version: 66.04
glider: 5
mission: 7
dive: 66
start: 9 8 109 22 11 48
data:
$ID,5
$MISSION,7
$DIVE,66
$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,550
$T_MISSION,560
$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,-101511.28
$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,25
$R_STBD_OVSHOOT,30
$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,6
$XPDR_INHIBIT,9
$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
$GPS1,215345,6208.451,-947.958,41,1.3,44,-9.9
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-51.5
$GPS2,221056,6208.564,-947.651,16,2.0,16,-9.9
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,CW
$TGT_LATLONG,6205.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.031,-0.219
$KALMAN_X,-104076.9,1505.9,407.1,42451.2,-6631.7
$KALMAN_Y,44059.7,-2414.4,-1040.8,18633.7,26019.0
$MHEAD_RNG_PITCHd_Wd,181.9,6909,-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,16,-0.97,-146.6,0.0,0.0,0,99,0.00,0.00,-81.22,0.000,2,0.000,0.000,418,2142,2482
$GC,103,-0.97,-146.6,2.2,-2.0,4,159,11.57,2.55,-36.80,0.000,4,0.158,0.074,2526,3528,3430
$GC,414,-0.82,-146.6,30.3,-10.1,18,419,0.17,2.47,0.00,0.000,6,0.082,0.044,2564,2121,3430
$GC,744,-0.78,-146.6,48.4,-6.1,34,748,0.00,2.47,0.00,0.000,4,0.000,0.058,2564,718,3430
$GC,777,-0.78,-146.6,51.1,-7.8,35,783,0.00,2.42,0.00,0.000,6,0.000,0.044,2564,2113,3430
$GC,1093,-0.78,-146.6,80.1,-8.4,51,1094,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2112,3430
$GC,1404,-0.78,-146.6,100.1,-6.6,66,1408,0.00,2.55,0.00,0.000,4,0.000,0.062,2564,3528,3430
$GC,1431,-0.78,-146.6,102.5,-8.2,67,1436,0.00,2.53,0.00,0.000,6,0.000,0.047,2564,2094,3430
$GC,1748,-0.78,-146.6,132.8,-7.9,82,1752,0.00,2.42,0.00,0.000,4,0.000,0.060,2564,718,3430
$GC,1865,-0.78,-146.6,140.8,-6.7,87,1869,0.00,2.35,0.00,0.000,6,0.000,0.044,2564,2074,3430
$GC,2187,-0.78,-146.6,159.7,-6.5,103,2191,0.00,2.62,0.00,0.000,4,0.000,0.064,2564,3534,3430
$GC,2242,-0.78,-146.6,163.7,-7.1,105,2249,0.00,2.60,0.00,0.000,6,0.000,0.048,2564,2060,3430
$GC,2558,-0.78,-146.6,185.9,-6.9,121,2560,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2059,3430
$GC,2868,-0.78,-146.6,207.5,-7.3,136,2872,0.00,2.67,0.00,0.000,4,0.000,0.065,2564,3537,3430
$GC,2934,-0.78,-146.6,212.6,-7.3,139,2939,0.00,2.58,0.00,0.000,6,0.000,0.049,2564,2079,3429
$GC,3256,-0.78,-146.6,236.2,-7.3,155,3260,0.00,2.42,0.00,0.000,4,0.000,0.062,2564,718,3429
$GC,3295,-0.78,-146.6,239.3,-7.7,157,3300,0.00,2.40,0.00,0.000,6,0.000,0.048,2564,2090,3429
$GC,3623,-0.78,-146.6,265.2,-7.9,173,3627,0.00,2.47,0.00,0.000,4,0.000,0.062,2564,715,3429
$GC,3650,-0.78,-146.6,267.5,-7.9,174,3654,0.00,2.40,0.00,0.000,6,0.000,0.047,2564,2085,3429
$GC,3971,-0.78,-146.6,290.4,-6.9,190,3972,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2085,3429
$GC,4280,-0.78,-146.6,310.4,-6.5,205,4285,0.00,2.47,0.00,0.000,4,0.000,0.064,2564,712,3428
$GC,4326,-0.78,-146.6,313.6,-7.0,207,4330,0.00,2.38,0.00,0.000,6,0.000,0.048,2564,2066,3429
$GC,4653,-0.78,-146.6,336.1,-7.2,223,4654,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2067,3428
$GC,4963,-0.78,-146.6,360.4,-8.2,238,4967,0.00,2.42,0.00,0.000,4,0.000,0.064,2564,723,3427
$GC,4997,-0.82,-146.6,363.5,-9.6,239,5003,0.00,2.38,0.00,0.000,6,0.000,0.049,2564,2076,3427
$GC,5313,-0.82,-146.6,393.0,-9.1,255,5314,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2076,3427
$GC,5622,-0.82,-146.6,418.3,-7.6,270,5626,0.00,2.45,0.00,0.000,4,0.000,0.067,2564,717,3427
$GC,5650,-0.82,-146.6,420.5,-8.0,271,5654,0.00,2.38,0.00,0.000,6,0.000,0.050,2564,2067,3426
$GC,5971,-0.82,-146.6,441.2,-5.9,287,5975,0.00,2.65,0.00,0.000,4,0.000,0.070,2564,3531,3426
$GC,6004,-0.82,-146.6,443.2,-5.9,288,6011,0.00,2.62,0.00,0.000,6,0.000,0.056,2564,2057,3426
$GC,6320,-0.82,-146.6,462.1,-6.6,304,6321,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2057,3426
$GC,6630,-0.82,-146.6,487.1,-8.9,319,6634,0.00,2.70,0.00,0.000,4,0.000,0.070,2564,3532,3426
$GC,6674,-0.82,-146.6,491.4,-10.0,321,6678,0.00,2.60,0.00,0.000,6,0.000,0.055,2564,2070,3426
$GC,6995,-0.82,-146.6,522.5,-9.1,337,6999,0.00,2.42,0.00,0.000,4,0.000,0.066,2565,719,3425
$GC,7035,-0.87,-146.6,526.1,-9.5,339,7039,0.00,2.38,0.00,0.000,6,0.000,0.050,2564,2073,3425
$GC,7363,-0.87,-146.6,545.8,-5.0,355,7367,0.00,2.65,0.00,0.000,4,0.000,0.071,2564,3530,3425
$GC,7441,-0.91,-146.6,550.2,-5.1,358,7447,0.00,2.58,0.00,0.000,6,0.000,0.057,2564,2088,3425
$GC,7758,-0.95,-146.6,565.1,-4.3,374,7763,0.12,2.67,0.00,0.000,4,0.055,0.071,2525,3530,3424
$GC,7884,-0.86,-146.6,572.9,-6.0,379,7890,0.15,2.53,0.00,0.000,6,0.084,0.057,2557,2115,3424
$GC,8200,-0.86,-146.6,587.5,-4.9,395,8204,0.00,2.50,0.00,0.000,4,0.000,0.071,2557,724,3424
$GC,8234,-0.91,-146.6,589.2,-4.7,396,8238,0.00,2.45,0.00,0.000,6,0.000,0.054,2557,2115,3424
$GC,8550,-0.91,-146.6,607.9,-6.9,411,8554,0.00,2.60,0.00,0.000,4,0.000,0.077,2557,3528,3424
$GC,8612,-0.91,-146.6,612.3,-7.2,414,8616,0.00,2.53,0.00,0.000,6,0.000,0.062,2557,2128,3423
$GC,8944,-0.91,-146.6,633.7,-6.6,430,8949,0.00,2.55,0.00,0.000,4,0.000,0.077,2557,726,3423
$GC,8972,-0.97,-146.6,635.9,-7.6,431,8978,0.12,2.53,0.00,0.000,6,0.061,0.058,2522,2139,3422
$GC,9289,-0.89,-146.6,662.7,-7.5,446,9291,0.12,0.00,0.00,0.000,6,0.094,0.000,2550,2140,3421
$STATE,9389,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9389,begin apogee
$GC,9396,-0.33,0.0,669.7,7.1,451,9531,0.57,0.00,128.88,1.285,6,0.076,0.000,2674,1903,2831
$STATE,9532,end apogee,CONTROL_FINISHED_OK
$STATE,9532,begin climb
$GC,9535,0.97,146.6,674.1,0.0,458,9675,1.30,2.65,131.18,1.249,4,0.060,0.081,2956,529,2233
$GC,9722,0.79,163.3,669.0,5.5,467,9745,0.20,2.55,16.17,1.141,6,0.092,0.059,2917,1942,2165
$GC,10056,0.81,170.5,649.0,5.8,483,10070,0.00,2.70,7.93,1.040,4,0.000,0.081,2916,538,2135
$GC,10116,0.74,170.5,645.1,6.8,485,10123,0.00,2.50,0.00,0.000,6,0.000,0.061,2917,1909,2135
$GC,10433,0.79,202.4,630.0,5.1,501,10463,0.00,0.00,28.92,1.230,6,0.000,0.000,2917,1923,2006
$GC,10761,0.79,202.4,608.9,6.1,517,10766,0.00,2.62,0.00,0.000,4,0.000,0.085,2917,532,2005
$GC,10795,0.79,202.4,606.5,7.4,518,10801,0.00,2.53,0.00,0.000,6,0.000,0.062,2916,1915,2005
$GC,11111,0.79,202.4,583.7,7.2,534,11115,0.00,2.60,0.00,0.000,4,0.000,0.079,2916,3328,2004
$GC,11183,0.87,202.4,577.8,7.9,537,11188,0.00,2.58,0.00,0.000,6,0.000,0.074,2917,1947,2003
$GC,11499,0.88,208.6,555.5,5.8,552,11513,0.00,2.78,6.65,1.035,4,0.000,0.084,2916,507,1981
$GC,11536,0.92,232.8,553.4,5.3,553,11565,0.12,2.62,22.20,1.214,6,0.059,0.061,2949,1958,1882
$GC,11878,0.94,284.2,536.4,4.6,570,11932,0.00,2.58,45.35,1.232,4,0.000,0.073,2950,3310,1672
$GC,11944,1.03,342.4,532.9,4.4,573,12001,0.00,2.58,51.25,1.206,6,0.000,0.070,2950,1938,1435
$GC,12322,1.03,342.4,506.9,7.4,592,12327,0.00,2.65,0.00,0.000,4,0.000,0.078,2949,510,1435
$GC,12344,1.03,342.4,505.0,8.2,593,12349,0.00,2.55,0.00,0.000,6,0.000,0.055,2950,1932,1435
$GC,12666,1.03,342.4,477.8,8.8,609,12667,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,1947,1435
$GC,12975,1.03,342.4,452.6,7.5,624,12979,0.00,2.65,0.00,0.000,4,0.000,0.074,2950,507,1436
$GC,13025,1.03,342.4,448.4,8.1,626,13029,0.00,2.55,0.00,0.000,6,0.000,0.052,2950,1938,1436
$GC,13341,1.03,342.4,425.6,7.4,641,13346,0.00,2.65,0.00,0.000,4,0.000,0.071,2950,511,1436
$GC,13381,1.03,342.4,422.2,8.9,643,13386,0.00,2.50,0.00,0.000,6,0.000,0.051,2950,1921,1436
$GC,13708,1.03,342.4,395.7,8.6,659,13713,0.00,2.60,0.00,0.000,4,0.000,0.070,2950,512,1437
$GC,13736,1.03,342.4,393.3,8.7,660,13741,0.00,2.45,0.00,0.000,6,0.000,0.050,2950,1900,1437
$GC,14052,1.03,342.4,368.4,7.4,675,14056,0.00,2.55,0.00,0.000,4,0.000,0.069,2949,510,1437
$GC,14074,1.03,342.4,366.5,8.2,676,14079,0.00,2.42,0.00,0.000,6,0.000,0.049,2950,1885,1437
$GC,14396,1.07,342.4,342.9,7.3,692,14401,0.12,2.53,0.00,0.000,4,0.051,0.068,2988,510,1438
$GC,14419,1.03,342.4,340.9,8.0,693,14423,0.00,2.40,0.00,0.000,6,0.000,0.049,2988,1870,1438
$GC,14741,0.94,342.4,310.1,9.8,709,14742,0.20,0.00,0.00,0.000,6,0.078,0.000,2946,1885,1438
$GC,15050,1.01,342.4,285.9,8.0,724,15054,0.00,2.50,0.00,0.000,4,0.000,0.069,2946,504,1439
$GC,15072,1.05,342.4,283.9,8.6,725,15077,0.12,2.40,0.00,0.000,6,0.050,0.048,2983,1869,1439
$GC,15394,0.99,342.4,253.9,8.7,741,15396,0.12,0.00,0.00,0.000,6,0.083,0.000,2958,1884,1439
$GC,15703,0.99,342.4,232.7,7.0,756,15707,0.00,2.50,0.00,0.000,4,0.000,0.070,2958,504,1439
$GC,15736,0.99,342.4,230.1,7.5,757,15740,0.00,2.38,0.00,0.000,6,0.000,0.048,2958,1858,1440
$GC,16052,0.99,342.4,205.1,8.2,772,16053,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,1872,1440
$GC,16361,0.99,342.4,180.0,7.4,787,16365,0.00,2.45,0.00,0.000,4,0.000,0.067,2958,510,1440
$GC,16383,0.99,342.4,178.2,7.8,788,16388,0.00,2.33,0.00,0.000,6,0.000,0.048,2958,1842,1440
$GC,16711,1.01,352.0,158.3,5.7,804,16723,0.00,0.00,10.70,0.825,6,0.000,0.000,2958,1857,1395
$GC,17021,1.06,352.0,140.1,6.1,819,17025,0.00,2.45,0.00,0.000,4,0.000,0.068,2958,504,1394
$GC,17048,1.06,352.0,138.0,8.2,820,17052,0.00,2.33,0.00,0.000,6,0.000,0.048,2958,1828,1395
$GC,17365,1.11,352.0,115.0,7.8,835,17369,0.12,2.42,0.00,0.000,4,0.050,0.067,2996,507,1395
$GC,17392,1.04,352.0,112.2,10.1,836,17397,0.12,2.28,0.00,0.000,6,0.085,0.047,2972,1808,1395
$GC,17710,1.04,352.0,84.5,8.3,851,17714,0.00,2.38,0.00,0.000,4,0.000,0.067,2972,502,1395
$GC,17728,1.04,352.0,82.7,8.2,852,17732,0.00,2.25,0.00,0.000,6,0.000,0.046,2972,1808,1396
$GC,18062,1.04,352.0,56.1,8.3,868,18066,0.00,2.67,0.00,0.000,4,0.000,0.058,2971,3324,1396
$GC,18079,1.09,352.0,54.7,7.6,869,18084,0.00,2.70,0.00,0.000,6,0.000,0.050,2972,1798,1396
$GC,18407,1.15,352.0,31.3,6.4,885,18413,0.12,2.75,0.00,0.000,4,0.050,0.057,3009,3324,1396
$GC,18435,1.15,352.0,28.9,8.4,886,18440,0.00,2.67,0.00,0.000,6,0.000,0.049,3009,1810,1396
$STATE,18748,end climb,SURFACE_DEPTH_REACHED
$STATE,18749,begin surface coast
$FINISH,0.4,1.026782
$STATE,18772,end surface coast,CONTROL_FINISHED_OK
$STATE,18772,begin surface
$SM_CCo,18856,0.00,0.000,0,0,1395,352.25
$SM_GC,1.29,11.15,0.00,0.00,0.036,0.000,0.000,418,2141,1395,-10.59,0.31,352.25
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1821
$TCM_TEMP,17.90
$XPDR_PINGS,27
$ALTIM_BOTTOM_PING,595.7,83.1
$24V_AH,23.8,13.923
$10V_AH,10.1,6.308
$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,26.575,197.575,449.225,0.000,0.000,37.762,32.306,829.731,12.000,0.000,0.000,16.279,1682.801,14327.416,635.050,1988.464,1249.159,33.364,1670.572,0.000,1942.799,0.000,36.818,0.000
$DEVICE_MAMPS,158.002,85.137,1285.492,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,618.091,670.879,567.775,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47454,902
$CAP_FILE_SIZE,160442,0
$CFSIZE,254472192,248061952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,61,0,0
$GPS,090909,032707,6208.386,-940.823,26,1.2,26,-9.8