version: 66.04
glider: 5
mission: 5
dive: 262
start: 12 31 108 14 40 52
data:
$ID,5
$MISSION,5
$DIVE,262
$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,2
$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,-92405.5
$T_RSLEEP,27
$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,0.039999999
$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,26
$R_STBD_OVSHOOT,47
$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
$GPS1,143538,6049.590,-533.979,26,1.7,26,-7.2
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-66.0
$GPS2,144033,6049.539,-533.971,13,1.3,13,-7.2
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FSCS_SE
$TGT_LATLONG,6010.000,-425.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.132,-0.177
$KALMAN_X,220775.9,-921.1,-1644.0,-80717.6,25183.1
$KALMAN_Y,135954.9,-405.3,-1430.2,-453990.2,21805.5
$MHEAD_RNG_PITCHd_Wd,146.2,96953,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.97,-146.6,0.0,0.0,0,89,0.00,0.00,-71.55,0.000,2,0.000,0.000,420,2033,3309
$GC,92,-0.97,-146.6,4.4,-4.4,4,115,10.75,2.65,-2.90,0.000,4,0.136,0.077,2480,594,3431
$GC,367,-0.75,-146.6,42.5,-11.6,16,373,0.28,2.47,0.00,0.000,6,0.086,0.051,2538,1980,3432
$GC,691,-0.69,-146.6,70.0,-8.9,32,692,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,1980,3431
$GC,999,-0.63,-146.6,96.8,-9.2,47,1001,0.12,0.00,0.00,0.000,6,0.093,0.000,2565,1993,3432
$GC,1307,-0.63,-146.6,119.2,-7.0,62,1309,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1993,3431
$GC,1617,-0.63,-146.6,141.6,-7.7,77,1621,0.00,2.58,0.00,0.000,4,0.000,0.069,2565,589,3431
$GC,1650,-0.63,-146.6,144.4,-8.7,78,1657,0.00,2.53,0.00,0.000,6,0.000,0.053,2565,2008,3431
$GC,1966,-0.63,-146.6,167.9,-7.2,94,1967,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2009,3432
$GC,2275,-0.63,-146.6,189.5,-7.1,109,2276,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2010,3432
$GC,2585,-0.63,-146.6,212.7,-7.9,124,2586,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2011,3432
$GC,2894,-0.63,-146.6,238.6,-8.4,139,2898,0.00,2.60,0.00,0.000,4,0.000,0.071,2565,597,3432
$GC,2921,-0.63,-146.6,241.1,-9.4,140,2925,0.00,2.53,0.00,0.000,6,0.000,0.054,2565,2013,3432
$GC,3237,-0.63,-146.6,266.6,-7.5,155,3238,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2014,3431
$GC,3545,-0.63,-146.6,286.0,-6.2,170,3550,0.00,2.62,0.00,0.000,4,0.000,0.072,2565,588,3432
$GC,3572,-0.63,-146.6,287.9,-6.7,171,3577,0.00,2.53,0.00,0.000,6,0.000,0.054,2564,2005,3431
$GC,3890,-0.63,-146.6,307.5,-6.8,186,3894,0.00,2.53,0.00,0.000,4,0.000,0.067,2565,3404,3431
$GC,3930,-0.67,-146.6,310.2,-6.5,188,3934,0.00,2.53,0.00,0.000,6,0.000,0.055,2565,1997,3431
$GC,4257,-0.67,-146.6,328.6,-5.4,204,4261,0.00,2.55,0.00,0.000,4,0.000,0.071,2565,586,3431
$GC,4297,-0.67,-146.6,331.0,-6.1,206,4302,0.00,2.50,0.00,0.000,6,0.000,0.054,2564,1993,3431
$GC,4625,-0.67,-146.6,351.0,-6.3,222,4629,0.00,2.53,0.00,0.000,4,0.000,0.067,2564,3404,3431
$GC,4681,-0.73,-146.6,355.1,-7.6,224,4687,0.10,2.53,0.00,0.000,6,0.061,0.057,2535,2001,3431
$GC,4997,-0.68,-146.6,378.3,-7.3,240,4998,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2001,3431
$GC,5306,-0.63,-146.6,402.4,-7.7,255,5308,0.12,0.00,0.00,0.000,6,0.091,0.000,2562,2000,3431
$GC,5616,-0.63,-146.6,421.4,-5.7,270,5620,0.00,2.58,0.00,0.000,4,0.000,0.069,2562,3403,3431
$GC,5717,-0.67,-146.6,427.7,-5.9,274,5723,0.00,2.53,0.00,0.000,6,0.000,0.058,2562,2001,3431
$GC,6033,-0.67,-146.6,444.7,-5.1,290,6034,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2001,3431
$GC,6343,-0.67,-146.6,461.9,-5.6,305,6347,0.00,2.60,0.00,0.000,4,0.000,0.071,2562,3409,3430
$GC,6387,-0.72,-146.6,464.7,-6.1,307,6391,0.00,2.53,0.00,0.000,6,0.000,0.061,2562,2016,3430
$GC,6709,-0.76,-146.6,484.1,-5.6,323,6714,0.15,2.60,0.00,0.000,4,0.056,0.075,2520,590,3430
$GC,6754,-0.68,-146.6,487.4,-8.1,325,6759,0.15,2.55,0.00,0.000,6,0.092,0.060,2552,2007,3430
$GC,7076,-0.68,-146.6,503.7,-4.7,341,7080,0.00,2.65,0.00,0.000,4,0.000,0.081,2552,592,3429
$GC,7121,-0.68,-146.6,505.9,-4.8,343,7125,0.00,2.55,0.00,0.000,6,0.000,0.063,2552,2000,3429
$GC,7442,-0.68,-146.6,519.9,-4.0,359,7443,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2000,3429
$GC,7752,-0.68,-146.6,535.0,-5.0,374,7756,0.00,2.58,0.00,0.000,4,0.000,0.077,2552,3405,3428
$GC,7773,-0.68,-146.6,536.3,-5.5,375,7778,0.00,2.60,0.00,0.000,6,0.000,0.065,2552,1983,3428
$GC,8096,-0.68,-146.6,553.1,-5.6,391,8100,0.00,2.58,0.00,0.000,4,0.000,0.084,2552,591,3427
$GC,8151,-0.68,-146.6,556.6,-6.4,393,8157,0.00,2.53,0.00,0.000,6,0.000,0.066,2552,1980,3427
$GC,8467,-0.68,-146.6,573.9,-5.2,409,8469,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1981,3426
$GC,8776,-0.68,-146.6,592.1,-6.1,424,8777,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1981,3425
$GC,9086,-0.68,-146.6,611.8,-6.4,439,9090,0.00,2.65,0.00,0.000,4,0.000,0.091,2552,587,3424
$GC,9141,-0.68,-146.6,615.6,-6.7,441,9147,0.00,2.55,0.00,0.000,6,0.000,0.071,2552,1974,3424
$STATE,9289,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9289,begin apogee
$GC,9296,-0.33,0.0,625.9,7.0,449,9426,0.35,0.00,127.07,1.338,6,0.085,0.000,2625,2199,2832
$STATE,9427,end apogee,CONTROL_FINISHED_OK
$STATE,9427,begin climb
$GC,9431,0.97,146.6,629.8,0.0,455,9568,1.33,2.80,127.90,1.289,4,0.075,0.087,2905,3605,2234
$GC,9582,1.03,187.0,626.1,4.9,462,9624,0.00,2.67,36.60,1.236,6,0.000,0.074,2905,2201,2069
$GC,9948,1.03,187.0,602.8,6.5,480,9953,0.00,2.70,0.00,0.000,4,0.000,0.091,2905,784,2069
$GC,10037,1.03,187.0,596.6,6.7,484,10042,0.00,2.60,0.00,0.000,6,0.000,0.071,2905,2174,2068
$GC,10359,1.03,187.0,576.6,6.1,500,10360,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2175,2068
$GC,10669,1.06,202.3,558.4,5.6,515,10691,0.10,2.72,14.05,1.213,4,0.071,0.087,2934,787,2007
$GC,10720,0.97,202.3,555.0,7.2,517,10725,0.12,2.60,0.00,0.000,6,0.101,0.071,2911,2170,2007
$GC,11043,0.99,214.9,536.8,5.7,533,11064,0.00,2.72,12.43,1.200,4,0.000,0.085,2910,794,1956
$GC,11092,0.99,214.9,533.5,6.6,535,11096,0.00,2.55,0.00,0.000,6,0.000,0.071,2910,2150,1956
$GC,11414,1.00,219.9,514.9,5.9,551,11427,0.00,2.65,6.32,1.055,4,0.000,0.087,2911,789,1934
$GC,11480,1.00,219.9,510.8,6.1,554,11484,0.00,2.53,0.00,0.000,6,0.000,0.071,2910,2141,1934
$GC,11806,1.04,243.4,493.4,5.4,570,11833,0.00,2.67,21.38,1.251,4,0.000,0.084,2910,786,1838
$GC,11856,1.08,243.4,490.4,6.6,572,11862,0.12,2.53,0.00,0.000,6,0.067,0.070,2943,2130,1838
$GC,12172,1.08,243.4,467.3,7.5,587,12177,0.00,2.55,0.00,0.000,4,0.000,0.084,2943,793,1838
$GC,12213,1.03,243.4,464.0,8.0,589,12217,0.00,2.42,0.00,0.000,6,0.000,0.070,2943,2101,1838
$GC,12540,1.03,243.4,437.9,8.0,605,12544,0.00,2.50,0.00,0.000,4,0.000,0.084,2943,791,1838
$GC,12579,0.97,243.4,434.6,8.9,607,12584,0.15,2.40,0.00,0.000,6,0.095,0.068,2912,2089,1838
$GC,12907,1.03,243.4,411.5,6.8,623,12908,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2091,1838
$GC,13216,1.10,258.9,392.9,5.6,638,13235,0.12,0.00,14.70,1.156,6,0.066,0.000,2945,2092,1776
$GC,13544,1.10,258.9,369.0,7.7,654,13549,0.00,2.80,0.00,0.000,4,0.000,0.077,2945,3613,1775
$GC,13566,1.10,258.9,367.3,7.7,655,13571,0.00,2.85,0.00,0.000,6,0.000,0.064,2944,2061,1775
$GC,13888,1.10,258.9,341.5,7.9,671,13889,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2061,1775
$GC,14197,1.10,258.9,317.7,7.3,686,14202,0.00,2.88,0.00,0.000,4,0.000,0.072,2945,3611,1776
$GC,14264,1.10,258.9,312.6,7.6,689,14269,0.00,2.75,0.00,0.000,6,0.000,0.059,2945,2093,1776
$GC,14585,1.10,259.1,292.4,6.0,705,14586,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2094,1776
$GC,14894,1.10,259.1,271.8,7.1,720,14899,0.00,2.80,0.00,0.000,4,0.000,0.068,2945,3611,1777
$GC,14927,1.10,259.1,269.3,8.2,721,14933,0.00,2.72,0.00,0.000,6,0.000,0.058,2945,2096,1777
$GC,15243,1.10,259.1,246.3,6.9,737,15247,0.00,2.38,0.00,0.000,4,0.000,0.070,2945,789,1777
$GC,15266,1.10,259.1,244.8,6.5,738,15270,0.00,2.38,0.00,0.000,6,0.000,0.056,2945,2112,1778
$GC,15593,1.10,259.1,222.0,7.1,754,15597,0.00,2.72,0.00,0.000,4,0.000,0.068,2945,3616,1778
$GC,15626,1.10,259.1,219.3,7.7,755,15632,0.00,2.72,0.00,0.000,6,0.000,0.057,2945,2098,1779
$GC,15942,1.10,259.1,198.0,6.6,771,15946,0.00,2.38,0.00,0.000,4,0.000,0.069,2945,788,1779
$GC,15963,1.10,259.1,196.3,7.3,772,15968,0.00,2.38,0.00,0.000,6,0.000,0.054,2945,2114,1779
$GC,16285,1.10,259.1,173.7,7.5,788,16290,0.00,2.72,0.00,0.000,4,0.000,0.067,2945,3621,1780
$GC,16318,1.10,259.1,170.8,8.7,789,16324,0.00,2.70,0.00,0.000,6,0.000,0.054,2945,2111,1780
$GC,16634,1.10,259.1,146.8,7.5,805,16638,0.00,2.40,0.00,0.000,4,0.000,0.069,2945,784,1781
$GC,16653,1.10,259.1,145.3,7.6,806,16657,0.00,2.40,0.00,0.000,6,0.000,0.053,2945,2128,1781
$GC,16981,1.10,259.1,119.7,7.8,822,16983,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2129,1781
$GC,17289,1.10,259.1,99.6,6.0,837,17293,0.00,2.45,0.00,0.000,4,0.000,0.066,2945,790,1781
$GC,17312,1.10,259.1,98.1,6.6,838,17316,0.00,2.40,0.00,0.000,6,0.000,0.054,2945,2131,1781
$GC,17634,1.10,259.1,75.6,9.0,854,17635,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2132,1782
$GC,17942,1.10,259.1,50.9,6.3,869,17947,0.00,2.65,0.00,0.000,4,0.000,0.065,2945,3614,1783
$GC,17976,1.10,259.1,48.4,7.6,870,17983,0.00,2.65,0.00,0.000,6,0.000,0.052,2945,2129,1783
$GC,18294,1.14,281.1,27.4,5.4,886,18316,0.00,0.00,20.55,0.830,6,0.000,0.000,2945,2127,1685
$STATE,18619,end climb,SURFACE_DEPTH_REACHED
$STATE,18619,begin surface coast
$FINISH,0.9,1.027384
$STATE,18664,end surface coast,CONTROL_FINISHED_OK
$STATE,18664,begin surface
$SM_CCo,18747,0.00,0.000,0,0,1684,281.85
$SM_GC,1.45,11.05,0.00,0.00,0.040,0.000,0.000,420,1993,1684,-10.40,-0.20,281.85
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1829
$TCM_TEMP,16.80
$XPDR_PINGS,275
$ALTIM_TOP_PING,19.9,999.0
$ALTIM_BOTTOM_PING,550.8,84.6
$24V_AH,23.7,45.633
$10V_AH,10.1,22.435
$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,25.025,166.050,381.000,0.000,0.000,37.758,32.044,121.268,73.750,0.000,0.000,13.701,1653.100,14464.544,529.450,1895.163,505.868,0.000,1497.762,0.000,1855.332,0.000,34.312,0.000
$DEVICE_MAMPS,135.759,90.506,1338.415,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,670.612,609.609,563.637,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47489,904
$CAP_FILE_SIZE,136702,0
$CFSIZE,254472192,236318720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,48,0,0
$GPS,311208,195438,6046.446,-534.150,42,1.3,42,-7.2