version: 66.04
glider: 5
mission: 7
dive: 75
start: 9 9 109 22 44 52
data:
$ID,5
$MISSION,7
$DIVE,75
$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,-101681
$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,2130
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,300
$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
$GPS1,223727,6216.171,-950.860,35,2.4,54,-10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-60.2
$GPS2,224401,6216.226,-950.814,16,1.6,16,-10.0
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,DW
$TGT_LATLONG,6215.000,-1035.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.256,-0.061
$KALMAN_X,-84764.8,-1722.4,8186.6,15862.7,4747.9
$KALMAN_Y,46320.4,-942.2,5660.6,22342.9,8105.6
$MHEAD_RNG_PITCHd_Wd,266.6,38170,-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,12,begin dive
$GC,16,-1.44,-146.6,0.0,0.0,0,59,0.00,0.00,-41.20,0.000,2,0.000,0.000,416,2136,2508
$GC,63,-1.44,-146.6,2.2,-3.0,2,110,11.20,0.00,-33.60,0.000,6,0.161,0.000,2426,2136,3430
$GC,409,-1.33,-146.6,56.1,-17.7,19,411,0.12,0.00,0.00,0.000,6,0.110,0.000,2451,2136,3431
$GC,717,-1.33,-146.6,103.7,-13.4,34,721,0.00,2.53,0.00,0.000,4,0.000,0.064,2451,3523,3431
$GC,806,-1.33,-146.6,114.5,-11.7,38,810,0.00,2.47,0.00,0.000,6,0.000,0.048,2451,2132,3431
$GC,1127,-1.33,-146.6,155.1,-13.8,54,1128,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2120,3431
$GC,1436,-1.33,-146.6,194.7,-12.2,69,1437,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2120,3431
$GC,1746,-1.33,-146.6,234.4,-12.8,84,1750,0.00,2.55,0.00,0.000,4,0.000,0.067,2451,3523,3431
$GC,1795,-1.33,-146.6,241.2,-13.0,86,1799,0.00,2.47,0.00,0.000,6,0.000,0.053,2451,2139,3432
$GC,2112,-1.33,-146.6,282.5,-13.1,101,2116,0.00,2.53,0.00,0.000,4,0.000,0.062,2451,719,3431
$GC,2139,-1.33,-146.6,286.4,-13.2,102,2143,0.00,2.47,0.00,0.000,6,0.000,0.048,2451,2124,3431
$GC,2454,-1.33,-146.6,325.8,-12.1,117,2456,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2122,3431
$GC,2764,-1.33,-146.6,361.4,-11.1,132,2765,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2121,3431
$GC,3073,-1.33,-146.6,398.9,-12.6,147,3077,0.00,2.55,0.00,0.000,4,0.000,0.064,2451,718,3431
$GC,3106,-1.33,-146.6,403.5,-13.7,148,3112,0.00,2.53,0.00,0.000,6,0.000,0.050,2451,2148,3432
$GC,3422,-1.33,-146.6,447.0,-13.5,164,3424,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2147,3431
$GC,3731,-1.33,-146.6,482.2,-10.9,179,3735,0.00,2.60,0.00,0.000,4,0.000,0.067,2451,725,3431
$GC,3878,-1.38,-146.6,499.4,-11.8,185,3885,0.00,2.45,0.00,0.000,6,0.000,0.050,2451,2116,3431
$GC,4195,-1.38,-146.6,537.8,-12.1,201,4199,0.00,2.55,0.00,0.000,4,0.000,0.065,2451,715,3430
$GC,4222,-1.43,-146.6,541.4,-12.5,202,4227,0.00,2.45,0.00,0.000,6,0.000,0.051,2451,2095,3430
$GC,4538,-1.43,-146.6,577.2,-11.8,217,4543,0.00,2.62,0.00,0.000,4,0.000,0.073,2451,3541,3430
$GC,4566,-1.43,-146.6,580.9,-13.4,218,4571,0.00,2.62,0.00,0.000,6,0.000,0.058,2451,2088,3429
$GC,4882,-1.43,-146.6,619.3,-13.1,233,4886,0.00,2.47,0.00,0.000,4,0.000,0.072,2451,719,3429
$GC,4945,-1.50,-146.6,626.4,-13.0,236,4950,0.15,2.45,0.00,0.000,6,0.058,0.054,2412,2097,3429
$STATE,5104,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5104,begin apogee
$GC,5112,-0.33,0.0,648.1,13.0,244,5248,1.23,0.00,130.30,1.240,6,0.083,0.000,2673,1831,2831
$STATE,5249,end apogee,CONTROL_FINISHED_OK
$STATE,5249,begin climb
$GC,5252,1.44,146.6,655.5,0.0,251,5391,1.75,2.62,130.60,1.200,4,0.058,0.075,3057,451,2232
$GC,5609,1.22,146.6,628.1,11.3,266,5614,0.25,2.53,0.00,0.000,6,0.098,0.054,3009,1846,2232
$GC,5925,1.22,146.6,591.2,11.5,281,5930,0.00,2.60,0.00,0.000,4,0.000,0.072,3009,3261,2231
$GC,5970,1.22,146.6,586.1,10.9,283,5975,0.00,2.58,0.00,0.000,6,0.000,0.067,3009,1872,2231
$GC,6291,1.42,272.0,567.8,4.3,299,6409,0.17,2.65,109.75,1.183,4,0.055,0.068,3056,3249,1722
$GC,6454,1.48,308.1,556.3,8.4,306,6494,0.00,2.58,33.17,1.131,6,0.000,0.067,3057,1872,1573
$GC,6813,1.48,308.1,509.4,15.8,324,6818,0.00,2.65,0.00,0.000,4,0.000,0.077,3056,440,1573
$GC,6847,1.40,308.1,503.2,17.2,325,6854,0.00,2.60,0.00,0.000,6,0.000,0.054,3057,1880,1573
$GC,7163,1.40,308.1,448.6,18.1,341,7168,0.00,2.70,0.00,0.000,4,0.000,0.072,3057,436,1573
$GC,7204,1.33,308.1,441.0,18.8,343,7209,0.12,2.58,0.00,0.000,6,0.101,0.052,3034,1870,1573
$GC,7531,1.38,308.1,384.1,17.2,359,7535,0.00,2.50,0.00,0.000,4,0.000,0.065,3034,3255,1573
$GC,7571,1.49,308.1,377.4,16.7,361,7576,0.15,2.53,0.00,0.000,6,0.056,0.058,3073,1867,1573
$GC,7899,1.43,308.1,310.8,20.0,377,7903,0.00,2.60,0.00,0.000,4,0.000,0.069,3073,433,1573
$GC,7954,1.32,308.1,299.5,20.0,379,7961,0.20,2.58,0.00,0.000,6,0.094,0.049,3033,1882,1573
$GC,8271,1.38,308.1,252.9,13.8,395,8272,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,1896,1573
$GC,8580,1.44,308.1,214.4,12.3,410,8582,0.12,0.00,0.00,0.000,6,0.055,0.000,3068,1897,1573
$GC,8889,1.44,308.1,162.8,18.3,425,8893,0.00,2.62,0.00,0.000,4,0.000,0.065,3068,439,1573
$GC,8922,1.36,308.1,156.5,18.5,426,8929,0.12,2.53,0.00,0.000,6,0.096,0.048,3044,1867,1573
$GC,9240,1.41,308.1,115.9,10.7,442,9241,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1880,1573
$GC,9548,1.47,308.1,75.5,14.2,457,9549,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1881,1573
$GC,9858,1.54,308.1,36.1,10.8,472,9863,0.17,2.60,0.00,0.000,4,0.049,0.064,3095,441,1573
$GC,9908,1.41,308.1,29.6,13.2,474,9913,0.22,2.47,0.00,0.000,6,0.087,0.046,3049,1848,1574
$STATE,10139,end climb,SURFACE_DEPTH_REACHED
$STATE,10139,begin surface coast
$FINISH,1.1,1.026835
$STATE,10161,end surface coast,CONTROL_FINISHED_OK
$STATE,10161,begin surface
$SM_CCo,10245,0.00,0.000,0,0,1574,308.34
$SM_GC,1.47,11.27,0.00,0.00,0.033,0.000,0.000,415,2143,1574,-10.61,0.37,308.34
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1834
$TCM_TEMP,17.80
$XPDR_PINGS,23
$ALTIM_BOTTOM_PING,620.4,36.2
$24V_AH,23.9,15.106
$10V_AH,10.1,6.771
$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,27.275,87.775,403.825,0.000,0.000,37.761,36.364,182.861,11.500,0.000,0.000,16.463,922.739,7635.900,479.730,1117.833,474.228,33.370,1073.311,0.000,1084.714,0.000,41.047,0.000
$DEVICE_MAMPS,161.070,77.467,1240.239,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,331.685,364.520,318.332,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25428,486
$CAP_FILE_SIZE,83245,0
$CFSIZE,254472192,247762944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,100909,013654,6217.447,-955.357,40,1.5,40,-10.0