version: 66.04
glider: 5
mission: 5
dive: 7
start: 11 7 108 8 40 31
data:
$ID,5
$MISSION,5
$DIVE,7
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,50
$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,330
$T_MISSION,360
$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,1001
$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,52
$TGT_DEFAULT_LON,-7
$TGT_AUTO_DEFAULT,0
$SM_CC,250
$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,-87378.297
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,432
$PITCH_MAX,3760
$C_PITCH,2700
$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,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,159
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,2190
$C_ROLL_CLIMB,2190
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,17
$ROLL_AD_RATE,360
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,390
$VBD_MAX,3851
$C_VBD,2832
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0016
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$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,-23.610077
$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,20
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,125
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$XPDR_INHIBIT,90
$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,0.0043761111
$SEABIRD_T_H,0.00064345129
$SEABIRD_T_I,2.5632376e-05
$SEABIRD_T_J,2.7382036e-06
$SEABIRD_C_G,-10.188265
$SEABIRD_C_H,1.1432956
$SEABIRD_C_I,-0.00020702372
$SEABIRD_C_J,0.00012956691
$GPS1,083408,6330.438,-559.518,37,1.0,37,-8.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-62.6
$GPS2,083938,6330.470,-559.434,11,1.4,16,-8.2
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,NSEC_S
$TGT_LATLONG,6240.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.031,-0.262
$KALMAN_X,14334.5,-1442.1,-113.4,-8941.0,6053.2
$KALMAN_Y,-6069.1,-72.4,267.5,-12284.9,-2304.2
$MHEAD_RNG_PITCHd_Wd,194.8,93590,-18.1,-10.000
$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,-1.44,-146.6,0.0,0.0,0,99,0.00,0.00,-81.12,0.000,2,0.000,0.000,422,2160,3403
$GC,102,-1.44,-146.6,5.0,-6.4,4,119,10.45,2.55,-0.62,0.000,4,0.151,0.077,2377,792,3432
$GC,198,-1.26,-146.6,29.8,-17.3,7,203,0.25,2.58,0.00,0.000,6,0.103,0.061,2425,2199,3432
$GC,515,-1.21,-146.6,74.6,-13.9,22,519,0.00,2.62,0.00,0.000,4,0.000,0.068,2426,788,3434
$GC,604,-1.16,-146.6,87.7,-14.3,26,609,0.10,2.53,0.00,0.000,6,0.111,0.061,2444,2164,3434
$GC,925,-1.16,-146.6,128.1,-12.6,42,930,0.00,2.58,0.00,0.000,4,0.000,0.070,2444,786,3435
$GC,981,-1.16,-146.6,135.4,-12.9,44,987,0.00,2.50,0.00,0.000,6,0.000,0.061,2444,2149,3435
$GC,1297,-1.16,-146.6,173.4,-11.1,60,1301,0.00,2.55,0.00,0.000,4,0.000,0.072,2444,788,3435
$GC,1352,-1.16,-146.6,179.8,-11.7,62,1358,0.00,2.47,0.00,0.000,6,0.000,0.061,2444,2135,3435
$GC,1667,-1.16,-146.6,216.2,-11.7,78,1672,0.00,2.53,0.00,0.000,4,0.000,0.071,2444,784,3436
$GC,1695,-1.16,-146.6,219.6,-12.4,79,1699,0.00,2.45,0.00,0.000,6,0.000,0.062,2444,2115,3436
$GC,2011,-1.16,-146.6,253.0,-10.4,94,2015,0.00,2.50,0.00,0.000,4,0.000,0.074,2445,785,3436
$GC,2060,-1.16,-146.6,259.0,-12.5,96,2064,0.00,2.42,0.00,0.000,6,0.000,0.064,2444,2097,3436
$GC,2376,-1.16,-146.6,297.2,-11.9,111,2381,0.00,2.47,0.00,0.000,4,0.000,0.078,2444,789,3437
$GC,2404,-1.16,-146.6,300.7,-12.3,112,2408,0.00,2.42,0.00,0.000,6,0.000,0.067,2444,2093,3436
$GC,2720,-1.16,-146.6,337.7,-11.6,127,2724,0.00,2.85,0.00,0.000,4,0.000,0.087,2444,3598,3436
$GC,2747,-1.16,-146.6,341.3,-12.9,128,2751,0.00,2.78,0.00,0.000,6,0.000,0.071,2444,2109,3436
$GC,3062,-1.16,-146.6,378.8,-11.5,143,3067,0.00,2.47,0.00,0.000,4,0.000,0.087,2444,792,3436
$GC,3163,-1.16,-146.6,391.0,-12.1,147,3169,0.00,2.42,0.00,0.000,6,0.000,0.073,2444,2084,3436
$GC,3479,-1.16,-146.6,427.3,-11.5,163,3481,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2084,3435
$GC,3788,-1.16,-146.6,463.9,-11.5,178,3792,0.00,2.50,0.00,0.000,4,0.000,0.090,2444,791,3434
$GC,3832,-1.16,-146.6,469.3,-12.4,180,3836,0.00,2.45,0.00,0.000,6,0.000,0.077,2444,2083,3435
$GC,4153,-1.16,-146.6,505.5,-11.1,196,4154,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2084,3433
$GC,4462,-1.16,-146.6,538.9,-10.6,211,4466,0.00,2.47,0.00,0.000,4,0.000,0.092,2444,794,3432
$GC,4508,-1.16,-146.6,544.1,-11.8,213,4513,0.00,2.45,0.00,0.000,6,0.000,0.081,2444,2084,3433
$GC,4835,-1.16,-146.6,580.1,-11.0,229,4840,0.00,2.53,0.00,0.000,4,0.000,0.094,2444,790,3431
$GC,4857,-1.16,-146.6,582.8,-11.5,230,4861,0.00,2.42,0.00,0.000,6,0.000,0.081,2444,2073,3431
$GC,5185,-1.21,-146.6,619.2,-11.1,246,5186,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2078,3431
$GC,5494,-1.25,-146.6,653.8,-11.2,261,5498,0.00,2.47,0.00,0.000,4,0.000,0.092,2444,792,3430
$GC,5539,-1.25,-146.6,659.1,-11.4,263,5543,0.00,2.42,0.00,0.000,6,0.000,0.081,2444,2067,3430
$GC,5860,-1.29,-146.6,693.4,-10.3,279,5862,0.12,0.00,0.00,0.000,6,0.080,0.000,2416,2067,3429
$GC,6169,-1.29,-146.6,729.1,-11.7,294,6170,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,2067,3428
$GC,6478,-1.29,-146.6,764.8,-11.6,309,6480,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,2067,3427
$GC,6788,-1.29,-146.6,799.3,-11.1,324,6792,0.00,2.47,0.00,0.000,4,0.000,0.095,2416,794,3427
$GC,6828,-1.24,-146.6,803.9,-11.9,326,6832,0.00,2.42,0.00,0.000,6,0.000,0.083,2416,2066,3427
$GC,7154,-1.24,-146.6,840.4,-11.0,342,7155,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,2067,3426
$GC,7463,-1.24,-146.6,874.7,-10.8,357,7468,0.00,2.50,0.00,0.000,4,0.000,0.096,2416,788,3426
$GC,7502,-1.24,-146.6,879.2,-11.2,358,7508,0.00,2.42,0.00,0.000,6,0.000,0.086,2416,2054,3426
$GC,7817,-1.24,-146.6,913.3,-10.8,374,7819,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,2053,3425
$GC,8127,-1.24,-146.6,946.2,-10.5,389,8128,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,2053,3424
$GC,8436,-1.24,-146.6,979.3,-10.6,404,8440,0.00,2.45,0.00,0.000,4,0.000,0.096,2416,794,3424
$GC,8470,-1.20,-146.6,983.0,-11.3,405,8474,0.10,2.40,0.00,0.000,6,0.135,0.084,2433,2048,3424
$STATE,8555,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8555,begin apogee
$GC,8562,-0.33,0.0,992.0,9.9,409,8693,0.93,0.00,126.75,1.665,6,0.105,0.000,2621,2190,2832
$STATE,8693,end apogee,CONTROL_FINISHED_OK
$STATE,8693,begin climb
$GC,8696,1.44,146.6,995.8,0.0,415,8833,1.85,2.85,126.45,1.631,4,0.087,0.100,3006,3601,2234
$GC,8856,1.33,146.6,986.6,10.8,423,8861,0.00,2.72,0.00,0.000,6,0.000,0.084,3006,2206,2233
$GC,9172,1.28,149.0,955.0,9.9,438,9179,0.15,0.00,3.83,0.954,6,0.115,0.000,2979,2206,2224
$GC,9481,1.33,180.3,927.3,8.6,453,9516,0.00,2.88,27.95,1.536,4,0.000,0.102,2979,3593,2097
$GC,9546,1.33,180.3,921.1,10.3,456,9550,0.00,2.72,0.00,0.000,6,0.000,0.084,2979,2196,2097
$GC,9873,1.40,194.8,890.1,9.3,472,9892,0.12,0.00,14.20,1.468,6,0.081,0.000,3007,2196,2037
$GC,10201,1.40,194.8,855.7,10.2,488,10203,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2195,2036
$GC,10510,1.40,194.8,823.2,10.4,503,10512,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2195,2036
$GC,10820,1.40,194.8,791.6,10.1,518,10821,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2195,2036
$GC,11129,1.40,194.8,760.2,10.2,533,11130,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2195,2036
$GC,11438,1.40,194.8,728.9,10.1,548,11439,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2196,2035
$GC,11748,1.40,194.8,697.4,10.2,563,11749,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2196,2035
$GC,12057,1.40,194.8,665.4,10.2,578,12061,0.00,2.78,0.00,0.000,4,0.000,0.099,3007,3602,2035
$GC,12084,1.40,194.8,662.3,12.1,579,12088,0.00,2.70,0.00,0.000,6,0.000,0.081,3006,2188,2035
$GC,12399,1.40,194.8,629.4,10.5,594,12400,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2188,2035
$GC,12709,1.40,194.8,597.3,10.3,609,12710,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2188,2035
$GC,13018,1.40,194.8,565.0,10.4,624,13022,0.00,2.75,0.00,0.000,4,0.000,0.097,3007,3596,2035
$GC,13062,1.40,194.8,559.8,11.0,626,13066,0.00,2.65,0.00,0.000,6,0.000,0.080,3006,2204,2034
$GC,13382,1.40,194.8,526.9,10.4,642,13387,0.00,2.75,0.00,0.000,4,0.000,0.097,3007,777,2035
$GC,13415,1.40,194.8,523.2,11.0,643,13421,0.00,2.72,0.00,0.000,6,0.000,0.081,3007,2205,2034
$GC,13731,1.40,194.8,490.9,10.2,659,13732,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2206,2034
$GC,14040,1.40,194.8,459.2,10.3,674,14041,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2206,2035
$GC,14349,1.41,199.4,427.8,9.8,689,14360,0.00,2.78,5.20,1.032,4,0.000,0.091,3006,782,2018
$GC,14389,1.41,199.4,423.8,10.4,691,14394,0.00,2.70,0.00,0.000,6,0.000,0.081,3007,2195,2019
$GC,14716,1.44,216.9,393.0,9.2,707,14738,0.00,2.78,15.95,1.242,4,0.000,0.095,3007,3600,1946
$GC,14807,1.44,216.9,383.5,10.2,711,14811,0.00,2.65,0.00,0.000,6,0.000,0.077,3007,2208,1946
$GC,15134,1.48,217.5,351.7,10.0,727,15135,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2206,1946
$GC,15443,1.53,220.6,320.6,9.9,742,15454,0.12,2.75,4.78,0.941,4,0.080,0.091,3034,782,1932
$GC,15494,1.47,220.6,314.8,11.8,744,15498,0.00,2.70,0.00,0.000,6,0.000,0.077,3034,2201,1932
$GC,15809,1.47,220.6,278.5,12.1,759,15814,0.00,2.67,0.00,0.000,4,0.000,0.094,3034,3599,1932
$GC,15860,1.42,220.6,271.3,13.1,761,15865,0.15,2.65,0.00,0.000,6,0.118,0.074,3008,2191,1932
$GC,16177,1.47,220.6,235.1,11.2,776,16181,0.00,2.75,0.00,0.000,4,0.000,0.091,3008,3607,1932
$GC,16265,1.47,220.6,224.5,11.7,780,16270,0.00,2.62,0.00,0.000,6,0.000,0.071,3008,2204,1932
$GC,16587,1.52,220.6,190.9,10.3,796,16592,0.00,2.70,0.00,0.000,4,0.000,0.087,3008,3605,1932
$GC,16616,1.52,220.6,187.6,11.0,797,16621,0.00,2.60,0.00,0.000,6,0.000,0.069,3008,2204,1932
$GC,16933,1.59,233.9,155.6,9.4,812,16955,0.17,2.75,12.57,1.023,4,0.071,0.082,3050,782,1878
$GC,17001,1.53,233.9,147.3,14.1,815,17006,0.00,2.65,0.00,0.000,6,0.000,0.069,3050,2195,1878
$GC,17328,1.48,233.9,108.6,11.9,831,17333,0.15,2.65,0.00,0.000,4,0.110,0.080,3024,3609,1878
$GC,17373,1.48,233.9,103.2,11.5,833,17377,0.00,2.62,0.00,0.000,6,0.000,0.064,3023,2188,1878
$GC,17694,1.53,233.9,69.6,10.6,849,17696,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2188,1879
$GC,18005,1.53,234.2,37.9,10.0,864,18009,0.00,2.67,0.00,0.000,4,0.000,0.077,3023,3605,1880
$GC,18113,1.57,234.2,24.1,13.1,869,18117,0.00,2.58,0.00,0.000,6,0.000,0.060,3024,2194,1880
$STATE,18292,end climb,SURFACE_DEPTH_REACHED
$STATE,18292,begin surface coast
$FINISH,0.1,1.027393
$STATE,18315,end surface coast,CONTROL_FINISHED_OK
$STATE,18315,begin surface
$SM_CCo,18337,9.32,0.848,0,0,1811,250.21
$SM_GC,2.32,0.00,0.00,9.32,0.000,0.000,0.848,426,2163,1811,-10.47,-0.76,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029913
$HUMID,1809
$TCM_TEMP,14.50
$XPDR_PINGS,186
$ALTIM_TOP_PING,19.9,999.0
$24V_AH,23.5,4.165
$10V_AH,10.0,1.988
$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,26.200,156.175,337.675,9.325,0.000,37.755,28.851,143.894,55.500,0.000,0.000,16.258,1627.328,14219.655,500.093,1833.366,499.030,33.361,1435.968,0.000,1785.594,0.000,58.587,0.000
$DEVICE_MAMPS,151.099,106.613,1665.157,847.535,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,655.568,596.003,458.935,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44241,879
$CAP_FILE_SIZE,135378,0
$CFSIZE,254472192,251768832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,50,0,0
$GPS,071108,134738,6327.242,-556.602,41,1.2,41,-8.2