version: 66.04
glider: 5
mission: 5
dive: 183
start: 12 13 108 14 49 49
data:
$ID,5
$MISSION,5
$DIVE,183
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$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,550
$T_MISSION,580
$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,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,-90862.727
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,432
$PITCH_MAX,3760
$C_PITCH,2650
$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,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,159
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,2000
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,21
$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
$GPS1,144326,6042.708,-322.948,41,1.0,41,-6.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-62.3
$GPS2,144857,6042.787,-322.940,15,1.2,15,-6.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,SSEC_SE
$TGT_LATLONG,6016.000,-359.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.129,-0.180
$KALMAN_X,166825.3,-2006.8,-2200.8,-30124.7,37850.7
$KALMAN_Y,98242.9,-2319.5,-2164.3,-422336.7,43953.5
$MHEAD_RNG_PITCHd_Wd,221.8,59651,-11.0,-6.000
$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,15,begin dive
$GC,18,-0.97,-146.6,0.0,0.0,0,113,0.00,0.00,-92.95,0.000,6,0.000,0.000,425,1961,3430
$GC,117,-0.97,-146.6,2.9,-3.2,4,132,10.30,2.45,0.00,0.000,4,0.132,0.056,2432,592,3431
$GC,256,-0.63,-146.6,31.8,-14.5,9,261,0.38,2.50,0.00,0.000,6,0.088,0.051,2510,2006,3432
$GC,573,-0.49,-146.6,65.4,-9.9,24,578,0.15,2.60,0.00,0.000,4,0.091,0.064,2542,592,3432
$GC,606,-0.49,-146.6,68.3,-7.7,25,612,0.00,2.50,0.00,0.000,6,0.000,0.052,2542,1994,3432
$GC,924,-0.44,-146.6,94.0,-7.9,41,925,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,1994,3432
$GC,1232,-0.39,-146.6,119.1,-7.9,56,1237,0.12,2.58,0.00,0.000,4,0.087,0.066,2569,598,3432
$GC,1311,-0.39,-146.6,125.0,-7.4,59,1318,0.00,2.47,0.00,0.000,6,0.000,0.051,2570,1993,3432
$GC,1629,-0.39,-146.6,147.4,-7.4,75,1630,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,1993,3432
$GC,1936,-0.39,-146.6,168.5,-6.8,90,1937,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,1992,3433
$GC,2246,-0.39,-146.6,190.0,-7.0,105,2247,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,1993,3432
$GC,2555,-0.39,-146.6,212.9,-7.7,120,2556,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,1994,3432
$GC,2864,-0.39,-146.6,236.1,-7.2,135,2865,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,1994,3433
$GC,3174,-0.39,-146.6,257.3,-7.2,150,3178,0.00,2.55,0.00,0.000,4,0.000,0.068,2569,597,3432
$GC,3201,-0.39,-146.6,259.3,-7.5,151,3205,0.00,2.47,0.00,0.000,6,0.000,0.052,2569,1991,3432
$GC,3517,-0.39,-146.6,282.2,-7.2,166,3518,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,1991,3432
$GC,3826,-0.39,-146.6,303.8,-6.9,181,3831,0.00,2.55,0.00,0.000,4,0.000,0.068,2569,597,3432
$GC,3871,-0.39,-146.6,307.2,-7.8,183,3875,0.00,2.47,0.00,0.000,6,0.000,0.054,2569,1987,3432
$GC,4192,-0.39,-146.6,329.8,-6.6,199,4193,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,1989,3432
$GC,4502,-0.43,-146.6,349.6,-6.3,214,4503,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,1988,3432
$GC,4811,-0.47,-146.6,367.5,-5.5,229,4812,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,1989,3432
$GC,5120,-0.51,-146.6,384.0,-5.5,244,5122,0.15,0.00,0.00,0.000,6,0.054,0.000,2528,1988,3432
$GC,5430,-0.44,-146.6,404.8,-6.6,259,5435,0.12,2.58,0.00,0.000,4,0.091,0.068,2554,593,3432
$GC,5480,-0.44,-146.6,407.9,-5.9,261,5484,0.00,2.45,0.00,0.000,6,0.000,0.053,2554,1974,3432
$GC,5797,-0.44,-146.6,424.2,-4.9,276,5798,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1974,3432
$GC,6105,-0.44,-146.6,442.8,-6.8,291,6110,0.00,2.53,0.00,0.000,4,0.000,0.068,2554,594,3432
$GC,6145,-0.44,-146.6,445.7,-7.5,293,6150,0.00,2.42,0.00,0.000,6,0.000,0.054,2553,1961,3432
$GC,6473,-0.44,-146.6,465.2,-5.8,309,6477,0.00,2.60,0.00,0.000,4,0.000,0.067,2553,3402,3432
$GC,6502,-0.44,-146.6,467.0,-5.9,310,6507,0.00,2.60,0.00,0.000,6,0.000,0.058,2553,1957,3432
$GC,6818,-0.44,-146.6,486.1,-6.2,325,6822,0.00,2.65,0.00,0.000,4,0.000,0.066,2554,3408,3432
$GC,6851,-0.44,-146.6,488.5,-7.6,326,6857,0.00,2.60,0.00,0.000,6,0.000,0.058,2553,1961,3432
$GC,7167,-0.44,-146.6,509.6,-6.0,342,7168,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1961,3431
$GC,7476,-0.44,-146.6,531.2,-7.6,357,7480,0.00,2.62,0.00,0.000,4,0.000,0.066,2553,3403,3431
$STATE,7490,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7490,begin apogee
$GC,7500,-0.33,0.0,532.6,7.6,358,7624,0.10,0.00,121.68,1.188,6,0.097,0.000,2576,2177,2832
$STATE,7625,end apogee,CONTROL_FINISHED_OK
$STATE,7625,begin climb
$GC,7628,0.97,146.6,540.5,0.0,364,7757,1.33,0.00,120.45,1.156,6,0.071,0.000,2857,2180,2233
$GC,8068,1.19,194.4,525.5,4.7,386,8111,0.20,0.00,40.22,1.127,6,0.048,0.000,2917,2164,2039
$GC,8418,1.19,194.4,504.3,6.0,403,8420,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2163,2039
$GC,8728,1.25,233.0,488.5,4.9,418,8770,0.00,2.62,32.80,1.120,4,0.000,0.068,2917,796,1880
$GC,8799,1.30,240.8,484.5,5.8,421,8816,0.00,2.55,8.02,0.956,6,0.000,0.055,2917,2199,1850
$GC,9126,1.43,291.2,470.7,4.6,437,9176,0.17,2.72,42.47,1.126,4,0.051,0.069,2968,791,1644
$GC,9199,1.34,291.2,465.6,7.5,440,9205,0.12,2.55,0.00,0.000,6,0.085,0.057,2943,2189,1644
$GC,9515,1.34,291.2,444.5,7.2,455,9519,0.00,2.58,0.00,0.000,4,0.000,0.070,2943,796,1645
$GC,9565,1.34,291.2,440.6,7.2,457,9569,0.00,2.50,0.00,0.000,6,0.000,0.056,2943,2178,1645
$GC,9881,1.34,291.2,419.1,6.9,472,9882,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2179,1645
$GC,10190,1.34,291.2,396.8,7.4,487,10194,0.00,2.55,0.00,0.000,4,0.000,0.069,2943,795,1645
$GC,10239,1.34,291.2,392.7,8.4,489,10244,0.00,2.47,0.00,0.000,6,0.000,0.055,2943,2173,1645
$GC,10556,1.34,291.2,368.7,7.7,504,10560,0.00,2.53,0.00,0.000,4,0.000,0.070,2943,793,1645
$GC,10595,1.34,291.2,365.3,8.4,505,10601,0.00,2.42,0.00,0.000,6,0.000,0.054,2943,2146,1645
$GC,10911,1.34,291.2,341.4,7.9,521,10912,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2146,1645
$GC,11220,1.34,291.2,317.8,7.6,536,11224,0.00,2.50,0.00,0.000,4,0.000,0.067,2943,787,1646
$GC,11252,1.34,291.2,315.0,8.0,537,11259,0.00,2.42,0.00,0.000,6,0.000,0.053,2943,2141,1646
$GC,11568,1.34,291.2,290.3,7.8,553,11569,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2141,1646
$GC,11878,1.34,291.2,267.5,7.0,568,11882,0.00,2.47,0.00,0.000,4,0.000,0.068,2943,793,1646
$GC,11905,1.34,291.2,265.4,7.3,569,11910,0.00,2.40,0.00,0.000,6,0.000,0.054,2943,2135,1646
$GC,12227,1.34,291.2,241.7,7.1,585,12228,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2135,1646
$GC,12536,1.34,291.2,220.6,6.4,600,12541,0.00,2.47,0.00,0.000,4,0.000,0.067,2943,787,1646
$GC,12576,1.34,291.2,217.8,6.8,602,12580,0.00,2.40,0.00,0.000,6,0.000,0.053,2943,2132,1647
$GC,12903,1.36,300.8,197.8,5.7,618,12915,0.00,0.00,9.93,0.866,6,0.000,0.000,2944,2132,1605
$GC,13213,1.36,300.8,180.3,6.1,633,13217,0.00,2.45,0.00,0.000,4,0.000,0.069,2943,791,1605
$GC,13245,1.36,300.8,177.9,7.0,634,13250,0.00,2.40,0.00,0.000,6,0.000,0.053,2943,2133,1604
$GC,13561,1.36,300.8,157.5,7.5,649,13562,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2138,1605
$GC,13872,1.38,315.0,138.6,5.6,664,13894,0.00,2.53,12.77,0.861,4,0.000,0.066,2943,796,1547
$GC,13922,1.38,315.0,135.0,7.6,666,13926,0.00,2.40,0.00,0.000,6,0.000,0.052,2943,2128,1546
$GC,14244,1.43,315.0,119.5,6.7,682,14248,0.00,2.45,0.00,0.000,4,0.000,0.068,2943,794,1546
$GC,14277,1.43,315.0,116.9,7.4,683,14284,0.00,2.38,0.00,0.000,6,0.000,0.052,2943,2125,1545
$GC,14596,1.48,315.0,91.4,8.9,699,14597,0.12,0.00,0.00,0.000,6,0.054,0.000,2980,2126,1545
$GC,14904,1.42,315.0,59.5,9.7,714,14905,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2125,1545
$GC,15212,1.36,315.0,31.0,9.8,729,15218,0.17,2.65,0.00,0.000,4,0.077,0.062,2941,3604,1546
$GC,15240,1.41,315.0,28.5,8.4,730,15245,0.00,2.65,0.00,0.000,6,0.000,0.050,2940,2112,1547
$STATE,15554,end climb,SURFACE_DEPTH_REACHED
$STATE,15554,begin surface coast
$FINISH,0.2,1.027366
$STATE,15599,end surface coast,CONTROL_FINISHED_OK
$STATE,15599,begin surface
$SM_CCo,15681,0.00,0.000,0,0,1546,315.46
$SM_GC,1.03,11.02,0.00,0.00,0.041,0.000,0.000,423,1992,1546,-10.16,-0.23,315.46
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1786
$TCM_TEMP,17.00
$XPDR_PINGS,463
$ALTIM_TOP_PING,19.8,999.0
$ALTIM_BOTTOM_PING,450.7,91.7
$24V_AH,23.9,32.437
$10V_AH,10.1,15.716
$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,24.475,110.675,388.350,0.000,0.000,37.762,30.225,142.741,119.750,0.000,0.000,15.909,1347.179,12156.187,525.010,1502.561,481.257,33.368,1294.276,0.000,1477.080,0.000,27.971,0.000
$DEVICE_MAMPS,131.924,69.797,1188.083,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,552.268,502.497,487.874,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38071,747
$CAP_FILE_SIZE,108954,0
$CFSIZE,254472192,241262592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,38,0,0
$GPS,131208,191238,6043.438,-320.522,51,1.4,51,-6.0