version: 66.04
glider: 5
mission: 5
dive: 445
start: 2 15 109 5 34 51
data:
$ID,5
$MISSION,5
$DIVE,445
$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,-96088.188
$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,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,159
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,2000
$C_ROLL_CLIMB,2125
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,24
$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,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,-23.610077
$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,0
$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,6
$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
$GPS1,052937,6132.027,-807.932,38,1.0,38,-8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-66.2
$GPS2,053432,6131.971,-807.975,11,1.3,11,-8.8
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FBC_2
$TGT_LATLONG,6115.000,-752.000
$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,164.4,34501,-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,-146.6,0.0,0.0,0,97,0.00,0.00,-78.12,0.000,6,0.000,0.000,422,1993,3431
$GC,101,-0.97,-146.6,5.9,-6.5,4,117,11.12,2.60,0.00,0.000,4,0.138,0.061,2524,3415,3432
$GC,272,-0.89,-146.6,32.0,-7.8,10,280,0.12,2.53,0.00,0.000,6,0.091,0.048,2550,1997,3432
$GC,590,-0.89,-146.6,55.5,-9.0,26,591,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,1997,3432
$GC,898,-0.89,-146.6,85.0,-6.7,41,902,0.00,2.50,0.00,0.000,4,0.000,0.063,2550,595,3433
$GC,930,-0.89,-146.6,87.3,-6.5,42,937,0.00,2.50,0.00,0.000,6,0.000,0.052,2551,2000,3433
$GC,1249,-0.89,-146.6,111.0,-8.2,58,1250,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2000,3432
$GC,1556,-0.89,-146.6,136.1,-8.7,73,1560,0.00,2.58,0.00,0.000,4,0.000,0.064,2550,587,3433
$GC,1583,-0.89,-146.6,138.4,-8.1,74,1587,0.00,2.50,0.00,0.000,6,0.000,0.052,2550,1986,3432
$GC,1900,-0.89,-146.6,162.6,-7.4,89,1904,0.00,2.55,0.00,0.000,4,0.000,0.064,2551,3405,3432
$GC,1921,-0.89,-146.6,164.4,-7.4,90,1926,0.00,2.53,0.00,0.000,6,0.000,0.051,2550,1991,3432
$GC,2243,-0.89,-146.6,187.9,-6.9,106,2247,0.00,2.58,0.00,0.000,4,0.000,0.062,2550,3407,3432
$GC,2271,-0.89,-146.6,190.0,-6.8,107,2276,0.00,2.53,0.00,0.000,6,0.000,0.050,2550,1988,3432
$GC,2587,-0.89,-146.6,213.8,-8.5,122,2591,0.00,2.60,0.00,0.000,4,0.000,0.062,2550,3415,3432
$GC,2608,-0.89,-146.6,215.6,-8.1,123,2613,0.00,2.53,0.00,0.000,6,0.000,0.049,2550,1994,3432
$GC,2931,-0.84,-146.6,236.4,-6.9,139,2935,0.00,2.50,0.00,0.000,4,0.000,0.064,2550,588,3432
$GC,3015,-0.84,-146.6,243.5,-8.2,142,3021,0.00,2.53,0.00,0.000,6,0.000,0.051,2551,2005,3432
$STATE,3184,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3184,begin apogee
$GC,3193,-0.33,0.0,257.6,8.2,151,3321,0.57,0.00,125.55,0.967,6,0.071,0.000,2674,2136,2832
$STATE,3322,end apogee,CONTROL_FINISHED_OK
$STATE,3322,begin climb
$GC,3325,0.97,146.6,261.5,0.0,157,3458,1.27,2.60,124.07,0.933,4,0.058,0.063,2955,3512,2234
$GC,3532,0.82,146.6,253.2,6.1,166,3539,0.17,2.53,0.00,0.000,6,0.086,0.052,2922,2117,2234
$GC,3850,0.85,165.1,236.5,5.5,182,3872,0.00,2.62,16.77,0.867,4,0.000,0.062,2921,718,2159
$GC,3912,0.85,165.1,232.9,6.7,184,3918,0.00,2.50,0.00,0.000,6,0.000,0.051,2921,2109,2159
$GC,4228,0.85,165.1,210.9,7.0,200,4230,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,2109,2159
$GC,4537,0.92,208.8,193.1,4.8,215,4578,0.10,0.00,38.33,0.900,6,0.058,0.000,2953,2109,1979
$GC,4886,0.87,208.8,169.8,7.2,232,4891,0.00,2.58,0.00,0.000,4,0.000,0.063,2953,3530,1980
$GC,4932,0.81,208.8,166.1,7.9,234,4937,0.17,2.53,0.00,0.000,6,0.082,0.050,2918,2118,1980
$GC,5254,0.89,229.4,147.1,5.4,250,5280,0.00,2.60,18.55,0.853,4,0.000,0.062,2917,720,1896
$GC,5301,0.95,229.4,144.3,6.5,252,5306,0.15,2.53,0.00,0.000,6,0.049,0.051,2962,2122,1896
$GC,5628,0.89,229.4,119.6,7.7,268,5633,0.12,2.55,0.00,0.000,4,0.082,0.063,2936,3530,1896
$GC,5678,0.89,229.4,115.5,7.8,270,5682,0.00,2.50,0.00,0.000,6,0.000,0.050,2936,2133,1896
$GC,5995,0.89,229.4,94.1,6.6,285,5996,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2133,1896
$GC,6304,0.89,229.4,74.5,6.5,300,6305,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2133,1896
$GC,6613,0.89,229.4,51.2,7.6,315,6614,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2133,1896
$GC,6923,0.89,229.4,29.2,7.7,330,6924,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2133,1896
$GC,7233,0.96,273.3,10.7,4.8,345,7275,0.00,2.65,36.65,0.800,4,0.000,0.061,2936,3526,1718
$GC,7288,1.03,273.3,5.8,8.9,347,7295,0.15,2.50,0.00,0.000,6,0.052,0.049,2977,2141,1718
$STATE,7313,end climb,SURFACE_DEPTH_REACHED
$STATE,7313,begin surface coast
$FINISH,0.8,1.027425
$STATE,7355,end surface coast,CONTROL_FINISHED_OK
$STATE,7355,begin surface
$SM_CCo,7440,0.00,0.000,0,0,1717,273.51
$SM_GC,1.61,11.25,0.00,0.00,0.038,0.000,0.000,420,1997,1717,-10.61,-0.57,273.51
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1814
$TCM_TEMP,16.80
$XPDR_PINGS,28
$ALTIM_BOTTOM_PING,176.4,90.8
$24V_AH,23.8,79.417
$10V_AH,10.1,39.280
$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,25.225,66.575,359.925,0.000,0.000,37.759,33.497,112.745,8.000,0.000,0.000,11.059,674.498,5445.881,441.446,814.319,364.143,0.000,881.366,0.000,806.188,0.000,8.831,0.000
$DEVICE_MAMPS,138.060,64.428,967.187,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,259.637,234.838,372.395,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15929,351
$CAP_FILE_SIZE,59245,0
$CFSIZE,254472192,223977472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,0,0
$GPS,150209,074006,6130.148,-807.981,37,1.2,37,-8.8