version: 66.04
glider: 5
mission: 7
dive: 110
start: 9 16 109 15 20 20
data:
$ID,5
$MISSION,7
$DIVE,110
$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,-102298.52
$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,31
$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
$GPS1,150800,6245.795,-1236.394,38,1.6,43,-11.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-61.5
$GPS2,151931,6245.771,-1236.465,13,1.4,13,-11.7
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,HW
$TGT_LATLONG,6250.000,-1305.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.044,0.241
$KALMAN_X,-105131.5,431.1,-402.8,-103251.6,-2209.8
$KALMAN_Y,-9293.4,736.4,183.0,136439.8,-4947.1
$MHEAD_RNG_PITCHd_Wd,1.4,25368,-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,-41.80,0.000,2,0.000,0.000,420,2139,2522
$GC,63,-1.22,-146.6,2.2,-2.4,2,116,11.07,2.55,-35.80,0.000,4,0.153,0.068,2468,717,3427
$GC,286,-1.15,-146.6,27.8,-14.0,12,291,0.12,2.50,0.00,0.000,6,0.101,0.044,2493,2132,3427
$GC,609,-1.09,-146.6,71.0,-14.1,28,610,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2132,3427
$GC,917,-1.06,-146.6,108.5,-11.1,43,922,0.10,2.55,0.00,0.000,4,0.098,0.063,2515,3545,3427
$GC,961,-1.06,-146.6,113.5,-10.8,45,966,0.00,2.53,0.00,0.000,6,0.000,0.047,2515,2121,3428
$GC,1284,-1.06,-146.6,145.1,-10.3,61,1288,0.00,2.47,0.00,0.000,4,0.000,0.058,2515,720,3428
$GC,1311,-1.06,-146.6,148.3,-11.4,62,1315,0.00,2.50,0.00,0.000,6,0.000,0.047,2515,2139,3428
$GC,1627,-1.06,-146.6,179.2,-9.4,77,1631,0.00,2.58,0.00,0.000,4,0.000,0.059,2515,710,3428
$GC,1660,-1.09,-146.6,182.4,-9.2,78,1666,0.00,2.50,0.00,0.000,6,0.000,0.048,2515,2127,3428
$GC,1976,-1.09,-146.6,211.5,-9.0,94,1980,0.00,2.55,0.00,0.000,4,0.000,0.061,2515,717,3428
$GC,2010,-1.13,-146.6,214.6,-9.3,95,2016,0.00,2.50,0.00,0.000,6,0.000,0.048,2515,2129,3428
$GC,2326,-1.13,-146.6,243.4,-9.5,111,2330,0.00,2.55,0.00,0.000,4,0.000,0.062,2515,720,3428
$GC,2366,-1.17,-146.6,247.5,-10.4,113,2371,0.12,2.47,0.00,0.000,6,0.057,0.049,2478,2119,3428
$GC,2694,-1.12,-146.6,285.8,-12.0,129,2695,0.12,0.00,0.00,0.000,6,0.094,0.000,2504,2120,3428
$GC,3002,-1.12,-146.6,318.7,-10.3,144,3006,0.00,2.53,0.00,0.000,4,0.000,0.061,2504,720,3428
$GC,3052,-1.12,-146.6,324.0,-10.2,146,3056,0.00,2.45,0.00,0.000,6,0.000,0.049,2504,2107,3428
$GC,3368,-1.12,-146.6,354.5,-9.4,161,3373,0.00,2.53,0.00,0.000,4,0.000,0.064,2505,717,3427
$GC,3396,-1.12,-146.6,357.4,-9.9,162,3400,0.00,2.45,0.00,0.000,6,0.000,0.050,2504,2099,3427
$GC,3712,-1.12,-146.6,388.1,-9.7,177,3713,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2099,3427
$GC,4021,-1.12,-146.6,419.1,-9.9,192,4025,0.00,2.50,0.00,0.000,4,0.000,0.063,2504,718,3427
$GC,4054,-1.12,-146.6,422.4,-9.4,193,4060,0.00,2.45,0.00,0.000,6,0.000,0.050,2504,2099,3427
$GC,4370,-1.12,-146.6,453.0,-9.5,209,4371,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2100,3427
$GC,4679,-1.12,-146.6,481.9,-9.3,224,4683,0.00,2.50,0.00,0.000,4,0.000,0.064,2504,719,3426
$GC,4706,-1.12,-146.6,484.5,-9.8,225,4710,0.00,2.45,0.00,0.000,6,0.000,0.051,2504,2100,3426
$GC,5028,-1.12,-146.6,516.3,-10.2,241,5032,0.00,2.50,0.00,0.000,4,0.000,0.064,2504,719,3426
$GC,5062,-1.15,-146.6,520.1,-11.1,242,5068,0.00,2.42,0.00,0.000,6,0.000,0.051,2504,2090,3426
$GC,5378,-1.15,-146.6,553.1,-10.3,258,5379,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2090,3426
$GC,5687,-1.15,-146.6,586.1,-10.7,273,5692,0.00,2.50,0.00,0.000,4,0.000,0.064,2504,715,3426
$GC,5738,-1.19,-146.6,591.9,-11.3,275,5743,0.00,2.45,0.00,0.000,6,0.000,0.051,2505,2093,3426
$GC,6054,-1.19,-146.6,628.3,-11.6,290,6055,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2093,3426
$GC,6363,-1.19,-146.6,662.3,-10.7,305,6368,0.00,2.50,0.00,0.000,4,0.000,0.066,2504,719,3425
$GC,6397,-1.23,-146.6,666.0,-10.3,306,6404,0.12,2.40,0.00,0.000,6,0.059,0.052,2465,2069,3425
$GC,6716,-1.17,-146.6,701.8,-11.4,322,6718,0.12,0.00,0.00,0.000,6,0.100,0.000,2489,2068,3425
$STATE,6978,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6978,begin apogee
$GC,6986,-0.33,0.0,727.3,9.0,335,7121,0.85,0.00,128.98,1.301,6,0.079,0.000,2673,1844,2831
$STATE,7122,end apogee,CONTROL_FINISHED_OK
$STATE,7122,begin climb
$GC,7125,1.22,146.6,732.7,0.0,342,7266,1.52,2.67,130.05,1.261,4,0.062,0.067,3007,3251,2233
$GC,7323,1.13,146.6,723.0,8.1,350,7327,0.00,2.58,0.00,0.000,6,0.000,0.065,3007,1859,2233
$GC,7639,1.03,146.6,695.8,9.5,365,7644,0.20,2.62,0.00,0.000,4,0.093,0.077,2967,439,2232
$GC,7707,0.97,146.6,688.8,10.3,368,7712,0.00,2.53,0.00,0.000,6,0.000,0.056,2966,1835,2232
$GC,8029,0.97,146.6,657.8,9.4,384,8033,0.00,2.60,0.00,0.000,4,0.000,0.069,2967,3262,2231
$GC,8086,0.97,146.6,652.3,10.1,386,8092,0.00,2.65,0.00,0.000,6,0.000,0.065,2966,1829,2231
$GC,8402,0.98,151.9,626.1,7.8,402,8413,0.00,2.58,6.03,0.971,4,0.000,0.074,2966,439,2211
$GC,8443,0.95,154.0,622.9,7.9,404,8447,0.00,2.50,0.00,0.000,6,0.000,0.055,2967,1821,2210
$GC,8770,1.08,236.7,603.5,5.0,420,8854,0.00,2.75,74.25,1.233,4,0.000,0.067,2966,3261,1866
$GC,8896,1.24,291.4,596.6,6.0,425,8953,0.22,2.67,48.75,1.197,6,0.051,0.064,3020,1814,1643
$GC,9276,1.19,291.4,557.5,11.1,444,9277,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,1814,1643
$GC,9585,1.14,291.4,521.0,11.7,459,9590,0.15,2.67,0.00,0.000,4,0.091,0.063,2991,3262,1643
$GC,9636,1.20,291.4,515.8,10.1,461,9640,0.00,2.62,0.00,0.000,6,0.000,0.060,2992,1830,1644
$GC,9952,1.20,291.4,487.0,8.7,476,9953,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,1830,1643
$GC,10261,1.20,291.4,460.4,8.7,491,10265,0.00,2.60,0.00,0.000,4,0.000,0.061,2991,3251,1643
$GC,10317,1.27,291.4,455.5,8.8,493,10324,0.15,2.58,0.00,0.000,6,0.054,0.058,3030,1833,1644
$GC,10633,1.21,291.4,420.0,11.5,509,10635,0.12,0.00,0.00,0.000,6,0.094,0.000,3006,1834,1644
$GC,10942,1.21,291.4,388.8,10.1,524,10946,0.00,2.60,0.00,0.000,4,0.000,0.061,3005,3257,1644
$GC,10987,1.25,291.4,384.3,10.0,526,10991,0.00,2.53,0.00,0.000,6,0.000,0.056,3006,1850,1644
$GC,11308,1.25,291.4,350.7,10.6,542,11309,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1850,1644
$GC,11617,1.25,291.4,318.7,10.2,557,11621,0.00,2.55,0.00,0.000,4,0.000,0.060,3005,3253,1644
$GC,11667,1.29,291.4,313.5,9.8,559,11671,0.00,2.53,0.00,0.000,6,0.000,0.054,3006,1850,1644
$GC,11983,1.29,291.4,282.8,9.7,574,11984,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1850,1644
$GC,12292,1.29,291.4,254.2,9.3,589,12296,0.00,2.55,0.00,0.000,4,0.000,0.059,3006,3258,1645
$GC,12339,1.34,291.4,250.1,9.3,591,12344,0.15,2.53,0.00,0.000,6,0.053,0.053,3046,1848,1645
$GC,12666,1.26,291.4,211.6,11.9,607,12668,0.15,0.00,0.00,0.000,6,0.089,0.000,3016,1848,1645
$GC,12975,1.26,291.4,180.7,10.1,622,12979,0.00,2.53,0.00,0.000,4,0.000,0.058,3016,3252,1646
$GC,13026,1.26,291.4,175.1,10.4,624,13030,0.00,2.47,0.00,0.000,6,0.000,0.051,3016,1866,1645
$GC,13347,1.26,291.4,139.9,11.2,640,13349,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,1866,1645
$GC,13657,1.26,291.4,104.4,11.0,655,13661,0.00,2.50,0.00,0.000,4,0.000,0.057,3016,3252,1645
$GC,13707,1.29,291.4,98.9,10.6,657,13711,0.00,2.45,0.00,0.000,6,0.000,0.051,3016,1874,1646
$GC,14024,1.29,291.4,69.5,8.2,672,14028,0.00,2.58,0.00,0.000,4,0.000,0.066,3016,438,1646
$GC,14045,1.29,291.4,67.4,8.7,673,14050,0.00,2.53,0.00,0.000,6,0.000,0.047,3016,1872,1646
$GC,14367,1.29,291.4,40.2,9.1,689,14372,0.00,2.45,0.00,0.000,4,0.000,0.057,3016,3262,1646
$GC,14401,1.34,291.4,36.8,9.0,690,14408,0.00,2.47,0.00,0.000,6,0.000,0.049,3016,1860,1646
$GC,14718,1.34,291.4,8.1,8.7,706,14719,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,1860,1646
$STATE,14778,end climb,SURFACE_DEPTH_REACHED
$STATE,14778,begin surface coast
$FINISH,0.6,1.026906
$STATE,14798,end surface coast,CONTROL_FINISHED_OK
$STATE,14798,begin surface
$SM_CCo,14822,5.07,0.591,0,0,1608,300.00
$SM_GC,2.72,0.00,0.00,5.07,0.000,0.000,0.591,425,2155,1608,-10.67,0.68,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1823
$TCM_TEMP,17.80
$XPDR_PINGS,48
$ALTIM_BOTTOM_PING,697.1,39.7
$24V_AH,23.8,20.846
$10V_AH,10.1,9.374
$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,26.500,137.650,388.050,5.075,0.000,114.711,130.315,200.291,18.500,0.000,0.000,15.482,1313.780,11413.505,497.999,1556.925,735.737,33.355,1317.642,0.000,1518.218,0.000,47.012,0.000
$DEVICE_MAMPS,153.400,76.700,1300.832,590.590,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,485.644,526.545,433.712,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34839,710
$CAP_FILE_SIZE,117687,0
$CFSIZE,254472192,245698560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,160909,192837,6249.222,-1237.352,30,1.0,30,-11.7