version: 66.04
glider: 5
mission: 7
dive: 175
start: 9 28 109 3 49 9
data:
$ID,5
$MISSION,7
$DIVE,175
$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,-103552.48
$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
$GPS1,034206,6347.557,-1316.447,40,1.4,45,-12.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-63.0
$GPS2,034819,6347.522,-1316.425,15,1.4,15,-12.5
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,L1
$TGT_LATLONG,6400.000,-1330.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.159,0.187
$KALMAN_X,-46242.4,-56.3,18.4,-197247.4,-210.0
$KALMAN_Y,-2901.4,-1148.3,-431.2,246958.1,3361.6
$MHEAD_RNG_PITCHd_Wd,332.1,25603,-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,16,-1.22,-146.6,0.0,0.0,0,59,0.00,0.00,-41.38,0.000,2,0.000,0.000,419,2144,2467
$GC,63,-1.22,-146.6,2.2,-2.9,2,119,11.30,2.55,-38.08,0.000,4,0.154,0.077,2471,3524,3430
$GC,188,-1.12,-146.6,14.7,-14.0,7,195,0.15,2.50,0.00,0.000,6,0.094,0.049,2503,2116,3430
$GC,504,-1.12,-146.6,51.3,-11.1,23,505,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2091,3430
$GC,814,-1.12,-146.6,87.5,-11.5,38,818,0.00,2.58,0.00,0.000,4,0.000,0.063,2502,3528,3430
$GC,864,-1.12,-146.6,93.7,-11.6,40,868,0.00,2.50,0.00,0.000,6,0.000,0.048,2503,2123,3430
$GC,1180,-1.12,-146.6,129.1,-11.4,55,1184,0.00,2.50,0.00,0.000,4,0.000,0.058,2503,711,3431
$GC,1208,-1.12,-146.6,132.4,-11.6,56,1212,0.00,2.50,0.00,0.000,6,0.000,0.048,2503,2123,3431
$GC,1535,-1.12,-146.6,167.0,-10.8,74,1537,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2123,3431
$GC,1848,-1.12,-146.6,200.6,-10.5,94,1852,0.00,2.53,0.00,0.000,4,0.000,0.061,2503,718,3431
$GC,1910,-1.12,-146.6,207.2,-10.6,98,1914,0.00,2.50,0.00,0.000,6,0.000,0.049,2503,2130,3431
$GC,2234,-1.12,-146.6,239.7,-10.2,119,2238,0.00,2.58,0.00,0.000,4,0.000,0.063,2503,712,3431
$GC,2280,-1.12,-146.6,244.5,-11.0,122,2285,0.00,2.50,0.00,0.000,6,0.000,0.050,2503,2121,3431
$GC,2610,-1.12,-146.6,278.8,-10.3,143,2611,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2121,3431
$GC,2922,-1.12,-146.6,312.0,-11.1,163,2926,0.00,2.55,0.00,0.000,4,0.000,0.061,2503,711,3431
$GC,2978,-1.12,-146.6,318.5,-11.5,166,2984,0.00,2.50,0.00,0.000,6,0.000,0.050,2503,2120,3431
$GC,3296,-1.12,-146.6,353.1,-10.9,187,3298,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2120,3431
$GC,3609,-1.12,-146.6,386.2,-10.6,207,3614,0.00,2.55,0.00,0.000,4,0.000,0.062,2503,711,3431
$GC,3638,-1.12,-146.6,389.5,-11.7,209,3643,0.00,2.50,0.00,0.000,6,0.000,0.050,2503,2117,3431
$GC,3965,-1.12,-146.6,425.0,-10.9,230,3966,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2117,3430
$GC,4276,-1.12,-146.6,459.3,-10.8,250,4280,0.00,2.53,0.00,0.000,4,0.000,0.062,2503,721,3430
$GC,4331,-1.12,-146.6,465.5,-11.2,253,4338,0.00,2.47,0.00,0.000,6,0.000,0.050,2503,2118,3430
$GC,4650,-1.12,-146.6,498.8,-10.3,274,4655,0.00,2.53,0.00,0.000,4,0.000,0.062,2503,722,3430
$GC,4707,-1.16,-146.6,504.9,-11.1,277,4713,0.00,2.45,0.00,0.000,6,0.000,0.050,2503,2106,3430
$GC,5026,-1.16,-146.6,537.1,-10.1,298,5030,0.00,2.50,0.00,0.000,4,0.000,0.064,2502,718,3430
$GC,5066,-1.19,-146.6,541.2,-10.4,300,5070,0.00,2.42,0.00,0.000,6,0.000,0.051,2503,2088,3430
$GC,5391,-1.19,-146.6,574.2,-10.1,321,5395,0.00,2.47,0.00,0.000,4,0.000,0.063,2503,722,3429
$GC,5430,-1.22,-146.6,578.2,-10.4,323,5437,0.10,2.42,0.00,0.000,6,0.065,0.051,2474,2088,3429
$GC,5752,-1.17,-146.6,612.8,-10.7,344,5753,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2088,3429
$GC,6064,-1.12,-146.6,646.5,-11.2,364,6066,0.12,0.00,0.00,0.000,6,0.097,0.000,2498,2088,3429
$GC,6374,-1.12,-146.6,675.5,-8.9,384,6378,0.00,2.50,0.00,0.000,4,0.000,0.064,2498,711,3429
$GC,6403,-1.12,-146.6,678.2,-9.4,386,6407,0.00,2.42,0.00,0.000,6,0.000,0.052,2498,2075,3429
$GC,6727,-1.12,-146.6,708.9,-9.7,407,6728,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2075,3429
$GC,7041,-1.12,-146.6,740.8,-10.1,427,7045,0.00,2.65,0.00,0.000,4,0.000,0.072,2498,3530,3429
$GC,7091,-1.12,-146.6,746.6,-11.0,430,7095,0.00,2.67,0.00,0.000,6,0.000,0.060,2498,2049,3428
$GC,7412,-1.12,-146.6,778.7,-10.2,450,7416,0.00,2.75,0.00,0.000,4,0.000,0.071,2498,3532,3428
$GC,7457,-1.12,-146.6,783.3,-10.1,453,7461,0.00,2.65,0.00,0.000,6,0.000,0.061,2498,2064,3428
$GC,7781,-1.12,-146.6,813.7,-9.5,474,7782,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2063,3428
$GC,8093,-1.12,-146.6,842.6,-9.1,494,8095,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2063,3427
$GC,8405,-1.12,-146.6,869.9,-8.7,514,8410,0.00,2.72,0.00,0.000,4,0.000,0.076,2498,3535,3426
$GC,8444,-1.12,-146.6,873.7,-10.1,516,8450,0.00,2.67,0.00,0.000,6,0.000,0.063,2498,2061,3426
$STATE,8589,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8589,begin apogee
$GC,8597,-0.33,0.0,887.1,9.3,526,8733,0.80,0.00,132.27,1.416,6,0.074,0.000,2671,1844,2831
$STATE,8733,end apogee,CONTROL_FINISHED_OK
$STATE,8734,begin climb
$GC,8737,1.22,146.6,891.9,0.0,535,8883,1.55,2.62,135.62,1.368,4,0.061,0.073,3008,449,2233
$GC,8906,1.08,146.6,884.5,8.4,545,8914,0.15,2.55,0.00,0.000,6,0.094,0.055,2981,1848,2233
$GC,9229,1.08,166.8,861.5,7.3,566,9253,0.00,2.62,19.50,1.273,4,0.000,0.068,2980,3254,2151
$GC,9306,1.09,173.2,855.5,7.8,570,9320,0.00,2.60,7.60,1.104,6,0.000,0.065,2980,1855,2124
$GC,9643,1.14,204.3,831.0,6.9,592,9675,0.00,0.00,28.98,1.309,6,0.000,0.000,2980,1855,1998
$GC,9988,1.15,215.6,805.6,7.6,614,10002,0.00,0.00,11.65,1.208,6,0.000,0.000,2980,1855,1951
$GC,10315,1.17,226.4,780.3,7.6,635,10332,0.00,2.65,11.02,1.199,4,0.000,0.067,2980,3257,1907
$GC,10361,1.21,226.4,776.3,8.3,637,10368,0.12,2.60,0.00,0.000,6,0.061,0.064,3012,1856,1907
$GC,10683,1.16,233.9,748.9,7.7,658,10700,0.00,2.65,8.43,1.134,4,0.000,0.067,3012,3254,1877
$GC,10739,1.16,233.9,743.7,9.3,661,10743,0.00,2.55,0.00,0.000,6,0.000,0.062,3013,1867,1877
$GC,11059,1.11,233.9,713.9,10.0,681,11061,0.15,0.00,0.00,0.000,6,0.094,0.000,2983,1866,1877
$GC,11371,1.17,271.4,692.2,6.6,701,11407,0.00,0.00,34.08,1.273,6,0.000,0.000,2983,1867,1724
$GC,11713,1.17,271.4,666.5,8.0,723,11717,0.00,2.58,0.00,0.000,4,0.000,0.064,2983,3264,1724
$GC,11765,1.24,271.4,662.1,8.1,726,11770,0.15,2.60,0.00,0.000,6,0.054,0.060,3022,1843,1724
$GC,12087,1.20,271.4,628.3,11.2,746,12088,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,1843,1724
$GC,12397,1.15,271.4,594.4,10.9,766,12402,0.15,2.60,0.00,0.000,4,0.087,0.062,2994,3259,1724
$GC,12436,1.21,271.4,590.1,9.4,768,12442,0.00,2.55,0.00,0.000,6,0.000,0.058,2994,1855,1724
$GC,12755,1.21,271.4,558.9,9.7,789,12757,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,1855,1724
$GC,13067,1.21,271.4,529.1,9.4,809,13071,0.00,2.58,0.00,0.000,4,0.000,0.061,2994,3264,1725
$GC,13117,1.27,271.4,524.3,9.2,812,13122,0.12,2.55,0.00,0.000,6,0.057,0.057,3027,1851,1724
$GC,13441,1.22,271.4,488.9,11.1,832,13442,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,1851,1724
$GC,13749,1.17,271.4,453.5,11.5,852,13751,0.15,0.00,0.00,0.000,6,0.089,0.000,2998,1851,1726
$GC,14063,1.17,271.4,422.6,9.6,872,14067,0.00,2.58,0.00,0.000,4,0.000,0.061,2997,3262,1726
$GC,14126,1.23,271.4,416.4,9.8,876,14130,0.00,2.50,0.00,0.000,6,0.000,0.054,2998,1865,1726
$GC,14450,1.23,271.4,385.8,9.2,897,14451,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,1864,1726
$GC,14762,1.23,271.4,356.4,9.4,917,14766,0.00,2.55,0.00,0.000,4,0.000,0.061,2998,3265,1726
$GC,14818,1.28,271.4,350.8,10.0,920,14825,0.12,2.50,0.00,0.000,6,0.055,0.053,3032,1870,1726
$GC,15140,1.23,271.4,315.1,10.7,941,15141,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,1870,1726
$GC,15450,1.19,271.4,281.4,10.6,961,15452,0.15,0.00,0.00,0.000,6,0.087,0.000,3002,1870,1727
$GC,15762,1.19,271.4,252.0,9.2,981,15766,0.00,2.53,0.00,0.000,4,0.000,0.060,3002,3261,1727
$GC,15818,1.24,271.4,246.8,9.1,984,15824,0.00,2.47,0.00,0.000,6,0.000,0.051,3002,1873,1727
$GC,16137,1.24,271.4,218.4,9.0,1005,16141,0.00,2.58,0.00,0.000,4,0.000,0.066,3001,436,1727
$GC,16176,1.24,271.4,214.5,10.5,1007,16182,0.00,2.58,0.00,0.000,6,0.000,0.048,3002,1894,1727
$GC,16495,1.24,271.4,186.3,9.0,1028,16496,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,1910,1727
$GC,16807,1.24,271.4,159.6,8.3,1048,16812,0.00,2.65,0.00,0.000,4,0.000,0.064,3002,439,1727
$GC,16846,1.24,271.4,156.0,9.5,1050,16852,0.00,2.55,0.00,0.000,6,0.000,0.048,3002,1883,1727
$GC,17180,1.24,271.4,128.2,8.4,1068,17181,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,1897,1727
$GC,17488,1.24,271.4,103.2,8.0,1083,17492,0.00,2.62,0.00,0.000,4,0.000,0.063,3002,439,1728
$GC,17537,1.24,271.4,98.5,8.6,1085,17541,0.00,2.50,0.00,0.000,6,0.000,0.047,3002,1864,1728
$GC,17860,1.28,271.4,71.0,8.8,1101,17861,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,1878,1728
$GC,18170,1.32,273.8,46.8,7.9,1116,18177,0.15,0.00,4.68,0.607,6,0.051,0.000,3044,1879,1714
$GC,18480,1.27,273.8,13.3,11.7,1131,18481,0.12,0.00,0.00,0.000,6,0.088,0.000,3018,1880,1714
$STATE,18598,end climb,SURFACE_DEPTH_REACHED
$STATE,18598,begin surface coast
$FINISH,0.9,1.027072
$STATE,18620,end surface coast,CONTROL_FINISHED_OK
$STATE,18620,begin surface
$SM_CCo,18644,13.73,0.733,0,0,1608,300.00
$SM_GC,1.96,0.00,0.00,13.73,0.000,0.000,0.733,417,2147,1608,-10.70,0.48,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1813
$TCM_TEMP,17.40
$XPDR_PINGS,61
$ALTIM_BOTTOM_PING,845.3,50.9
$24V_AH,23.8,31.314
$10V_AH,10.1,14.280
$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,26.725,143.900,393.825,13.725,0.000,37.761,27.635,171.404,23.000,0.000,0.000,17.308,1961.832,13763.973,539.759,2162.701,599.315,33.361,1613.740,0.000,2116.794,0.000,52.465,0.000
$DEVICE_MAMPS,154.167,76.700,1415.882,733.252,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,779.552,833.955,593.101,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56782,1138
$CAP_FILE_SIZE,144810,0
$CFSIZE,254472192,241831936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,280909,090130,6349.732,-1322.444,41,1.2,41,-12.6