version: 66.04
glider: 5
mission: 7
dive: 35
start: 9 3 109 3 40 22
data:
$ID,5
$MISSION,7
$DIVE,35
$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,-100909.89
$T_RSLEEP,2
$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,2130
$C_ROLL_CLIMB,1920
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,360
$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,5
$XPDR_INHIBIT,0
$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
$GPS1,033506,6125.296,-847.348,32,1.3,32,-9.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-65.9
$GPS2,033931,6125.305,-847.308,12,1.2,12,-9.1
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,BW
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.171,0.200
$KALMAN_X,-31658.0,-2106.2,-897.4,28131.7,19383.3
$KALMAN_Y,39513.7,904.1,932.0,-62331.4,-14639.6
$MHEAD_RNG_PITCHd_Wd,328.5,43814,-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,13,begin dive
$GC,16,-1.44,-146.6,0.0,0.0,0,59,0.00,0.00,-41.20,0.000,2,0.000,0.000,418,2154,2470
$GC,63,-1.44,-146.6,2.1,-4.3,2,119,11.05,2.67,-37.78,0.000,4,0.164,0.074,2424,711,3430
$GC,127,-1.24,-146.6,6.0,-10.4,5,132,0.25,2.47,0.00,0.000,6,0.101,0.046,2473,2122,3430
$GC,455,-1.24,-146.6,50.3,-13.3,21,459,0.00,2.53,0.00,0.000,4,0.000,0.064,2473,718,3430
$GC,634,-1.31,-146.6,71.6,-12.0,29,638,0.00,2.50,0.00,0.000,6,0.000,0.048,2473,2146,3430
$GC,963,-1.36,-146.6,110.8,-12.1,45,965,0.12,0.00,0.00,0.000,6,0.053,0.000,2436,2147,3431
$GC,1270,-1.31,-146.6,153.6,-13.9,60,1275,0.10,2.62,0.00,0.000,4,0.100,0.065,2457,712,3431
$GC,1292,-1.31,-146.6,156.9,-14.1,61,1297,0.00,2.55,0.00,0.000,6,0.000,0.050,2456,2158,3431
$GC,1613,-1.31,-146.6,197.6,-12.2,77,1614,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2159,3431
$GC,1922,-1.31,-146.6,235.7,-12.7,92,1927,0.00,2.60,0.00,0.000,4,0.000,0.064,2457,718,3431
$GC,2008,-1.36,-146.6,246.8,-13.0,96,2013,0.00,2.50,0.00,0.000,6,0.000,0.050,2457,2143,3431
$GC,2336,-1.36,-146.6,288.4,-12.7,112,2340,0.00,2.58,0.00,0.000,4,0.000,0.066,2457,718,3431
$GC,2402,-1.42,-146.6,297.0,-12.4,115,2406,0.00,2.47,0.00,0.000,6,0.000,0.050,2457,2126,3431
$GC,2723,-1.42,-146.6,337.2,-12.3,131,2724,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2126,3431
$STATE,3009,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3009,begin apogee
$GC,3016,-0.33,0.0,373.9,12.7,145,3141,1.00,0.00,121.55,1.031,6,0.079,0.000,2673,1902,2831
$STATE,3142,end apogee,CONTROL_FINISHED_OK
$STATE,3142,begin climb
$GC,3145,1.44,146.6,378.8,0.0,151,3272,1.73,0.00,121.35,0.991,6,0.054,0.000,3062,1902,2233
$GC,3585,1.34,158.2,349.0,9.5,173,3601,0.12,0.00,11.25,0.874,6,0.097,0.000,3039,1902,2185
$GC,3912,1.38,207.4,321.1,7.8,189,3956,0.00,0.00,41.58,0.956,6,0.000,0.000,3039,1902,1985
$GC,4261,1.38,207.4,285.5,10.7,206,4264,0.00,2.50,0.00,0.000,4,0.000,0.070,3039,528,1985
$GC,4312,1.31,207.4,279.6,11.2,208,4316,0.00,2.47,0.00,0.000,6,0.000,0.049,3039,1926,1985
$GC,4633,1.33,216.9,248.3,9.6,224,4644,0.00,0.00,9.10,0.828,6,0.000,0.000,3039,1941,1946
$GC,4942,1.35,229.5,219.2,9.4,239,4963,0.00,2.65,11.90,0.854,4,0.000,0.067,3039,529,1895
$GC,5026,1.30,232.1,210.8,9.9,242,5035,0.00,2.45,4.10,0.618,6,0.000,0.049,3039,1912,1883
$GC,5363,1.33,249.5,179.1,9.2,259,5383,0.00,0.00,15.35,0.858,6,0.000,0.000,3039,1913,1813
$GC,5693,1.33,249.5,145.6,10.5,275,5697,0.00,2.55,0.00,0.000,4,0.000,0.064,3039,3330,1813
$GC,5721,1.37,249.5,142.6,10.2,276,5725,0.00,2.53,0.00,0.000,6,0.000,0.054,3039,1923,1813
$GC,6037,1.37,249.5,110.8,11.1,291,6041,0.00,2.55,0.00,0.000,4,0.000,0.071,3039,513,1813
$GC,6064,1.37,249.5,107.3,12.0,292,6068,0.00,2.47,0.00,0.000,6,0.000,0.049,3039,1918,1813
$GC,6382,1.37,249.5,73.8,10.1,307,6386,0.00,2.50,0.00,0.000,4,0.000,0.062,3039,3330,1813
$GC,6405,1.42,249.5,71.3,10.5,308,6409,0.00,2.53,0.00,0.000,6,0.000,0.053,3039,1913,1812
$GC,6727,1.47,249.5,40.2,10.1,324,6732,0.12,2.53,0.00,0.000,4,0.054,0.068,3075,512,1812
$GC,6869,1.37,249.5,23.1,12.6,330,6874,0.17,2.45,0.00,0.000,6,0.093,0.047,3042,1916,1813
$STATE,7079,end climb,SURFACE_DEPTH_REACHED
$STATE,7080,begin surface coast
$FINISH,0.5,1.026775
$STATE,7101,end surface coast,CONTROL_FINISHED_OK
$STATE,7101,begin surface
$SM_CCo,7125,26.17,0.762,0,0,1608,300.00
$SM_GC,1.39,0.00,0.00,26.17,0.000,0.000,0.762,421,2156,1608,-10.69,0.68,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1830
$TCM_TEMP,17.80
$XPDR_PINGS,13
$ALTIM_BOTTOM_PING,295.0,88.4
$24V_AH,23.9,8.006
$10V_AH,10.1,3.947
$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,25.950,56.375,336.175,26.175,0.000,37.758,25.408,104.696,5.500,0.000,0.000,12.064,665.758,5197.845,467.994,775.135,321.330,33.340,866.842,0.000,763.194,0.000,17.294,0.000
$DEVICE_MAMPS,164.138,73.632,1030.848,762.398,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,232.059,251.950,292.500,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15965,341
$CAP_FILE_SIZE,58116,0
$CFSIZE,254472192,250015744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,19,0,0
$GPS,030909,054026,6126.124,-849.670,12,2.0,12,-9.1