version: 66.04
glider: 5
mission: 7
dive: 84
start: 9 11 109 11 52 27
data:
$ID,5
$MISSION,7
$DIVE,84
$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,-101860.83
$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,0.029999999
$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,23
$R_STBD_OVSHOOT,32
$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
$GPS1,114537,6214.272,-1022.729,26,1.2,26,-10.2
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-58.9
$GPS2,115137,6214.299,-1022.529,13,1.1,30,-10.2
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,DW
$TGT_LATLONG,6215.000,-1035.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.234,0.075
$KALMAN_X,-72233.1,-1129.4,-483.6,-16526.0,6724.7
$KALMAN_Y,36374.7,-690.1,739.6,33349.2,-1956.2
$MHEAD_RNG_PITCHd_Wd,297.9,10832,-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,-41.83,0.000,2,0.000,0.000,418,2148,2495
$GC,63,-1.22,-146.6,2.4,-3.2,2,115,11.20,2.58,-35.50,0.000,4,0.154,0.068,2470,717,3428
$GC,146,-1.11,-146.6,10.6,-17.0,6,151,0.15,2.50,0.00,0.000,6,0.110,0.045,2500,2130,3428
$GC,473,-1.08,-146.6,51.2,-12.3,22,475,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2131,3429
$GC,783,-1.08,-146.6,84.3,-10.3,37,787,0.00,2.55,0.00,0.000,4,0.000,0.064,2500,3544,3430
$GC,822,-1.08,-146.6,88.7,-11.5,39,827,0.00,2.53,0.00,0.000,6,0.000,0.047,2500,2117,3429
$GC,1150,-1.08,-146.6,121.5,-9.8,55,1155,0.00,2.62,0.00,0.000,4,0.000,0.064,2500,3543,3430
$GC,1190,-1.08,-146.6,125.7,-10.4,57,1194,0.00,2.50,0.00,0.000,6,0.000,0.048,2500,2135,3431
$GC,1523,-1.08,-146.6,159.8,-10.3,73,1524,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2121,3431
$GC,1832,-1.08,-146.6,192.5,-10.7,88,1837,0.00,2.60,0.00,0.000,4,0.000,0.067,2500,3543,3430
$GC,1890,-1.08,-146.6,199.0,-11.6,90,1896,0.00,2.50,0.00,0.000,6,0.000,0.051,2500,2138,3430
$GC,2206,-1.08,-146.6,234.7,-11.5,106,2211,0.00,2.58,0.00,0.000,4,0.000,0.067,2500,3538,3430
$GC,2240,-1.08,-146.6,238.8,-11.2,107,2246,0.00,2.50,0.00,0.000,6,0.000,0.052,2501,2136,3430
$GC,2556,-1.08,-146.6,273.8,-11.0,123,2560,0.00,2.60,0.00,0.000,4,0.000,0.068,2501,3541,3431
$GC,2588,-1.08,-146.6,277.6,-11.0,124,2595,0.00,2.50,0.00,0.000,6,0.000,0.053,2500,2145,3430
$GC,2904,-1.08,-146.6,311.8,-10.7,140,2909,0.00,2.58,0.00,0.000,4,0.000,0.069,2501,3535,3430
$GC,2932,-1.08,-146.6,314.8,-11.0,141,2937,0.00,2.47,0.00,0.000,6,0.000,0.054,2500,2152,3430
$GC,3250,-1.08,-146.6,346.9,-10.0,156,3251,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2141,3430
$GC,3558,-1.08,-146.6,378.0,-10.0,171,3562,0.00,2.58,0.00,0.000,4,0.000,0.071,2500,3538,3430
$GC,3591,-1.08,-146.6,381.6,-10.0,172,3597,0.00,2.47,0.00,0.000,6,0.000,0.055,2501,2159,3430
$GC,3907,-1.08,-146.6,413.0,-10.0,188,3911,0.00,2.55,0.00,0.000,4,0.000,0.071,2500,3535,3429
$GC,3934,-1.08,-146.6,415.8,-10.5,189,3938,0.00,2.45,0.00,0.000,6,0.000,0.054,2500,2169,3430
$GC,4255,-1.08,-146.6,448.6,-10.3,205,4257,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2157,3429
$GC,4564,-1.08,-146.6,481.3,-10.7,220,4566,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2157,3429
$GC,4874,-1.08,-146.6,515.8,-11.3,235,4875,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2157,3429
$GC,5183,-1.08,-146.6,550.8,-10.9,250,5184,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2157,3428
$GC,5492,-1.08,-146.6,583.6,-10.5,265,5497,0.00,2.55,0.00,0.000,4,0.000,0.071,2500,3541,3428
$GC,5526,-1.08,-146.6,587.4,-10.9,266,5532,0.00,2.47,0.00,0.000,6,0.000,0.055,2501,2162,3428
$GC,5842,-1.08,-146.6,619.1,-10.0,282,5843,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2150,3428
$GC,6151,-1.08,-146.6,647.0,-8.1,297,6155,0.00,2.60,0.00,0.000,4,0.000,0.068,2501,718,3427
$GC,6201,-1.08,-146.6,650.7,-7.5,299,6205,0.00,2.60,0.00,0.000,6,0.000,0.051,2500,2185,3428
$GC,6518,-1.08,-146.6,671.1,-6.6,314,6522,0.00,2.45,0.00,0.000,4,0.000,0.073,2501,3537,3428
$GC,6545,-1.08,-146.6,673.0,-6.6,315,6550,0.00,2.42,0.00,0.000,6,0.000,0.059,2501,2193,3427
$GC,6867,-1.08,-146.6,698.7,-9.2,331,6872,0.00,2.67,0.00,0.000,4,0.000,0.072,2501,717,3427
$GC,6901,-1.11,-146.6,702.1,-9.6,332,6908,0.00,2.62,0.00,0.000,6,0.000,0.055,2500,2186,3427
$GC,7217,-1.11,-146.6,732.6,-9.8,348,7222,0.00,2.72,0.00,0.000,4,0.000,0.074,2500,716,3426
$GC,7268,-1.16,-146.6,737.7,-9.4,350,7273,0.00,2.62,0.00,0.000,6,0.000,0.057,2500,2178,3426
$GC,7584,-1.16,-146.6,766.0,-9.3,365,7588,0.00,2.70,0.00,0.000,4,0.000,0.077,2500,723,3426
$GC,7617,-1.20,-146.6,769.2,-9.5,366,7623,0.00,2.62,0.00,0.000,6,0.000,0.058,2501,2183,3426
$STATE,7786,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7786,begin apogee
$GC,7794,-0.33,0.0,784.2,8.7,375,7929,0.80,0.00,130.73,1.358,6,0.081,0.000,2671,1849,2831
$STATE,7930,end apogee,CONTROL_FINISHED_OK
$STATE,7930,begin climb
$GC,7933,1.22,146.6,788.2,0.0,382,8073,1.58,2.75,132.02,1.320,4,0.064,0.071,3009,3258,2233
$GC,8112,1.12,146.6,780.1,9.4,390,8119,0.00,2.65,0.00,0.000,6,0.000,0.071,3009,1854,2232
$GC,8429,1.02,146.6,751.3,9.6,406,8435,0.17,2.67,0.00,0.000,4,0.100,0.085,2973,434,2232
$GC,8538,0.96,146.6,741.9,8.1,411,8542,0.00,2.58,0.00,0.000,6,0.000,0.061,2973,1848,2232
$GC,8864,1.01,182.1,718.6,6.7,427,8906,0.00,2.72,32.50,1.279,4,0.000,0.074,2973,3268,2088
$GC,8946,1.02,189.8,712.8,7.7,430,8961,0.00,2.70,8.45,1.110,6,0.000,0.071,2973,1831,2057
$GC,9284,1.11,240.5,691.7,6.2,447,9332,0.00,0.00,46.10,1.295,6,0.000,0.000,2973,1831,1850
$GC,9633,1.13,258.3,667.2,7.4,464,9656,0.00,2.78,16.90,1.226,4,0.000,0.071,2973,3259,1778
$GC,9708,1.18,258.3,661.2,8.2,467,9714,0.15,2.67,0.00,0.000,6,0.058,0.068,3009,1832,1778
$GC,10031,1.14,258.3,626.9,11.1,483,10035,0.00,2.60,0.00,0.000,4,0.000,0.081,3009,433,1778
$GC,10098,1.08,258.3,618.3,13.5,486,10103,0.15,2.55,0.00,0.000,6,0.096,0.058,2980,1840,1778
$GC,10419,1.08,258.3,586.6,9.0,502,10424,0.00,2.58,0.00,0.000,4,0.000,0.068,2980,3256,1778
$GC,10460,1.13,258.3,583.1,8.8,504,10464,0.00,2.62,0.00,0.000,6,0.000,0.064,2980,1827,1777
$GC,10787,1.21,306.2,560.1,6.3,520,10832,0.12,0.00,42.67,1.216,6,0.060,0.000,3013,1827,1582
$GC,11136,1.21,306.2,529.4,9.7,537,11140,0.00,2.65,0.00,0.000,4,0.000,0.064,3013,3262,1582
$GC,11169,1.21,306.2,526.0,10.2,538,11175,0.00,2.62,0.00,0.000,6,0.000,0.060,3013,1829,1582
$GC,11484,1.21,306.2,492.5,11.3,554,11489,0.00,2.53,0.00,0.000,4,0.000,0.073,3013,436,1583
$GC,11526,1.16,306.2,487.7,12.5,556,11530,0.00,2.53,0.00,0.000,6,0.000,0.051,3013,1850,1583
$GC,11852,1.16,306.2,448.9,12.0,572,11857,0.00,2.62,0.00,0.000,4,0.000,0.071,3013,436,1583
$GC,11880,1.11,306.2,445.3,12.6,573,11885,0.15,2.50,0.00,0.000,6,0.090,0.051,2984,1839,1583
$GC,12197,1.16,306.2,414.0,9.6,588,12198,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,1853,1583
$GC,12506,1.21,306.2,384.9,9.4,603,12508,0.10,0.00,0.00,0.000,6,0.059,0.000,3013,1854,1584
$GC,12815,1.21,306.2,350.5,11.1,618,12816,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,1854,1585
$GC,13124,1.21,306.2,318.3,10.2,633,13125,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,1854,1584
$GC,13433,1.21,306.2,285.9,10.5,648,13434,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,1854,1585
$GC,13743,1.21,306.2,254.6,9.8,663,13744,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,1854,1585
$GC,14052,1.21,306.2,223.2,10.3,678,14056,0.00,2.58,0.00,0.000,4,0.000,0.067,3013,429,1586
$GC,14085,1.17,306.2,219.2,12.0,679,14091,0.00,2.47,0.00,0.000,6,0.000,0.049,3013,1828,1586
$GC,14401,1.17,306.2,183.9,11.5,695,14405,0.00,2.53,0.00,0.000,4,0.000,0.060,3013,3253,1586
$GC,14447,1.21,306.2,178.6,12.1,697,14451,0.00,2.58,0.00,0.000,6,0.000,0.053,3013,1813,1586
$GC,14774,1.21,306.2,139.3,12.5,713,14778,0.00,2.60,0.00,0.000,4,0.000,0.058,3013,3252,1586
$GC,14814,1.25,306.2,134.2,13.1,715,14819,0.00,2.53,0.00,0.000,6,0.000,0.052,3013,1835,1586
$GC,15141,1.25,306.2,90.6,13.9,731,15145,0.00,2.58,0.00,0.000,4,0.000,0.058,3013,3261,1586
$GC,15181,1.30,306.2,85.1,13.2,733,15186,0.00,2.50,0.00,0.000,6,0.000,0.051,3013,1855,1586
$GC,15515,1.36,344.9,53.4,6.6,749,15558,0.12,2.60,33.12,0.825,4,0.054,0.058,3049,3249,1424
$GC,15605,1.36,344.9,44.5,10.2,753,15610,0.00,2.45,0.00,0.000,6,0.000,0.050,3048,1876,1424
$GC,15935,1.32,344.9,5.7,12.1,769,15936,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,1875,1423
$STATE,15950,end climb,SURFACE_DEPTH_REACHED
$STATE,15950,begin surface coast
$FINISH,0.8,1.026874
$STATE,15972,end surface coast,CONTROL_FINISHED_OK
$STATE,15972,begin surface
$SM_CCo,16056,0.00,0.000,0,0,1422,345.63
$SM_GC,1.49,11.35,0.00,0.00,0.035,0.000,0.000,423,2146,1422,-10.58,0.45,345.63
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1826
$TCM_TEMP,17.60
$XPDR_PINGS,24
$ALTIM_BOTTOM_PING,745.9,48.2
$24V_AH,23.8,16.674
$10V_AH,10.1,7.404
$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,26.050,150.500,442.500,0.000,0.000,37.762,31.944,156.379,12.750,0.000,0.000,30.284,1411.007,12275.433,565.095,1649.189,513.228,33.357,1427.619,0.000,1591.025,0.000,46.111,0.000
$DEVICE_MAMPS,154.167,85.137,1357.590,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,527.515,575.078,445.669,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38043,771
$CAP_FILE_SIZE,121639,0
$CFSIZE,254472192,247226368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,110909,162107,6215.747,-1027.123,27,1.9,27,-10.3