version: 66.04
glider: 5
mission: 7
dive: 47
start: 9 4 109 18 31 54
data:
$ID,5
$MISSION,7
$DIVE,47
$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,412.5
$T_MISSION,440
$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,-101159.44
$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,20
$R_STBD_OVSHOOT,34
$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
$GPS1,182507,6136.690,-923.909,42,1.0,42,-9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-67.2
$GPS2,183104,6136.706,-923.847,11,2.5,30,-9.5
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,BW
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.130,0.208
$KALMAN_X,-45005.0,378.7,-130.3,6017.9,-3627.6
$KALMAN_Y,30656.6,622.6,358.0,-31483.0,-5949.0
$MHEAD_RNG_PITCHd_Wd,41.5,17208,-14.8,-8.000
$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,-1.22,-146.6,0.0,0.0,0,59,0.00,0.00,-41.85,0.000,2,0.000,0.000,421,2145,2505
$GC,63,-1.22,-146.6,2.3,-4.0,2,115,11.00,2.53,-35.47,0.000,4,0.153,0.080,2472,3526,3430
$GC,146,-1.06,-146.6,8.6,-12.6,6,151,0.20,2.47,0.00,0.000,6,0.087,0.047,2516,2117,3430
$GC,473,-1.06,-146.6,46.2,-11.4,22,474,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2105,3431
$GC,782,-1.06,-146.6,79.1,-11.2,37,787,0.00,2.55,0.00,0.000,4,0.000,0.064,2516,3526,3431
$GC,827,-1.06,-146.6,84.2,-11.2,39,832,0.00,2.45,0.00,0.000,6,0.000,0.054,2515,2139,3431
$GC,1149,-1.06,-146.6,117.7,-10.1,55,1153,0.00,2.53,0.00,0.000,4,0.000,0.066,2516,3522,3431
$GC,1189,-1.06,-146.6,121.8,-10.3,57,1193,0.00,2.45,0.00,0.000,6,0.000,0.050,2515,2133,3431
$GC,1515,-1.06,-146.6,155.1,-10.1,73,1517,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2119,3431
$GC,1825,-1.06,-146.6,184.0,-10.1,88,1826,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2119,3431
$GC,2134,-1.06,-146.6,214.3,-10.3,103,2135,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2119,3431
$GC,2444,-1.06,-146.6,246.2,-9.9,118,2445,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2119,3431
$GC,2752,-1.06,-146.6,276.2,-9.2,133,2754,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2119,3431
$GC,3062,-1.06,-146.6,306.0,-10.1,148,3063,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2119,3431
$GC,3371,-1.06,-146.6,337.4,-10.1,163,3372,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2119,3431
$GC,3680,-1.06,-146.6,368.9,-10.4,178,3681,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2116,3430
$GC,3990,-1.06,-146.6,401.5,-11.3,193,3991,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2116,3430
$GC,4299,-1.06,-146.6,435.4,-9.7,208,4303,0.00,2.55,0.00,0.000,4,0.000,0.071,2516,3520,3430
$GC,4338,-1.06,-146.6,439.6,-11.0,210,4342,0.00,2.42,0.00,0.000,6,0.000,0.057,2516,2150,3430
$GC,4672,-1.06,-146.6,477.8,-12.2,226,4676,0.00,2.53,0.00,0.000,4,0.000,0.067,2516,724,3429
$GC,4712,-1.14,-146.6,483.0,-12.8,228,4716,0.00,2.47,0.00,0.000,6,0.000,0.051,2516,2138,3430
$GC,5040,-1.14,-146.6,521.6,-10.7,244,5045,0.00,2.55,0.00,0.000,4,0.000,0.066,2516,722,3429
$GC,5069,-1.21,-146.6,525.1,-12.0,245,5074,0.15,2.47,0.00,0.000,6,0.054,0.051,2472,2143,3429
$GC,5386,-1.13,-146.6,570.5,-15.0,260,5391,0.12,2.58,0.00,0.000,4,0.094,0.064,2497,724,3429
$GC,5413,-1.13,-146.6,574.9,-14.4,261,5418,0.00,2.50,0.00,0.000,6,0.000,0.051,2498,2146,3429
$GC,5730,-1.13,-146.6,612.7,-11.0,276,5731,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2146,3429
$GC,6039,-1.13,-146.6,647.0,-11.5,291,6044,0.00,2.58,0.00,0.000,4,0.000,0.067,2498,722,3428
$GC,6102,-1.13,-146.6,655.2,-12.8,294,6107,0.00,2.47,0.00,0.000,6,0.000,0.054,2497,2142,3428
$GC,6430,-1.13,-146.6,695.4,-12.8,310,6434,0.00,2.55,0.00,0.000,4,0.000,0.065,2498,724,3428
$GC,6496,-1.13,-146.6,704.4,-13.6,313,6500,0.00,2.47,0.00,0.000,6,0.000,0.051,2498,2132,3428
$GC,6818,-1.13,-146.6,742.6,-11.1,329,6819,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2132,3428
$GC,7127,-1.13,-146.6,772.9,-8.9,344,7128,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2132,3427
$GC,7436,-1.13,-146.6,793.8,-7.2,359,7438,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2132,3427
$GC,7746,-1.18,-146.6,817.8,-11.0,374,7750,0.00,2.55,0.00,0.000,4,0.000,0.069,2498,724,3427
$GC,7905,-1.25,-146.6,836.6,-10.3,381,7910,0.12,2.47,0.00,0.000,6,0.058,0.052,2462,2130,3427
$GC,8226,-1.25,-146.6,872.7,-10.2,397,8231,0.00,2.58,0.00,0.000,4,0.000,0.078,2462,724,3427
$STATE,8358,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8358,begin apogee
$GC,8368,-0.33,0.0,885.6,7.5,403,8498,0.95,0.00,127.20,1.414,6,0.086,0.000,2669,1931,2831
$STATE,8499,end apogee,CONTROL_FINISHED_OK
$STATE,8499,begin climb
$GC,8503,1.22,146.6,901.1,0.0,409,8640,1.52,2.72,127.18,1.386,4,0.057,0.079,3007,3325,2232
$GC,8877,1.00,146.6,872.7,9.1,426,8883,0.22,2.62,0.00,0.000,6,0.094,0.074,2965,1922,2233
$GC,9205,1.06,235.5,851.7,4.8,442,9289,0.00,2.70,76.60,1.384,4,0.000,0.083,2965,510,1871
$GC,9418,1.23,342.8,837.8,4.1,451,9517,0.22,2.53,92.45,1.374,6,0.054,0.064,3018,1895,1433
$GC,9834,1.17,342.8,789.4,14.3,472,9838,0.00,2.62,0.00,0.000,4,0.000,0.084,3018,511,1433
$GC,9889,1.06,342.8,782.2,11.7,474,9896,0.22,2.47,0.00,0.000,6,0.091,0.061,2976,1869,1433
$GC,10205,1.13,342.8,753.2,9.0,490,10210,0.00,2.62,0.00,0.000,4,0.000,0.074,2976,3316,1433
$GC,10245,1.24,342.8,749.7,8.9,492,10251,0.20,2.65,0.00,0.000,6,0.051,0.066,3024,1878,1434
$GC,10573,1.14,342.8,713.8,11.4,508,10578,0.17,2.53,0.00,0.000,4,0.091,0.075,2987,507,1433
$GC,10617,1.14,342.8,709.4,9.4,510,10622,0.00,2.42,0.00,0.000,6,0.000,0.054,2987,1863,1434
$GC,10939,1.14,342.8,679.5,9.8,526,10940,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,1878,1433
$GC,11249,1.19,342.8,647.1,10.9,541,11253,0.00,2.53,0.00,0.000,4,0.000,0.075,2987,505,1434
$GC,11276,1.19,342.8,643.8,11.6,542,11280,0.00,2.40,0.00,0.000,6,0.000,0.054,2987,1858,1434
$GC,11592,1.23,342.8,612.1,9.6,557,11594,0.12,0.00,0.00,0.000,6,0.055,0.000,3020,1874,1434
$GC,11902,1.18,342.8,570.6,13.5,572,11903,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,1874,1435
$GC,12211,1.12,342.8,529.2,13.8,587,12213,0.17,0.00,0.00,0.000,6,0.084,0.000,2985,1874,1435
$GC,12520,1.18,342.8,495.6,10.4,602,12524,0.00,2.45,0.00,0.000,4,0.000,0.069,2985,510,1436
$GC,12547,1.18,342.8,492.5,10.7,603,12551,0.00,2.38,0.00,0.000,6,0.000,0.050,2986,1858,1436
$GC,12869,1.24,342.8,462.9,8.6,619,12870,0.12,0.00,0.00,0.000,6,0.054,0.000,3020,1873,1437
$GC,13178,1.19,342.8,427.5,11.9,634,13179,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,1873,1437
$GC,13487,1.15,342.8,391.2,11.5,649,13492,0.15,2.47,0.00,0.000,4,0.087,0.066,2990,508,1437
$GC,13520,1.15,342.8,387.5,10.2,650,13526,0.00,2.35,0.00,0.000,6,0.000,0.050,2990,1848,1437
$GC,13837,1.19,342.8,354.9,10.4,666,13841,0.00,2.60,0.00,0.000,4,0.000,0.065,2990,3319,1437
$GC,13864,1.29,342.8,352.0,9.6,667,13869,0.17,2.65,0.00,0.000,6,0.048,0.074,3038,1850,1437
$GC,14181,1.20,342.8,313.1,11.8,682,14183,0.17,0.00,0.00,0.000,6,0.087,0.000,3003,1850,1438
$GC,14489,1.20,342.8,282.7,9.3,697,14494,0.00,2.65,0.00,0.000,4,0.000,0.064,3003,3319,1438
$GC,14522,1.27,342.8,279.8,8.2,698,14529,0.00,2.62,0.00,0.000,6,0.000,0.058,3004,1856,1438
$GC,14838,1.27,342.8,254.7,8.5,714,14842,0.00,2.42,0.00,0.000,4,0.000,0.073,3004,508,1438
$GC,14885,1.27,342.8,249.6,11.4,716,14889,0.00,2.35,0.00,0.000,6,0.000,0.054,3004,1848,1438
$GC,15211,1.27,342.8,211.5,12.0,732,15213,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,1863,1438
$GC,15521,1.33,379.6,180.8,6.7,747,15555,0.15,0.00,31.73,0.900,6,0.051,0.000,3044,1863,1283
$GC,15851,1.25,379.6,137.9,14.0,763,15856,0.15,2.65,0.00,0.000,4,0.086,0.063,3014,3321,1283
$GC,15873,1.25,379.6,134.8,13.2,764,15878,0.00,2.65,0.00,0.000,6,0.000,0.054,3014,1844,1283
$GC,16196,1.25,379.6,101.7,10.1,780,16200,0.00,2.67,0.00,0.000,4,0.000,0.063,3014,3320,1283
$GC,16236,1.33,379.6,97.5,10.2,782,16240,0.00,2.62,0.00,0.000,6,0.000,0.057,3014,1854,1283
$GC,16563,1.35,391.2,69.5,7.6,798,16585,0.12,2.67,11.15,0.776,4,0.054,0.061,3049,3321,1235
$GC,16609,1.35,391.2,64.2,13.8,800,16614,0.00,2.60,0.00,0.000,6,0.000,0.054,3049,1871,1235
$GC,16937,1.29,391.2,19.4,13.5,816,16941,0.12,2.45,0.00,0.000,4,0.091,0.065,3024,506,1235
$GC,16977,1.29,391.2,14.1,11.5,818,16981,0.00,2.35,0.00,0.000,6,0.000,0.048,3024,1862,1235
$STATE,17081,end climb,SURFACE_DEPTH_REACHED
$STATE,17081,begin surface coast
$FINISH,0.6,1.026672
$STATE,17102,end surface coast,CONTROL_FINISHED_OK
$STATE,17102,begin surface
$SM_CCo,17186,0.00,0.000,0,0,1234,391.74
$SM_GC,1.42,11.25,0.00,0.00,0.035,0.000,0.000,417,2145,1234,-10.60,0.42,391.74
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1836
$TCM_TEMP,17.90
$XPDR_PINGS,61
$ALTIM_BOTTOM_PING,845.4,49.8
$24V_AH,23.7,9.661
$10V_AH,10.1,4.657
$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,27.850,131.825,466.300,0.000,0.000,37.760,26.410,150.175,23.000,0.000,0.000,31.664,1504.423,13160.387,544.503,1816.049,512.321,33.351,1476.173,0.000,1752.080,0.000,52.075,0.000
$DEVICE_MAMPS,153.400,84.370,1414.348,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,564.317,612.999,469.355,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41145,824
$CAP_FILE_SIZE,127289,0
$CFSIZE,254472192,249389056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,43,0,0
$GPS,040909,231936,6138.622,-921.431,39,1.4,39,-9.5