version: 66.04
glider: 5
mission: 5
dive: 4
start: 11 6 108 18 51 22
data:
$ID,5
$MISSION,5
$DIVE,4
$D_SURF,4
$D_FLARE,3
$D_TGT,600
$D_ABORT,1090
$D_NO_BLEED,50
$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,200
$T_MISSION,220
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$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,52
$TGT_DEFAULT_LON,-7
$TGT_AUTO_DEFAULT,0
$SM_CC,250
$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,-87289.945
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,432
$PITCH_MAX,3760
$C_PITCH,2700
$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
$PITCH_ADJ_DBAND,0
$ROLL_MIN,159
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,2190
$C_ROLL_CLIMB,2190
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,360
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,390
$VBD_MAX,3851
$C_VBD,2832
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0016
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$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,-23.610077
$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,20
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,125
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$XPDR_INHIBIT,90
$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,0.0043761111
$SEABIRD_T_H,0.00064345129
$SEABIRD_T_I,2.5632376e-05
$SEABIRD_T_J,2.7382036e-06
$SEABIRD_C_G,-10.188265
$SEABIRD_C_H,1.1432956
$SEABIRD_C_I,-0.00020702372
$SEABIRD_C_J,0.00012956691
$GPS1,184714,6338.577,-600.261,11,1.6,11,-8.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-64.3
$GPS2,185032,6338.568,-600.221,11,1.6,16,-8.3
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,NSEC_S
$TGT_LATLONG,6240.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.117,-0.236
$KALMAN_X,1662.6,947.6,672.4,-93.8,1311.6
$KALMAN_Y,-354.6,-254.7,-392.4,-2163.2,118.1
$MHEAD_RNG_PITCHd_Wd,214.8,108545,-18.1,-10.000
$D_GRID,1001
$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,-1.44,-146.6,0.0,0.0,0,98,0.00,0.00,-80.93,0.000,2,0.000,0.000,429,2219,3290
$GC,101,-1.44,-146.6,3.5,-3.8,4,124,10.43,2.72,-3.65,0.000,4,0.152,0.087,2377,772,3432
$GC,242,-1.44,-146.6,32.3,-16.0,10,246,0.00,2.62,0.00,0.000,6,0.000,0.064,2377,2187,3431
$GC,563,-1.44,-146.6,84.1,-16.6,26,567,0.00,2.65,0.00,0.000,4,0.000,0.075,2377,781,3432
$GC,674,-1.44,-146.6,103.7,-17.8,31,679,0.00,2.58,0.00,0.000,6,0.000,0.065,2378,2171,3432
$GC,995,-1.44,-146.6,154.3,-15.4,47,999,0.00,2.62,0.00,0.000,4,0.000,0.076,2377,779,3432
$GC,1146,-1.44,-146.6,178.0,-14.5,54,1151,0.00,2.50,0.00,0.000,6,0.000,0.066,2377,2130,3432
$GC,1473,-1.44,-146.6,224.3,-14.1,70,1478,0.00,2.58,0.00,0.000,4,0.000,0.081,2377,777,3432
$GC,1500,-1.44,-146.6,228.3,-13.8,71,1505,0.00,2.53,0.00,0.000,6,0.000,0.070,2377,2130,3432
$GC,1823,-1.44,-146.6,276.3,-15.6,87,1827,0.00,2.58,0.00,0.000,4,0.000,0.083,2377,780,3432
$GC,1878,-1.44,-146.6,285.6,-16.0,89,1884,0.00,2.50,0.00,0.000,6,0.000,0.072,2377,2116,3432
$GC,2193,-1.44,-146.6,334.7,-15.4,105,2198,0.00,2.55,0.00,0.000,4,0.000,0.084,2377,781,3432
$GC,2243,-1.44,-146.6,342.8,-15.4,107,2248,0.00,2.47,0.00,0.000,6,0.000,0.072,2377,2100,3432
$GC,2559,-1.44,-146.6,391.3,-15.4,122,2563,0.00,2.53,0.00,0.000,4,0.000,0.087,2377,784,3432
$GC,2586,-1.44,-146.6,395.5,-15.2,123,2590,0.00,2.47,0.00,0.000,6,0.000,0.075,2377,2098,3432
$GC,2902,-1.44,-146.6,441.9,-14.7,138,2906,0.00,2.53,0.00,0.000,4,0.000,0.087,2377,781,3432
$GC,2964,-1.44,-146.6,451.2,-15.0,141,2968,0.00,2.45,0.00,0.000,6,0.000,0.077,2377,2076,3432
$GC,3291,-1.44,-146.6,499.9,-14.7,157,3295,0.00,2.50,0.00,0.000,4,0.000,0.089,2377,782,3431
$GC,3329,-1.44,-146.6,506.0,-15.3,158,3335,0.00,2.42,0.00,0.000,6,0.000,0.078,2377,2062,3431
$GC,3645,-1.44,-146.6,551.8,-14.8,174,3650,0.00,2.47,0.00,0.000,4,0.000,0.091,2377,782,3431
$GC,3686,-1.44,-146.6,558.1,-15.4,176,3690,0.00,2.42,0.00,0.000,6,0.000,0.079,2377,2060,3431
$STATE,3969,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3969,begin apogee
$GC,3976,-0.33,0.0,600.6,14.3,190,4103,1.23,0.00,123.03,1.347,6,0.107,0.000,2624,2195,2832
$STATE,4103,end apogee,CONTROL_FINISHED_OK
$STATE,4103,begin climb
$GC,4106,1.44,146.6,606.7,0.0,196,4236,1.83,2.78,121.07,1.301,4,0.077,0.097,3010,3599,2234
$GC,4266,1.46,159.1,599.9,9.4,203,4285,0.00,2.72,11.82,1.149,6,0.000,0.082,3010,2193,2183
$GC,4603,1.51,191.8,571.3,8.5,220,4638,0.00,2.85,28.23,1.244,4,0.000,0.095,3010,3590,2050
$GC,4684,1.51,191.8,563.5,10.2,223,4690,0.00,2.70,0.00,0.000,6,0.000,0.083,3010,2196,2050
$GC,5000,1.53,199.5,533.9,9.7,239,5009,0.00,0.00,8.10,1.106,6,0.000,0.000,3009,2195,2018
$GC,5309,1.54,206.0,503.5,9.7,254,5323,0.12,2.83,7.05,1.083,4,0.078,0.094,3037,3593,1992
$GC,5346,1.54,206.0,499.2,11.9,255,5352,0.00,2.67,0.00,0.000,6,0.000,0.083,3037,2206,1992
$GC,5662,1.54,206.0,464.0,11.4,271,5663,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2206,1991
$GC,5971,1.54,206.0,427.7,12.0,286,5976,0.00,2.72,0.00,0.000,4,0.000,0.095,3037,3596,1991
$GC,5999,1.54,206.0,423.9,13.6,287,6003,0.00,2.65,0.00,0.000,6,0.000,0.081,3037,2209,1991
$GC,6314,1.54,206.0,386.2,11.5,302,6316,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2209,1991
$GC,6624,1.54,206.0,353.3,10.2,317,6628,0.00,2.70,0.00,0.000,4,0.000,0.094,3037,3596,1990
$GC,6673,1.54,206.0,347.9,10.8,319,6678,0.00,2.62,0.00,0.000,6,0.000,0.079,3037,2213,1990
$GC,6989,1.54,206.0,314.4,10.8,334,6994,0.00,2.70,0.00,0.000,4,0.000,0.094,3037,3596,1990
$GC,7016,1.54,206.0,311.1,12.1,335,7020,0.00,2.60,0.00,0.000,6,0.000,0.077,3037,2223,1990
$GC,7332,1.54,206.0,275.1,11.5,350,7333,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2222,1990
$GC,7641,1.54,206.0,239.2,11.7,365,7645,0.00,2.67,0.00,0.000,4,0.000,0.091,3037,3601,1990
$GC,7690,1.54,206.0,233.0,12.3,367,7695,0.00,2.58,0.00,0.000,6,0.000,0.074,3037,2231,1990
$GC,8006,1.54,206.0,197.9,11.0,382,8007,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2231,1990
$GC,8315,1.54,206.0,163.6,10.5,397,8320,0.00,2.65,0.00,0.000,4,0.000,0.090,3037,3603,1990
$GC,8365,1.54,206.0,158.2,10.6,399,8370,0.00,2.55,0.00,0.000,6,0.000,0.073,3037,2238,1990
$GC,8682,1.54,206.0,124.5,11.2,414,8686,0.00,2.62,0.00,0.000,4,0.000,0.088,3037,3602,1990
$GC,8744,1.54,206.0,116.6,13.2,417,8748,0.00,2.55,0.00,0.000,6,0.000,0.071,3037,2234,1990
$GC,9071,1.54,206.0,80.4,10.7,433,9075,0.00,2.62,0.00,0.000,4,0.000,0.085,3037,3603,1990
$GC,9157,1.54,206.0,70.9,11.5,437,9161,0.00,2.50,0.00,0.000,6,0.000,0.069,3037,2252,1990
$GC,9485,1.54,206.0,35.7,10.6,453,9490,0.00,2.58,0.00,0.000,4,0.000,0.082,3037,3605,1990
$GC,9541,1.54,206.0,29.3,11.9,455,9548,0.00,2.45,0.00,0.000,6,0.000,0.067,3037,2271,1990
$STATE,9772,end climb,SURFACE_DEPTH_REACHED
$STATE,9772,begin surface coast
$FINISH,0.4,1.027464
$STATE,9794,end surface coast,CONTROL_FINISHED_OK
$STATE,9794,begin surface
$SM_CCo,9817,24.12,0.911,0,0,1811,250.21
$SM_GC,0.59,0.00,0.00,24.12,0.000,0.000,0.911,426,2147,1811,-10.46,-1.22,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1873
$TCM_TEMP,14.50
$XPDR_PINGS,157
$ALTIM_TOP_PING,19.6,18.8
$24V_AH,23.7,3.610
$10V_AH,10.0,1.733
$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,25.275,109.425,299.300,24.125,0.000,0.000,0.000,0.000,44.500,0.000,0.000,16.460,909.119,7294.773,441.720,1123.590,145.083,32.342,1034.834,0.000,1091.725,0.000,34.506,0.000
$DEVICE_MAMPS,151.866,96.642,1346.852,911.196,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,343.362,314.551,312.862,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22234,468
$CAP_FILE_SIZE,94399,0
$CFSIZE,254472192,252002304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,42,0,0
$GPS,061108,213638,6336.645,-558.428,35,1.0,35,-8.3