version: 66.04
glider: 5
mission: 7
dive: 177
start: 9 28 109 14 41 32
data:
$ID,5
$MISSION,7
$DIVE,177
$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,-103586.12
$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,22
$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
$GPS1,143107,6352.071,-1327.849,37,1.1,37,-12.6
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-65.8
$GPS2,144043,6352.093,-1327.812,15,1.4,15,-12.6
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,L1
$TGT_LATLONG,6400.000,-1330.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.048,0.241
$KALMAN_X,-50132.4,-312.2,-117.3,-202999.0,-2009.4
$KALMAN_Y,-6654.5,-52.1,-408.1,258042.9,239.9
$MHEAD_RNG_PITCHd_Wd,23.9,14751,-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,-41.42,0.000,2,0.000,0.000,418,2152,2475
$GC,63,-1.22,-146.6,2.3,-3.7,2,119,11.70,0.00,-39.97,0.000,6,0.167,0.000,2474,2151,3429
$GC,430,-1.12,-146.6,44.4,-13.8,20,435,0.12,2.60,0.00,0.000,4,0.114,0.056,2498,711,3430
$GC,515,-1.12,-146.6,55.8,-12.7,24,520,0.00,2.50,0.00,0.000,6,0.000,0.048,2498,2121,3430
$GC,842,-1.12,-146.6,94.2,-11.9,40,846,0.00,2.53,0.00,0.000,4,0.000,0.057,2498,718,3430
$GC,883,-1.12,-146.6,98.8,-12.0,42,887,0.00,2.50,0.00,0.000,6,0.000,0.048,2498,2130,3430
$GC,1210,-1.12,-146.6,136.7,-11.5,58,1214,0.00,2.55,0.00,0.000,4,0.000,0.060,2498,715,3430
$GC,1250,-1.12,-146.6,141.4,-12.1,60,1254,0.00,2.47,0.00,0.000,6,0.000,0.050,2498,2118,3430
$GC,1581,-1.12,-146.6,179.3,-11.8,80,1585,0.00,2.53,0.00,0.000,4,0.000,0.058,2498,714,3430
$GC,1619,-1.12,-146.6,184.3,-12.4,82,1625,0.00,2.47,0.00,0.000,6,0.000,0.049,2498,2112,3430
$GC,1939,-1.12,-146.6,221.1,-11.4,103,1943,0.00,2.50,0.00,0.000,4,0.000,0.058,2498,715,3430
$GC,1967,-1.12,-146.6,224.7,-11.8,104,1973,0.00,2.47,0.00,0.000,6,0.000,0.049,2498,2111,3431
$GC,2286,-1.12,-146.6,261.4,-11.3,125,2290,0.00,2.53,0.00,0.000,4,0.000,0.059,2498,712,3430
$GC,2324,-1.12,-146.6,266.0,-11.8,127,2330,0.00,2.47,0.00,0.000,6,0.000,0.050,2498,2108,3430
$GC,2644,-1.12,-146.6,302.1,-11.3,148,2645,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2108,3430
$GC,2955,-1.12,-146.6,338.5,-11.6,168,2960,0.00,2.53,0.00,0.000,4,0.000,0.062,2498,715,3430
$GC,3012,-1.12,-146.6,345.3,-11.8,171,3019,0.00,2.45,0.00,0.000,6,0.000,0.051,2498,2093,3430
$GC,3331,-1.12,-146.6,382.9,-11.5,192,3333,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2093,3430
$GC,3644,-1.12,-146.6,418.0,-11.3,212,3648,0.00,2.50,0.00,0.000,4,0.000,0.061,2498,709,3430
$GC,3689,-1.12,-146.6,423.1,-11.6,215,3693,0.00,2.45,0.00,0.000,6,0.000,0.051,2498,2088,3429
$GC,4013,-1.12,-146.6,459.6,-10.9,236,4014,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2089,3429
$GC,4326,-1.12,-146.6,493.8,-10.9,256,4330,0.00,2.50,0.00,0.000,4,0.000,0.062,2498,708,3429
$GC,4370,-1.12,-146.6,498.9,-11.6,258,4376,0.00,2.45,0.00,0.000,6,0.000,0.051,2498,2089,3429
$GC,4689,-1.12,-146.6,532.5,-10.6,279,4694,0.00,2.50,0.00,0.000,4,0.000,0.062,2498,710,3429
$GC,4735,-1.12,-146.6,537.5,-10.9,282,4740,0.00,2.42,0.00,0.000,6,0.000,0.051,2498,2071,3429
$GC,5062,-1.12,-146.6,569.1,-9.4,303,5063,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2072,3429
$GC,5372,-1.12,-146.6,596.9,-8.3,323,5376,0.00,2.45,0.00,0.000,4,0.000,0.062,2498,721,3428
$GC,5513,-1.12,-146.6,612.9,-12.4,331,5519,0.00,2.40,0.00,0.000,6,0.000,0.051,2498,2069,3428
$GC,5832,-1.12,-146.6,647.4,-10.5,352,5833,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2068,3428
$GC,6145,-1.12,-146.6,677.4,-9.0,372,6146,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2069,3428
$GC,6457,-1.12,-146.6,707.9,-9.7,392,6461,0.00,2.47,0.00,0.000,4,0.000,0.064,2498,710,3428
$GC,6536,-1.16,-146.6,715.6,-9.7,397,6541,0.00,2.40,0.00,0.000,6,0.000,0.053,2498,2052,3428
$GC,6862,-1.16,-146.6,745.4,-8.9,418,6866,0.00,2.47,0.00,0.000,4,0.000,0.071,2498,710,3427
$GC,7087,-1.20,-146.6,764.5,-9.7,431,7091,0.00,2.38,0.00,0.000,6,0.000,0.056,2498,2038,3428
$GC,7412,-1.20,-146.6,792.9,-8.1,452,7416,0.00,2.75,0.00,0.000,4,0.000,0.077,2498,3537,3427
$STATE,7450,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7450,begin apogee
$GC,7461,-0.33,0.0,795.4,7.1,454,7594,0.77,0.00,129.20,1.360,6,0.078,0.000,2667,1833,2831
$STATE,7595,end apogee,CONTROL_FINISHED_OK
$STATE,7595,begin climb
$GC,7598,1.22,146.6,803.0,0.0,463,7739,1.58,2.67,130.82,1.319,4,0.064,0.069,3008,3253,2233
$GC,7919,1.19,185.2,785.2,6.6,482,7960,0.00,2.62,35.17,1.264,6,0.000,0.067,3008,1844,2075
$GC,8290,1.07,185.2,750.6,10.1,506,8292,0.17,0.00,0.00,0.000,6,0.097,0.000,2976,1845,2074
$GC,8599,1.08,195.2,725.2,7.6,526,8615,0.00,2.62,9.95,1.141,4,0.000,0.076,2976,439,2035
$GC,8668,1.05,195.2,719.2,8.9,530,8672,0.00,2.53,0.00,0.000,6,0.000,0.057,2976,1833,2034
$GC,8993,1.11,236.6,696.0,6.5,551,9036,0.00,0.00,37.42,1.275,6,0.000,0.000,2976,1847,1865
$GC,9350,1.17,251.6,667.3,7.5,574,9370,0.10,2.67,14.20,1.183,4,0.063,0.073,3003,438,1805
$GC,9400,1.10,251.6,663.0,9.5,577,9404,0.00,2.53,0.00,0.000,6,0.000,0.055,3003,1823,1805
$GC,9724,1.10,251.6,634.6,9.0,598,9728,0.00,2.60,0.00,0.000,4,0.000,0.066,3003,3258,1804
$GC,9796,1.10,251.6,628.1,8.8,602,9802,0.00,2.62,0.00,0.000,6,0.000,0.061,3003,1827,1804
$GC,10116,1.10,251.6,598.6,9.9,623,10120,0.00,2.65,0.00,0.000,4,0.000,0.064,3003,3262,1804
$GC,10148,1.10,251.6,595.5,8.2,625,10153,0.00,2.62,0.00,0.000,6,0.000,0.061,3002,1832,1804
$GC,10467,1.10,251.6,566.7,9.0,645,10468,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,1831,1804
$GC,10780,1.10,251.6,537.6,9.3,665,10784,0.00,2.62,0.00,0.000,4,0.000,0.062,3003,3262,1804
$GC,10818,1.10,251.6,533.6,10.2,667,10825,0.00,2.60,0.00,0.000,6,0.000,0.058,3003,1830,1804
$GC,11137,1.10,251.6,499.1,11.1,688,11139,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,1831,1804
$GC,11450,1.10,251.6,465.7,10.4,708,11454,0.00,2.60,0.00,0.000,4,0.000,0.061,3003,3257,1804
$GC,11512,1.10,251.6,459.2,10.5,712,11517,0.00,2.55,0.00,0.000,6,0.000,0.056,3003,1845,1805
$GC,11837,1.10,251.6,426.6,10.0,733,11841,0.00,2.58,0.00,0.000,4,0.000,0.060,3003,3257,1805
$GC,11875,1.10,251.6,422.6,10.0,735,11881,0.00,2.53,0.00,0.000,6,0.000,0.055,3003,1855,1805
$GC,12194,1.10,251.6,392.1,9.6,756,12196,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,1855,1805
$GC,12507,1.10,251.6,362.3,9.4,776,12511,0.00,2.55,0.00,0.000,4,0.000,0.060,3003,3258,1805
$GC,12574,1.10,251.6,355.9,8.5,780,12578,0.00,2.50,0.00,0.000,6,0.000,0.053,3003,1863,1806
$GC,12893,1.10,251.6,327.6,8.8,800,12897,0.00,2.53,0.00,0.000,4,0.000,0.060,3003,3261,1806
$GC,12926,1.10,251.6,324.3,8.9,802,12931,0.00,2.47,0.00,0.000,6,0.000,0.052,3003,1878,1806
$GC,13245,1.10,251.6,294.9,9.6,822,13246,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,1877,1806
$GC,13558,1.10,251.6,263.7,10.0,842,13562,0.00,2.50,0.00,0.000,4,0.000,0.060,3003,3265,1807
$GC,13613,1.13,251.6,257.8,10.6,845,13620,0.00,2.45,0.00,0.000,6,0.000,0.051,3003,1880,1807
$GC,13933,1.13,251.6,225.5,10.0,866,13934,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,1880,1807
$GC,14245,1.13,251.6,195.5,9.4,886,14250,0.00,2.50,0.00,0.000,4,0.000,0.063,3003,3261,1807
$GC,14292,1.17,251.6,191.0,9.8,889,14296,0.00,2.42,0.00,0.000,6,0.000,0.051,3003,1896,1807
$GC,14616,1.17,251.6,160.1,9.5,910,14617,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,1896,1807
$GC,14932,1.17,251.6,129.1,9.8,927,14937,0.00,2.47,0.00,0.000,4,0.000,0.058,3003,3267,1807
$GC,14973,1.21,251.6,124.9,10.0,929,14977,0.00,2.42,0.00,0.000,6,0.000,0.050,3003,1896,1808
$GC,15307,1.21,251.6,93.5,9.2,945,15308,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,1896,1807
$GC,15616,1.21,251.6,65.0,9.0,960,15620,0.00,2.47,0.00,0.000,4,0.000,0.058,3003,3266,1807
$GC,15657,1.26,251.6,61.4,8.8,962,15661,0.00,2.40,0.00,0.000,6,0.000,0.049,3003,1900,1808
$GC,15990,1.26,251.6,35.0,8.1,978,15994,0.00,2.45,0.00,0.000,4,0.000,0.058,3003,3261,1808
$GC,16012,1.32,268.2,33.4,7.4,979,16034,0.15,2.38,15.57,0.775,6,0.051,0.049,3044,1918,1737
$STATE,16312,end climb,SURFACE_DEPTH_REACHED
$STATE,16312,begin surface coast
$FINISH,0.7,1.027334
$STATE,16336,end surface coast,CONTROL_FINISHED_OK
$STATE,16336,begin surface
$SM_CCo,16360,17.08,0.759,0,0,1608,300.00
$SM_GC,1.47,0.00,0.00,17.08,0.000,0.000,0.759,417,2157,1608,-10.71,0.76,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1809
$TCM_TEMP,16.30
$XPDR_PINGS,55
$ALTIM_BOTTOM_PING,795.4,8.2
$24V_AH,23.8,31.656
$10V_AH,10.1,14.465
$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,25.950,146.925,372.350,17.075,0.000,76.583,59.842,233.439,21.250,0.000,0.000,15.581,1730.684,11960.802,527.299,2030.089,697.804,33.363,1528.029,0.000,1979.173,0.000,52.908,0.000
$DEVICE_MAMPS,167.206,76.700,1359.891,758.563,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,681.188,725.196,537.897,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50628,995
$CAP_FILE_SIZE,132185,0
$CFSIZE,254472192,241709056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,280909,191537,6355.537,-1327.396,27,1.7,27,-12.7