version: 66.04
glider: 5
mission: 7
dive: 220
start: 10 4 109 20 25 23
data:
$ID,5
$MISSION,7
$DIVE,220
$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,-104445.35
$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,21
$R_STBD_OVSHOOT,25
$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
$GPS1,201836,6356.604,-1329.952,41,0.9,41,-12.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-59.3
$GPS2,202432,6356.708,-1329.845,15,1.8,15,-12.7
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,P6
$TGT_LATLONG,6402.820,-1325.500
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.114,0.217
$KALMAN_X,-41844.7,-544.4,546.9,-213496.6,-629.2
$KALMAN_Y,-13845.1,-1117.2,201.3,274259.4,1119.6
$MHEAD_RNG_PITCHd_Wd,40.4,11855,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.22,-146.6,0.0,0.0,0,99,0.00,0.00,-80.60,0.000,2,0.000,0.000,418,2152,2735
$GC,103,-1.22,-146.6,2.8,-2.4,4,146,11.10,2.62,-23.45,0.000,4,0.158,0.074,2468,720,3430
$GC,194,-1.15,-146.6,12.4,-12.7,8,199,0.12,2.53,0.00,0.000,6,0.104,0.048,2492,2141,3430
$GC,523,-1.11,-146.6,52.0,-12.3,24,524,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2140,3430
$GC,831,-1.07,-146.6,90.5,-12.4,39,835,0.00,2.60,0.00,0.000,4,0.000,0.061,2493,711,3430
$GC,875,-1.07,-146.6,96.2,-12.6,41,879,0.00,2.53,0.00,0.000,6,0.000,0.049,2493,2133,3430
$GC,1197,-1.04,-146.6,135.4,-12.0,57,1202,0.10,2.60,0.00,0.000,4,0.103,0.062,2514,703,3430
$GC,1231,-1.08,-146.6,139.5,-11.1,58,1238,0.00,2.53,0.00,0.000,6,0.000,0.049,2515,2130,3430
$GC,1560,-1.08,-146.6,171.4,-9.0,78,1561,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2130,3431
$GC,1873,-1.08,-146.6,200.3,-9.5,98,1877,0.00,2.58,0.00,0.000,4,0.000,0.065,2514,712,3431
$GC,1952,-1.11,-146.6,208.2,-9.6,103,1957,0.00,2.53,0.00,0.000,6,0.000,0.050,2514,2129,3431
$GC,2277,-1.11,-146.6,242.0,-9.8,124,2281,0.00,2.60,0.00,0.000,4,0.000,0.066,2515,706,3431
$GC,2316,-1.16,-146.6,245.9,-9.4,126,2323,0.00,2.50,0.00,0.000,6,0.000,0.051,2514,2113,3431
$GC,2636,-1.16,-146.6,273.8,-7.5,147,2640,0.00,2.55,0.00,0.000,4,0.000,0.065,2515,711,3431
$GC,2720,-1.20,-146.6,280.7,-8.4,152,2725,0.15,2.45,0.00,0.000,6,0.057,0.051,2473,2089,3431
$GC,3042,-1.15,-146.6,316.3,-10.7,172,3043,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2088,3430
$GC,3352,-1.09,-146.6,350.1,-11.3,192,3354,0.15,0.00,0.00,0.000,6,0.098,0.000,2504,2087,3430
$GC,3664,-1.09,-146.6,384.2,-11.4,212,3669,0.00,2.53,0.00,0.000,4,0.000,0.070,2504,717,3430
$GC,3889,-1.09,-146.6,414.1,-13.0,225,3896,0.00,2.45,0.00,0.000,6,0.000,0.054,2504,2090,3431
$GC,4209,-1.09,-146.6,451.8,-11.0,246,4210,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2091,3430
$GC,4522,-1.09,-146.6,487.7,-11.9,266,4524,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2091,3429
$GC,4834,-1.09,-146.6,518.3,-10.7,286,4838,0.00,2.58,0.00,0.000,4,0.000,0.076,2504,708,3428
$GC,4946,-1.09,-146.6,530.9,-9.7,292,4952,0.00,2.50,0.00,0.000,6,0.000,0.061,2504,2086,3428
$GC,5266,-1.09,-146.6,565.5,-11.0,313,5267,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2086,3427
$GC,5577,-1.09,-146.6,597.1,-9.1,333,5582,0.00,2.58,0.00,0.000,4,0.000,0.077,2504,709,3426
$GC,5623,-1.09,-146.6,601.5,-9.9,336,5628,0.00,2.50,0.00,0.000,6,0.000,0.064,2504,2074,3426
$GC,5949,-1.09,-146.6,631.8,-10.0,357,5953,0.00,2.58,0.00,0.000,4,0.000,0.084,2504,716,3425
$GC,5982,-1.13,-146.6,634.9,-8.9,359,5986,0.00,2.47,0.00,0.000,6,0.000,0.067,2504,2063,3424
$GC,6301,-1.13,-146.6,663.8,-9.2,379,6303,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2064,3423
$STATE,6486,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6486,begin apogee
$GC,6493,-0.33,0.0,679.3,8.8,391,6627,0.80,0.00,129.70,1.345,6,0.091,0.000,2671,1833,2831
$STATE,6627,end apogee,CONTROL_FINISHED_OK
$STATE,6627,begin climb
$GC,6631,1.22,146.6,683.3,0.0,400,6769,1.58,0.00,131.00,1.290,6,0.071,0.000,3007,1833,2233
$GC,7082,1.14,146.6,651.2,9.9,429,7087,0.00,2.67,0.00,0.000,4,0.000,0.076,3007,3254,2232
$GC,7128,1.07,146.6,646.5,10.3,432,7133,0.15,2.60,0.00,0.000,6,0.098,0.073,2979,1871,2231
$GC,7456,1.13,181.0,621.3,6.7,453,7492,0.00,2.75,31.02,1.249,4,0.000,0.085,2979,437,2093
$GC,7516,1.13,181.0,617.0,8.2,457,7520,0.00,2.62,0.00,0.000,6,0.000,0.063,2979,1855,2093
$GC,7840,1.21,233.6,596.1,6.1,478,7890,0.12,0.00,47.47,1.266,6,0.067,0.000,3010,1871,1878
$GC,8200,1.25,257.0,568.6,7.1,501,8231,0.00,2.78,21.62,1.216,4,0.000,0.083,3010,436,1783
$GC,8271,1.19,257.0,562.6,8.7,505,8276,0.00,2.62,0.00,0.000,6,0.000,0.064,3010,1854,1783
$GC,8591,1.21,271.1,537.3,7.5,525,8606,0.00,0.00,14.02,1.170,6,0.000,0.000,3010,1870,1725
$GC,8918,1.21,271.1,507.8,10.2,546,8923,0.00,2.67,0.00,0.000,4,0.000,0.081,3010,436,1725
$GC,8958,1.16,271.1,503.8,10.0,548,8964,0.00,2.60,0.00,0.000,6,0.000,0.063,3010,1853,1725
$GC,9277,1.16,271.1,473.8,9.6,569,9278,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1868,1725
$GC,9590,1.16,271.1,445.5,9.2,589,9591,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1868,1725
$GC,9902,1.16,271.1,416.5,9.0,609,9907,0.00,2.67,0.00,0.000,4,0.000,0.077,3010,430,1724
$GC,9949,1.12,271.1,412.2,10.7,612,9954,0.12,2.58,0.00,0.000,6,0.104,0.061,2987,1841,1725
$GC,10276,1.24,321.5,388.8,6.2,633,10328,0.12,2.75,43.83,1.164,4,0.064,0.078,3018,443,1520
$GC,10358,1.21,321.5,381.8,9.7,638,10362,0.00,2.58,0.00,0.000,6,0.000,0.060,3018,1844,1520
$GC,10683,1.21,321.5,350.9,10.4,659,10687,0.00,2.65,0.00,0.000,4,0.000,0.078,3018,437,1521
$GC,10712,1.13,321.5,347.5,12.7,661,10717,0.15,2.55,0.00,0.000,6,0.097,0.059,2990,1838,1521
$GC,11040,1.19,321.5,318.1,9.0,682,11042,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,1856,1521
$GC,11351,1.25,321.5,293.2,8.5,702,11353,0.12,0.00,0.00,0.000,6,0.062,0.000,3021,1856,1521
$GC,11662,1.25,321.5,257.0,12.0,722,11667,0.00,2.60,0.00,0.000,4,0.000,0.071,3021,435,1521
$GC,11697,1.25,321.5,252.9,9.5,724,11701,0.00,2.50,0.00,0.000,6,0.000,0.054,3021,1827,1521
$GC,12016,1.25,321.5,214.2,11.5,744,12017,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,1844,1522
$GC,12328,1.25,321.5,180.6,10.6,764,12329,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,1844,1522
$GC,12646,1.25,321.5,147.9,10.0,784,12648,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,1844,1522
$GC,12955,1.25,321.5,118.2,9.9,799,12956,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,1844,1524
$GC,13264,1.25,321.5,88.2,10.0,814,13268,0.00,2.55,0.00,0.000,4,0.000,0.059,3021,3258,1524
$GC,13292,1.29,321.5,85.3,9.5,815,13297,0.00,2.60,0.00,0.000,6,0.000,0.052,3021,1809,1525
$GC,13610,1.29,321.5,52.8,10.0,830,13611,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,1809,1525
$GC,13918,1.29,321.5,21.9,9.7,845,13922,0.00,2.62,0.00,0.000,4,0.000,0.058,3021,3261,1526
$GC,13991,1.35,321.5,15.1,9.6,848,13995,0.00,2.55,0.00,0.000,6,0.000,0.051,3021,1833,1526
$STATE,14098,end climb,SURFACE_DEPTH_REACHED
$STATE,14098,begin surface coast
$FINISH,0.6,1.027140
$STATE,14120,end surface coast,CONTROL_FINISHED_OK
$STATE,14120,begin surface
$SM_CCo,14204,0.00,0.000,0,0,1525,320.36
$SM_GC,1.29,11.30,0.00,0.00,0.039,0.000,0.000,419,2152,1525,-10.61,0.31,320.36
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1848
$TCM_TEMP,17.00
$XPDR_PINGS,22
$ALTIM_BOTTOM_PING,670.0,19.1
$24V_AH,23.7,38.451
$10V_AH,10.1,17.365
$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,26.100,104.250,418.675,0.000,0.000,37.759,27.668,155.116,11.500,0.000,0.000,15.454,1474.670,10349.062,536.606,1681.973,512.503,33.360,1378.614,0.000,1644.466,0.000,41.275,0.000
$DEVICE_MAMPS,158.002,85.137,1344.551,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,587.914,624.649,480.467,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44197,854
$CAP_FILE_SIZE,109941,0
$CFSIZE,254472192,239505408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,051009,002324,6359.331,-1325.842,40,1.2,40,-12.7