version: 66.04
glider: 5
mission: 7
dive: 78
start: 9 10 109 8 48 15
data:
$ID,5
$MISSION,7
$DIVE,78
$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,-101750.33
$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,24
$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
$GPS1,084207,6212.722,-1009.401,28,2.0,28,-10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-65.2
$GPS2,084725,6212.729,-1009.355,16,1.8,21,-10.1
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,DW
$TGT_LATLONG,6215.000,-1035.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.261,-0.039
$KALMAN_X,-82360.5,-1470.7,-927.7,6035.7,9171.0
$KALMAN_Y,47885.3,-2567.2,-1159.6,22837.5,8860.4
$MHEAD_RNG_PITCHd_Wd,271.6,22511,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.44,-146.6,0.0,0.0,0,61,0.00,0.00,-41.25,0.000,2,0.000,0.000,418,2164,2459
$GC,65,-1.44,-146.6,2.3,-2.5,2,122,11.10,2.55,-40.17,0.000,4,0.160,0.075,2429,3534,3430
$GC,135,-1.22,-146.6,6.4,-9.2,5,140,0.25,2.53,0.00,0.000,6,0.092,0.047,2479,2115,3430
$GC,451,-1.22,-146.6,44.0,-10.3,20,452,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2102,3430
$GC,760,-1.22,-146.6,78.6,-12.0,35,764,0.00,2.58,0.00,0.000,4,0.000,0.062,2480,3520,3430
$GC,833,-1.27,-146.6,87.5,-11.2,38,837,0.00,2.47,0.00,0.000,6,0.000,0.045,2480,2121,3430
$GC,1150,-1.32,-146.6,128.4,-12.7,53,1154,0.00,2.47,0.00,0.000,4,0.000,0.058,2480,720,3431
$GC,1235,-1.40,-146.6,139.1,-12.0,57,1240,0.20,2.45,0.00,0.000,6,0.047,0.045,2427,2115,3431
$GC,1565,-1.31,-146.6,190.2,-16.7,73,1567,0.15,0.00,0.00,0.000,6,0.097,0.000,2457,2116,3432
$GC,1871,-1.31,-146.6,239.0,-15.8,88,1876,0.00,2.53,0.00,0.000,4,0.000,0.058,2456,714,3432
$GC,1916,-1.31,-146.6,246.5,-16.6,90,1920,0.00,2.47,0.00,0.000,6,0.000,0.047,2456,2115,3432
$GC,2245,-1.31,-146.6,295.6,-14.9,106,2246,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,2116,3432
$GC,2553,-1.31,-146.6,340.3,-14.4,121,2558,0.00,2.53,0.00,0.000,4,0.000,0.062,2456,721,3432
$GC,2581,-1.31,-146.6,344.6,-14.8,122,2586,0.00,2.47,0.00,0.000,6,0.000,0.049,2456,2123,3432
$GC,2902,-1.31,-146.6,389.5,-13.6,138,2907,0.00,2.55,0.00,0.000,4,0.000,0.062,2456,713,3432
$GC,2943,-1.35,-146.6,394.8,-13.2,140,2951,0.00,2.50,0.00,0.000,6,0.000,0.048,2456,2123,3432
$GC,3279,-1.35,-146.6,435.4,-11.5,156,3283,0.00,2.53,0.00,0.000,4,0.000,0.063,2455,721,3432
$GC,3312,-1.35,-146.6,439.5,-11.7,157,3316,0.00,2.45,0.00,0.000,6,0.000,0.048,2456,2108,3432
$GC,3628,-1.35,-146.6,474.7,-11.7,172,3629,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,2109,3431
$GC,3937,-1.35,-146.6,515.0,-12.5,187,3938,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,2110,3431
$GC,4246,-1.35,-146.6,551.0,-11.3,202,4251,0.00,2.53,0.00,0.000,4,0.000,0.064,2456,715,3431
$GC,4269,-1.35,-146.6,553.6,-10.9,203,4273,0.00,2.47,0.00,0.000,6,0.000,0.050,2456,2111,3431
$GC,4590,-1.35,-146.6,591.8,-12.3,219,4594,0.00,2.53,0.00,0.000,4,0.000,0.064,2456,720,3430
$GC,4675,-1.41,-146.6,602.4,-12.2,223,4679,0.00,2.42,0.00,0.000,6,0.000,0.050,2456,2090,3430
$GC,5002,-1.41,-146.6,635.0,-9.3,239,5004,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,2090,3430
$GC,5312,-1.45,-146.6,666.7,-9.1,254,5317,0.12,2.65,0.00,0.000,4,0.061,0.073,2420,3540,3429
$GC,5391,-1.37,-146.6,675.3,-10.8,257,5397,0.12,2.65,0.00,0.000,6,0.093,0.058,2445,2071,3429
$GC,5707,-1.37,-146.6,705.8,-9.4,273,5711,0.00,2.72,0.00,0.000,4,0.000,0.076,2445,3531,3429
$GC,5736,-1.37,-146.6,708.4,-9.3,274,5740,0.00,2.65,0.00,0.000,6,0.000,0.061,2445,2069,3429
$GC,6052,-1.37,-146.6,741.7,-11.5,289,6053,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,2058,3428
$GC,6361,-1.37,-146.6,778.3,-11.5,304,6365,0.00,2.75,0.00,0.000,4,0.000,0.080,2445,3532,3427
$GC,6401,-1.37,-146.6,783.1,-12.0,306,6405,0.00,2.65,0.00,0.000,6,0.000,0.065,2445,2087,3427
$GC,6728,-1.37,-146.6,820.4,-11.7,322,6732,0.00,2.50,0.00,0.000,4,0.000,0.077,2445,719,3427
$STATE,6736,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6736,begin apogee
$GC,6745,-0.33,0.0,821.9,11.8,322,6883,1.02,0.00,133.98,1.383,6,0.085,0.000,2665,1864,2832
$STATE,6883,end apogee,CONTROL_FINISHED_OK
$STATE,6884,begin climb
$GC,6887,1.44,146.6,827.2,0.0,329,7031,1.80,0.00,138.70,1.332,6,0.061,0.000,3058,1864,2233
$GC,7341,1.31,149.9,792.2,9.8,351,7352,0.15,2.72,4.80,0.903,4,0.104,0.084,3030,437,2219
$GC,7392,1.19,162.4,787.1,9.4,353,7412,0.15,2.60,12.60,1.189,6,0.105,0.058,3003,1866,2170
$GC,7736,1.23,188.5,757.8,8.8,370,7767,0.00,2.78,24.55,1.277,4,0.000,0.080,3003,443,2062
$GC,7796,1.23,188.5,751.7,10.2,372,7802,0.00,2.55,0.00,0.000,6,0.000,0.059,3002,1833,2062
$GC,8113,1.36,235.8,723.3,7.8,388,8163,0.17,2.75,42.97,1.302,4,0.058,0.081,3045,441,1869
$GC,8199,1.24,235.8,714.9,10.7,392,8204,0.15,2.55,0.00,0.000,6,0.102,0.058,3018,1829,1869
$GC,8526,1.24,235.8,685.9,10.2,408,8530,0.00,2.62,0.00,0.000,4,0.000,0.072,3017,3256,1869
$GC,8570,1.30,235.8,680.2,12.4,410,8575,0.00,2.70,0.00,0.000,6,0.000,0.068,3017,1806,1869
$GC,8892,1.30,235.8,637.3,11.7,426,8897,0.00,2.70,0.00,0.000,4,0.000,0.069,3017,3255,1868
$GC,8932,1.38,235.8,632.8,10.8,428,8937,0.12,2.67,0.00,0.000,6,0.063,0.065,3048,1803,1868
$GC,9259,1.33,235.8,592.3,13.0,444,9264,0.00,2.67,0.00,0.000,4,0.000,0.067,3048,3255,1867
$GC,9300,1.33,235.8,587.1,12.8,446,9305,0.00,2.62,0.00,0.000,6,0.000,0.062,3048,1823,1867
$GC,9628,1.29,235.8,550.4,11.6,462,9630,0.12,0.00,0.00,0.000,6,0.101,0.000,3025,1823,1867
$GC,9937,1.29,235.8,513.2,12.4,477,9941,0.00,2.62,0.00,0.000,4,0.000,0.064,3025,3258,1867
$GC,9970,1.35,235.8,509.0,13.1,478,9976,0.00,2.62,0.00,0.000,6,0.000,0.059,3025,1816,1866
$GC,10286,1.35,235.8,467.3,14.6,494,10290,0.00,2.62,0.00,0.000,4,0.000,0.062,3025,3258,1867
$GC,10313,1.40,235.8,463.1,14.9,495,10318,0.10,2.58,0.00,0.000,6,0.065,0.058,3053,1839,1867
$GC,10630,1.35,235.8,415.1,15.1,510,10631,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,1839,1868
$GC,10938,1.35,235.8,369.5,13.8,525,10939,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,1839,1868
$GC,11248,1.35,235.8,333.9,10.2,540,11252,0.00,2.58,0.00,0.000,4,0.000,0.061,3053,3259,1868
$GC,11275,1.35,235.8,331.1,10.1,541,11279,0.00,2.55,0.00,0.000,6,0.000,0.055,3053,1844,1868
$GC,11592,1.36,242.7,299.5,9.7,556,11606,0.00,2.60,7.47,0.859,4,0.000,0.068,3053,439,1841
$GC,11641,1.28,242.7,294.0,10.7,558,11646,0.15,2.53,0.00,0.000,6,0.095,0.048,3023,1860,1841
$GC,11963,1.33,242.7,263.7,10.1,574,11964,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,1874,1841
$GC,12272,1.38,242.7,230.7,10.7,589,12277,0.10,2.62,0.00,0.000,4,0.063,0.067,3051,432,1842
$GC,12323,1.32,242.7,223.9,14.0,591,12327,0.00,2.50,0.00,0.000,6,0.000,0.048,3051,1848,1841
$GC,12639,1.32,242.7,184.4,12.6,606,12643,0.00,2.60,0.00,0.000,4,0.000,0.069,3050,438,1842
$GC,12689,1.25,242.7,177.6,13.1,608,12694,0.17,2.47,0.00,0.000,6,0.089,0.048,3017,1840,1842
$GC,13007,1.34,251.4,146.0,9.6,623,13017,0.00,0.00,8.88,0.806,6,0.000,0.000,3017,1855,1806
$GC,13317,1.45,263.2,118.5,9.5,638,13339,0.17,2.67,11.48,0.818,4,0.051,0.064,3068,433,1756
$GC,13401,1.36,263.2,106.9,13.7,641,13408,0.15,2.47,0.00,0.000,6,0.093,0.047,3038,1830,1757
$GC,13720,1.53,347.9,76.7,6.1,657,13791,0.17,0.00,68.10,0.847,6,0.051,0.000,3089,1845,1411
$GC,14097,1.53,347.9,24.8,16.0,675,14101,0.00,2.55,0.00,0.000,4,0.000,0.063,3089,437,1412
$GC,14183,1.47,347.9,9.9,17.8,679,14188,0.12,2.42,0.00,0.000,6,0.094,0.045,3066,1813,1412
$STATE,14239,end climb,SURFACE_DEPTH_REACHED
$STATE,14239,begin surface coast
$FINISH,1.1,1.026800
$STATE,14261,end surface coast,CONTROL_FINISHED_OK
$STATE,14261,begin surface
$SM_CCo,14345,0.00,0.000,0,0,1411,348.33
$SM_GC,1.67,11.45,0.00,0.00,0.036,0.000,0.000,426,2149,1411,-10.58,0.51,348.33
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1829
$TCM_TEMP,17.80
$XPDR_PINGS,27
$ALTIM_BOTTOM_PING,771.2,60.5
$24V_AH,23.8,15.589
$10V_AH,10.1,6.958
$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,28.250,139.175,453.525,0.000,0.000,37.763,26.642,130.699,14.000,0.000,0.000,21.084,1290.623,10835.946,558.372,1510.431,467.983,33.368,1360.933,0.000,1457.355,0.000,50.681,0.000
$DEVICE_MAMPS,160.303,83.603,1382.901,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,467.810,507.809,404.262,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34846,683
$CAP_FILE_SIZE,115880,0
$CFSIZE,254472192,247582720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,100909,124837,6211.036,-1011.501,40,1.2,40,-10.1