version: 66.04
glider: 5
mission: 7
dive: 80
start: 9 10 109 17 3 14
data:
$ID,5
$MISSION,7
$DIVE,80
$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,-101780.27
$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,20
$R_STBD_OVSHOOT,27
$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
$GPS1,165654,6209.251,-1013.569,42,1.6,42,-10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-64.3
$GPS2,170220,6209.212,-1013.463,12,1.6,12,-10.1
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,DW
$TGT_LATLONG,6215.000,-1035.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.229,-0.131
$KALMAN_X,-78421.9,130.2,-477.1,-3676.6,6307.8
$KALMAN_Y,38480.2,-1177.8,-1124.4,24218.4,1588.2
$MHEAD_RNG_PITCHd_Wd,250.3,21444,-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,15,-1.44,-146.6,0.0,0.0,0,58,0.00,0.00,-40.97,0.000,2,0.000,0.000,418,2134,2490
$GC,62,-1.44,-146.6,2.2,-2.5,2,117,11.10,2.62,-38.20,0.000,4,0.162,0.071,2422,713,3429
$GC,148,-1.27,-146.6,9.2,-16.6,6,153,0.22,2.50,0.00,0.000,6,0.092,0.047,2468,2131,3429
$GC,475,-1.27,-146.6,57.3,-13.4,22,479,0.00,2.55,0.00,0.000,4,0.000,0.064,2468,3542,3430
$GC,492,-1.27,-146.6,59.5,-12.9,23,497,0.00,2.53,0.00,0.000,6,0.000,0.047,2468,2121,3430
$GC,820,-1.27,-146.6,101.9,-12.6,39,825,0.00,2.50,0.00,0.000,4,0.000,0.058,2468,712,3431
$GC,861,-1.33,-146.6,107.3,-13.6,41,866,0.00,2.50,0.00,0.000,6,0.000,0.047,2468,2128,3431
$GC,1188,-1.33,-146.6,151.6,-13.5,57,1190,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,2128,3431
$GC,1499,-1.33,-146.6,195.2,-14.5,72,1504,0.00,2.58,0.00,0.000,4,0.000,0.063,2468,714,3432
$GC,1535,-1.40,-146.6,200.5,-14.2,73,1541,0.12,2.50,0.00,0.000,6,0.058,0.049,2433,2122,3432
$GC,1851,-1.34,-146.6,251.6,-15.9,89,1852,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,2122,3432
$GC,2160,-1.28,-146.6,299.6,-15.8,104,2165,0.15,2.55,0.00,0.000,4,0.094,0.061,2463,717,3432
$GC,2183,-1.28,-146.6,303.1,-14.8,105,2188,0.00,2.47,0.00,0.000,6,0.000,0.050,2463,2112,3432
$GC,2506,-1.28,-146.6,348.6,-14.0,121,2510,0.00,2.60,0.00,0.000,4,0.000,0.071,2463,3538,3431
$GC,2535,-1.28,-146.6,352.9,-14.6,122,2539,0.00,2.60,0.00,0.000,6,0.000,0.055,2463,2094,3431
$GC,2851,-1.28,-146.6,397.2,-14.0,137,2853,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2092,3431
$GC,3160,-1.28,-146.6,440.7,-13.9,152,3161,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2092,3431
$GC,3469,-1.28,-146.6,483.7,-13.8,167,3473,0.00,2.67,0.00,0.000,4,0.000,0.070,2463,3538,3431
$GC,3524,-1.28,-146.6,491.8,-14.3,169,3530,0.00,2.60,0.00,0.000,6,0.000,0.056,2463,2091,3431
$GC,3841,-1.32,-146.6,536.9,-14.6,185,3845,0.00,2.67,0.00,0.000,4,0.000,0.071,2463,3537,3431
$GC,3868,-1.32,-146.6,541.2,-15.1,186,3872,0.00,2.58,0.00,0.000,6,0.000,0.057,2463,2105,3430
$GC,4184,-1.32,-146.6,585.7,-13.7,201,4186,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2099,3430
$GC,4493,-1.32,-146.6,622.1,-10.4,216,4495,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2097,3430
$GC,4804,-1.36,-146.6,650.6,-9.8,231,4808,0.00,2.65,0.00,0.000,4,0.000,0.071,2463,3532,3430
$GC,4860,-1.41,-146.6,657.7,-12.8,233,4867,0.12,2.55,0.00,0.000,6,0.058,0.056,2428,2110,3430
$GC,5175,-1.41,-146.6,701.5,-12.7,249,5180,0.00,2.50,0.00,0.000,4,0.000,0.067,2428,717,3429
$GC,5203,-1.41,-146.6,704.9,-11.8,250,5208,0.00,2.47,0.00,0.000,6,0.000,0.051,2428,2113,3429
$GC,5519,-1.41,-146.6,742.8,-12.0,265,5524,0.00,2.60,0.00,0.000,4,0.000,0.073,2428,3535,3429
$GC,5668,-1.37,-146.6,758.6,-10.2,271,5674,0.00,2.53,0.00,0.000,6,0.000,0.059,2428,2138,3429
$GC,5984,-1.37,-146.6,789.9,-10.6,287,5988,0.00,2.58,0.00,0.000,4,0.000,0.073,2428,717,3429
$GC,6056,-1.37,-146.6,798.2,-11.6,290,6061,0.00,2.53,0.00,0.000,6,0.000,0.057,2428,2128,3428
$GC,6372,-1.37,-146.6,833.1,-11.8,305,6376,0.00,2.62,0.00,0.000,4,0.000,0.083,2428,3537,3427
$STATE,6391,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6391,begin apogee
$GC,6402,-0.33,0.0,835.7,11.4,306,6540,1.10,0.00,134.50,1.384,6,0.085,0.000,2665,1854,2831
$STATE,6541,end apogee,CONTROL_FINISHED_OK
$STATE,6541,begin climb
$GC,6544,1.44,146.6,840.8,0.0,313,6687,1.80,0.00,136.90,1.337,6,0.059,0.000,3058,1854,2233
$GC,6997,1.32,153.3,803.6,9.7,335,7011,0.12,2.67,7.60,1.085,4,0.109,0.071,3037,3252,2205
$GC,7064,1.35,167.4,797.6,9.4,338,7085,0.00,2.62,13.70,1.215,6,0.000,0.070,3037,1850,2148
$GC,7395,1.32,191.3,768.2,8.9,354,7424,0.00,2.75,21.90,1.282,4,0.000,0.081,3037,436,2051
$GC,7471,1.20,191.3,760.4,10.9,357,7476,0.17,2.58,0.00,0.000,6,0.101,0.058,3004,1847,2051
$GC,7788,1.29,211.8,732.5,9.1,372,7813,0.00,2.75,19.42,1.272,4,0.000,0.081,3004,439,1967
$GC,7837,1.29,212.7,727.6,10.0,374,7841,0.00,2.58,0.00,0.000,6,0.000,0.058,3004,1841,1967
$GC,8159,1.43,260.2,699.6,7.8,390,8210,0.20,2.70,42.90,1.309,4,0.056,0.071,3056,3256,1770
$GC,8261,1.43,260.2,688.6,12.1,394,8267,0.00,2.65,0.00,0.000,6,0.000,0.068,3056,1842,1770
$GC,8577,1.37,260.2,653.7,11.0,410,8581,0.00,2.60,0.00,0.000,4,0.000,0.078,3056,436,1770
$GC,8610,1.26,260.2,649.5,12.3,411,8617,0.20,2.58,0.00,0.000,6,0.099,0.056,3019,1860,1770
$GC,8927,1.32,260.2,616.3,11.4,427,8928,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,1874,1769
$GC,9236,1.38,260.2,581.5,11.1,442,9241,0.12,2.65,0.00,0.000,4,0.059,0.073,3050,435,1770
$GC,9287,1.31,260.2,574.7,13.6,444,9291,0.00,2.53,0.00,0.000,6,0.000,0.051,3050,1848,1769
$GC,9603,1.31,260.2,539.0,10.8,459,9607,0.00,2.62,0.00,0.000,4,0.000,0.072,3050,436,1769
$GC,9630,1.24,260.2,535.7,12.2,460,9635,0.20,2.50,0.00,0.000,6,0.094,0.051,3012,1838,1769
$GC,9947,1.32,260.2,505.9,10.0,475,9951,0.00,2.55,0.00,0.000,4,0.000,0.063,3012,3259,1770
$GC,9968,1.43,260.2,503.4,11.0,476,9974,0.20,2.60,0.00,0.000,6,0.051,0.058,3063,1828,1770
$GC,10290,1.38,260.2,460.0,13.5,492,10292,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,1828,1770
$GC,10600,1.33,260.2,421.8,11.7,507,10605,0.15,2.62,0.00,0.000,4,0.093,0.061,3033,3264,1771
$GC,10628,1.37,260.2,418.7,10.2,508,10632,0.00,2.58,0.00,0.000,6,0.000,0.057,3033,1841,1770
$GC,10944,1.37,261.7,388.6,9.9,523,10945,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,1841,1771
$GC,11253,1.37,261.7,354.7,11.3,538,11257,0.00,2.58,0.00,0.000,4,0.000,0.061,3033,3254,1771
$GC,11280,1.44,261.7,351.4,12.0,539,11285,0.10,2.55,0.00,0.000,6,0.062,0.055,3063,1838,1771
$GC,11597,1.39,261.7,309.7,13.3,554,11598,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,1838,1771
$GC,11906,1.34,261.7,268.3,13.6,569,11911,0.12,2.58,0.00,0.000,4,0.095,0.060,3039,3261,1771
$GC,11933,1.34,261.7,264.6,12.4,570,11938,0.00,2.53,0.00,0.000,6,0.000,0.053,3038,1853,1771
$GC,12249,1.34,261.7,224.0,13.5,585,12251,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,1853,1771
$GC,12558,1.34,261.7,182.7,13.2,600,12562,0.00,2.55,0.00,0.000,4,0.000,0.060,3039,3259,1771
$GC,12586,1.40,261.7,178.9,13.5,601,12590,0.00,2.50,0.00,0.000,6,0.000,0.052,3038,1859,1772
$GC,12916,1.40,261.7,136.5,13.1,617,12917,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,1859,1772
$GC,13223,1.40,261.7,99.3,10.9,632,13227,0.00,2.53,0.00,0.000,4,0.000,0.059,3038,3255,1772
$GC,13251,1.47,261.7,96.4,10.0,633,13263,0.12,2.47,3.95,0.584,6,0.057,0.050,3074,1862,1763
$GC,13577,1.41,262.4,60.4,10.0,649,13578,0.12,0.00,0.00,0.000,6,0.099,0.000,3049,1861,1763
$GC,13881,1.64,408.3,46.6,3.4,664,14008,0.20,2.60,115.68,0.825,4,0.050,0.054,3107,3255,1166
$GC,14041,1.64,408.3,32.4,14.1,671,14046,0.00,2.53,0.00,0.000,6,0.000,0.049,3107,1856,1166
$STATE,14232,end climb,SURFACE_DEPTH_REACHED
$STATE,14232,begin surface coast
$FINISH,0.9,1.002035
$STATE,14253,end surface coast,CONTROL_FINISHED_OK
$STATE,14253,begin surface
$SM_CCo,14337,0.00,0.000,0,0,1167,408.18
$SM_GC,1.56,11.80,0.00,0.00,0.042,0.000,0.000,419,2156,1167,-10.59,0.76,408.18
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1825
$TCM_TEMP,17.80
$XPDR_PINGS,25
$ALTIM_BOTTOM_PING,770.9,74.6
$24V_AH,23.8,15.942
$10V_AH,10.1,7.094
$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,28.475,140.225,496.550,0.000,0.000,37.758,26.905,145.186,13.250,0.000,0.000,12.779,1271.132,10850.150,592.193,1470.206,482.819,33.359,1390.820,0.000,1433.369,0.000,47.766,0.000
$DEVICE_MAMPS,161.837,82.836,1383.668,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,465.504,510.539,405.808,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34999,681
$CAP_FILE_SIZE,114337,0
$CFSIZE,254472192,247476224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,100909,210330,6206.913,-1016.295,42,1.3,42,-10.1