,0.00,0.000,6,0.000,0.049,2462,2046,3429
$GC,2835,-1.28,-146.6,362.0,-12.1,162,2839,0.00,2.45,0.00,0.000,4,0.000,0.065,2462,713,3429
$GC,2920,-1.28,-146.6,372.3,-12.1,167,2924,0.00,2.35,0.00,0.000,6,0.000,0.050,2462,2028,3429
$GC,3239,-1.28,-146.6,406.4,-10.5,187,3243,0.00,2.42,0.00,0.000,4,0.000,0.067,2462,710,3429
$GC,3318,-1.31,-146.6,415.8,-12.3,191,3324,0.00,2.33,0.00,0.000,6,0.000,0.051,2462,2008,3429
$GC,3637,-1.31,-146.6,451.4,-10.4,212,3642,0.00,2.38,0.00,0.000,4,0.000,0.066,2462,717,3429
$GC,3772,-1.31,-146.6,468.0,-13.3,220,3776,0.00,2.28,0.00,0.000,6,0.000,0.051,2462,1986,3429
$GC,4092,-1.31,-146.6,508.6,-12.4,240,4094,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,1987,3429
$GC,4403,-1.31,-146.6,547.0,-12.2,260,4407,0.00,2.35,0.00,0.000,4,0.000,0.070,2462,717,3428
$GC,4622,-1.36,-146.6,574.8,-13.1,273,4626,0.00,2.33,0.00,0.000,6,0.000,0.058,2462,2000,3428
$GC,4947,-1.36,-146.6,615.5,-12.2,294,4951,0.00,2.40,0.00,0.000,4,0.000,0.074,2462,719,3427
$STATE,5045,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5046,begin apogee
$GC,5055,-0.33,0.0,627.9,13.6,300,5191,0.95,0.00,132.25,1.249,6,0.085,0.000,2667,1852,2831
$STATE,5191,end apogee,CONTROL_FINISHED_OK
$STATE,5192,begin climb
$GC,5195,1.44,146.6,634.4,0.0,309,5337,1.80,0.00,134.15,1.204,6,0.062,0.000,3057,1858,2233
$GC,5654,1.42,173.9,601.5,8.8,339,5686,0.00,2.70,25.77,1.148,4,0.000,0.081,3056,3260,2120
$GC,5826,1.38,173.9,583.7,11.4,349,5831,0.00,2.75,0.00,0.000,6,0.000,0.088,3057,1845,2120
$GC,6151,1.32,173.9,547.9,10.8,370,6156,0.12,2.70,0.00,0.000,4,0.108,0.081,3034,3251,2119
$GC,6230,1.32,173.9,539.9,10.4,375,6235,0.00,2.67,0.00,0.000,6,0.000,0.087,3034,1867,2119
$GC,6556,1.38,215.0,513.1,8.1,396,6599,0.00,0.00,37.25,1.174,6,0.000,0.000,3033,1867,1954
$GC,6912,1.38,215.0,478.6,10.3,419,6916,0.00,2.65,0.00,0.000,4,0.000,0.081,3034,3251,1953
$GC,6975,1.41,215.0,472.1,10.8,423,6980,0.00,2.67,0.00,0.000,6,0.000,0.086,3034,1857,1953
$GC,7300,1.41,215.0,437.5,10.6,444,7304,0.00,2.65,0.00,0.000,4,0.000,0.077,3034,3252,1952
$GC,7373,1.42,222.4,430.0,9.7,448,7387,0.00,2.60,7.43,0.979,6,0.000,0.084,3034,1886,1924
$GC,7710,1.46,242.0,399.4,9.1,470,7736,0.12,2.67,18.75,1.089,4,0.067,0.074,3065,3255,1844
$GC,7798,1.46,242.0,389.5,11.1,475,7802,0.00,2.58,0.00,0.000,6,0.000,0.079,3065,1899,1843
$GC,8118,1.42,242.0,352.9,12.3,495,8123,0.00,2.55,0.00,0.000,4,0.000,0.073,3065,3259,1843
$GC,8202,1.42,242.0,341.6,13.7,500,8207,0.00,2.53,0.00,0.000,6,0.000,0.075,3065,1914,1844
$GC,8523,1.38,242.0,300.2,13.0,520,8527,0.00,2.50,0.00,0.000,4,0.000,0.071,3065,3256,1844
$GC,8595,1.38,242.0,290.2,13.5,524,8601,0.00,2.45,0.00,0.000,6,0.000,0.072,3065,1937,1844
$GC,8914,1.38,242.0,250.7,11.9,545,8918,0.00,2.45,0.00,0.000,4,0.000,0.067,3065,3252,1844
$GC,8937,1.38,242.0,247.8,12.6,546,8943,0.00,2.42,0.00,0.000,6,0.000,0.071,3064,1940,1844
$GC,9256,1.38,242.0,211.9,10.4,567,9260,0.00,2.45,0.00,0.000,4,0.000,0.067,3065,3258,1845
$GC,9277,1.38,242.0,209.3,11.2,568,9283,0.00,2.40,0.00,0.000,6,0.000,0.068,3065,1954,1845
$GC,9597,1.39,248.1,177.4,9.7,589,9613,0.00,2.47,7.00,0.785,4,0.000,0.064,3065,3255,1819
$GC,9652,1.39,248.1,171.6,10.4,592,9656,0.00,2.38,0.00,0.000,6,0.000,0.065,3065,1965,1819
$GC,9987,1.39,248.1,139.0,10.3,612,9988,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,1965,1819
$GC,10295,1.39,248.1,107.0,10.5,627,10299,0.00,2.40,0.00,0.000,4,0.000,0.064,3065,3261,1820
$GC,10335,1.39,248.1,102.9,10.5,629,10339,0.00,2.33,0.00,0.000,6,0.000,0.061,3065,1976,1820
$GC,10670,1.41,261.1,69.2,9.4,645,10692,0.00,2.40,12.88,0.789,4,0.000,0.062,3065,3247,1766
$GC,10719,1.41,261.1,63.5,11.0,647,10724,0.00,2.30,0.00,0.000,6,0.000,0.061,3065,1990,1766
$GC,11041,1.41,261.1,29.2,11.9,663,11046,0.00,2.35,0.00,0.000,4,0.000,0.063,3065,3260,1766
$GC,11064,1.41,261.1,26.3,12.2,664,11068,0.00,2.33,0.00,0.000,6,0.000,0.058,3065,1975,1766
$STATE,11260,end climb,SURFACE_DEPTH_REACHED
$STATE,11260,begin surface coast
$FINISH,0.3,1.027157
$STATE,11281,end surface coast,CONTROL_FINISHED_OK
$STATE,11281,begin surface
$SM_CCo,11306,20.38,0.757,0,0,1608,300.00
$SM_GC,0.57,0.00,0.00,20.38,0.000,0.000,0.757,418,2144,1608,-10.70,0.40,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1837
$TCM_TEMP,17.50
$XPDR_PINGS,38
$ALTIM_BOTTOM_PING,595.8,41.5
$24V_AH,23.6,72.763
$10V_AH,10.1,32.672
$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,26.325,124.225,375.475,20.375,0.000,188.810,206.419,443.681,14.750,0.000,0.000,16.841,1235.805,8147.996,531.089,1511.828,1130.909,33.362,1292.283,0.000,1471.528,0.000,43.229,0.000
$DEVICE_MAMPS,164.138,88.205,1248.676,757.029,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,462.501,493.408,391.905,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34779,675
$CAP_FILE_SIZE,109757,0
$CFSIZE,254472192,227586048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,0,0
$GPS,061109,173136,6211.264,-934.675,38,0.9,42,-9.8