version: 66.04
glider: 5
mission: 5
dive: 10
start: 11 8 108 0 32 40
data:
$ID,5
$MISSION,5
$DIVE,10
$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,-87448.383
$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,2000
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,14
$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
$GPS1,002007,6321.881,-556.875,31,0.9,31,-8.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-59.7
$GPS2,003149,6321.855,-556.660,11,1.0,15,-8.2
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,NSEC_S
$TGT_LATLONG,6240.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.186,-0.187
$KALMAN_X,20914.6,128.7,-336.9,-14574.9,3170.3
$KALMAN_Y,-9201.3,64.6,-219.8,-24747.1,-1974.0
$MHEAD_RNG_PITCHd_Wd,232.9,77839,-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,-81.07,0.000,2,0.000,0.000,425,1978,3407
$GC,102,-1.44,-146.6,5.2,-6.6,4,119,10.45,2.58,-0.52,0.000,4,0.151,0.081,2375,584,3430
$GC,252,-1.25,-146.6,37.5,-16.7,9,259,0.28,2.60,0.00,0.000,6,0.103,0.060,2427,2009,3432
$GC,569,-1.19,-146.6,82.3,-14.4,25,570,0.00,0.00,0.00,0.000,6,0.000,0.000,2428,2009,3432
$GC,880,-1.14,-146.6,127.8,-14.8,40,885,0.12,2.65,0.00,0.000,4,0.114,0.075,2450,597,3432
$GC,907,-1.14,-146.6,132.5,-14.3,41,912,0.00,2.55,0.00,0.000,6,0.000,0.061,2451,1993,3433
$GC,1224,-1.14,-146.6,171.4,-11.7,56,1228,0.00,2.62,0.00,0.000,4,0.000,0.075,2451,3409,3433
$GC,1257,-1.14,-146.6,175.5,-12.9,57,1263,0.00,2.58,0.00,0.000,6,0.000,0.060,2451,2002,3433
$GC,1573,-1.14,-146.6,212.5,-11.8,73,1577,0.00,2.65,0.00,0.000,4,0.000,0.074,2451,3412,3433
$GC,1594,-1.14,-146.6,215.2,-11.9,74,1598,0.00,2.58,0.00,0.000,6,0.000,0.061,2451,2001,3434
$GC,1915,-1.14,-146.6,250.2,-10.6,90,1916,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2002,3434
$GC,2224,-1.14,-146.6,283.8,-10.6,105,2228,0.00,2.67,0.00,0.000,4,0.000,0.079,2451,3413,3434
$GC,2251,-1.14,-146.6,286.7,-10.7,106,2255,0.00,2.58,0.00,0.000,6,0.000,0.064,2451,2018,3434
$GC,2567,-1.14,-146.6,319.8,-10.3,121,2568,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2018,3434
$GC,2876,-1.14,-146.6,353.3,-11.2,136,2881,0.00,2.67,0.00,0.000,4,0.000,0.085,2451,3412,3433
$GC,2926,-1.20,-146.6,359.3,-11.7,138,2931,0.00,2.60,0.00,0.000,6,0.000,0.068,2451,2014,3433
$GC,3242,-1.20,-146.6,395.1,-10.9,153,3243,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2014,3433
$GC,3551,-1.20,-146.6,427.6,-10.4,168,3556,0.00,2.67,0.00,0.000,4,0.000,0.088,2451,591,3432
$GC,3579,-1.20,-146.6,430.7,-11.4,169,3583,0.00,2.65,0.00,0.000,6,0.000,0.073,2450,2017,3432
$GC,3895,-1.24,-146.6,462.1,-10.2,184,3896,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2017,3432
$GC,4204,-1.29,-146.6,493.6,-10.3,199,4206,0.15,0.00,0.00,0.000,6,0.072,0.000,2416,2017,3431
$GC,4513,-1.23,-146.6,531.0,-12.1,214,4515,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,2017,3430
$GC,4823,-1.17,-146.6,569.3,-12.5,229,4828,0.12,2.72,0.00,0.000,4,0.121,0.090,2440,593,3429
$GC,4878,-1.17,-146.6,576.4,-12.8,231,4885,0.00,2.67,0.00,0.000,6,0.000,0.077,2440,2015,3430
$GC,5194,-1.17,-146.6,612.2,-11.2,247,5195,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,2015,3428
$GC,5503,-1.17,-146.6,645.0,-10.2,262,5508,0.00,2.65,0.00,0.000,4,0.000,0.096,2440,3409,3427
$GC,5530,-1.17,-146.6,647.8,-10.6,263,5535,0.00,2.65,0.00,0.000,6,0.000,0.080,2440,2014,3427
$GC,5846,-1.17,-146.6,678.7,-9.7,278,5847,0.00,0.00,0.00,0.000,6,0.000,0.000,2439,2006,3427
$GC,6155,-1.17,-146.6,709.9,-10.1,293,6156,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,2006,3426
$GC,6464,-1.17,-146.6,741.9,-10.5,308,6469,0.00,2.70,0.00,0.000,4,0.000,0.095,2440,592,3425
$GC,6497,-1.17,-146.6,745.7,-11.4,309,6504,0.00,2.70,0.00,0.000,6,0.000,0.083,2440,2019,3425
$GC,6813,-1.17,-146.6,778.1,-10.3,325,6814,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,2019,3424
$GC,7122,-1.17,-146.6,810.4,-10.7,340,7127,0.00,2.78,0.00,0.000,4,0.000,0.096,2440,589,3423
$GC,7162,-1.17,-146.6,814.7,-11.1,342,7166,0.00,2.70,0.00,0.000,6,0.000,0.081,2440,2017,3423
$GC,7488,-1.17,-146.6,847.7,-10.2,358,7489,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,2017,3423
$GC,7798,-1.17,-146.6,877.7,-9.6,373,7799,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,2017,3423
$GC,8106,-1.17,-146.6,908.0,-10.0,388,8108,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,2017,3422
$GC,8416,-1.17,-146.6,938.5,-9.8,403,8417,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,2017,3422
$GC,8725,-1.17,-146.6,968.2,-9.4,418,8727,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,2017,3422
$STATE,8970,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8970,begin apogee
$GC,8977,-0.33,0.0,991.5,9.6,430,9106,0.90,0.00,125.72,1.690,6,0.103,0.000,2623,2254,2832
$STATE,9107,end apogee,CONTROL_FINISHED_OK
$STATE,9107,begin climb
$GC,9110,1.44,146.6,995.7,0.0,436,9241,1.83,0.00,125.95,1.634,6,0.083,0.000,3011,2254,2234
$GC,9548,1.38,146.7,958.6,10.0,458,9550,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2253,2233
$GC,9858,1.32,151.8,928.4,9.8,473,9866,0.12,0.00,6.03,1.245,6,0.117,0.000,2990,2253,2213
$GC,10167,1.36,176.4,901.3,8.9,488,10191,0.00,0.00,22.65,1.541,6,0.000,0.000,2990,2254,2113
$GC,10496,1.38,190.8,870.7,9.3,504,10515,0.00,0.00,13.98,1.484,6,0.000,0.000,2990,2253,2053
$GC,10825,1.39,194.5,838.4,9.8,520,10835,0.00,2.83,4.90,1.146,4,0.000,0.094,2990,836,2039
$GC,10887,1.39,194.5,831.9,11.2,523,10892,0.00,2.72,0.00,0.000,6,0.000,0.081,2990,2246,2039
$GC,11214,1.43,194.5,799.4,10.1,539,11218,0.00,2.78,0.00,0.000,4,0.000,0.097,2990,842,2039
$GC,11254,1.43,194.5,795.1,10.4,541,11258,0.00,2.70,0.00,0.000,6,0.000,0.082,2990,2245,2039
$GC,11581,1.48,194.5,761.8,10.3,557,11586,0.15,2.78,0.00,0.000,4,0.074,0.096,3022,836,2039
$GC,11614,1.39,194.5,757.7,12.5,558,11621,0.00,2.67,0.00,0.000,6,0.000,0.081,3022,2232,2038
$GC,11930,1.39,194.5,720.3,11.9,574,11935,0.00,2.75,0.00,0.000,4,0.000,0.096,3022,835,2038
$GC,11970,1.32,194.5,715.5,11.5,576,11976,0.20,2.65,0.00,0.000,6,0.116,0.083,2987,2217,2038
$GC,12300,1.38,196.0,682.6,9.9,592,12301,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2218,2038
$GC,12607,1.44,196.0,651.0,10.2,607,12612,0.12,2.70,0.00,0.000,4,0.078,0.095,3013,839,2038
$GC,12663,1.38,196.0,644.2,12.4,609,12669,0.00,2.62,0.00,0.000,6,0.000,0.082,3013,2212,2038
$GC,12979,1.38,196.0,608.7,11.2,625,12983,0.00,2.67,0.00,0.000,4,0.000,0.094,3013,840,2038
$GC,13013,1.38,196.0,604.7,11.7,626,13019,0.00,2.62,0.00,0.000,6,0.000,0.082,3013,2212,2038
$GC,13328,1.38,196.0,569.9,11.0,642,13330,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2212,2038
$GC,13638,1.38,196.0,536.4,10.8,657,13642,0.00,2.67,0.00,0.000,4,0.000,0.093,3013,835,2038
$GC,13682,1.38,196.0,531.1,11.8,659,13686,0.00,2.60,0.00,0.000,6,0.000,0.081,3013,2199,2038
$GC,14002,1.38,196.0,496.6,10.7,675,14003,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2199,2038
$GC,14311,1.38,196.0,464.8,10.0,690,14313,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2199,2038
$GC,14621,1.38,197.4,433.8,9.9,705,14627,0.00,0.00,3.85,0.888,6,0.000,0.000,3013,2199,2027
$GC,14930,1.38,197.4,401.0,10.7,720,14931,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2199,2027
$GC,15240,1.38,197.4,369.4,10.1,735,15241,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2199,2027
$GC,15549,1.38,197.4,336.5,10.7,750,15550,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2199,2027
$GC,15858,1.41,211.8,306.5,9.3,765,15880,0.00,2.70,13.73,1.164,4,0.000,0.087,3012,845,1968
$GC,15908,1.41,211.8,301.4,10.1,767,15912,0.00,2.55,0.00,0.000,6,0.000,0.077,3013,2185,1968
$GC,16229,1.41,211.8,268.9,10.5,783,16233,0.00,2.80,0.00,0.000,4,0.000,0.091,3013,3659,1968
$GC,16278,1.41,211.8,263.1,11.6,785,16283,0.00,2.75,0.00,0.000,6,0.000,0.072,3013,2192,1968
$GC,16594,1.42,218.7,231.0,9.7,800,16609,0.00,2.90,7.12,1.012,4,0.000,0.087,3013,3658,1940
$GC,16626,1.42,218.7,227.5,11.8,801,16631,0.00,2.78,0.00,0.000,6,0.000,0.069,3013,2181,1940
$GC,16943,1.47,251.2,197.3,8.5,816,16972,0.00,0.00,27.45,1.104,6,0.000,0.000,3012,2181,1807
$GC,17274,1.55,251.3,167.7,10.0,832,17279,0.10,2.83,0.00,0.000,4,0.077,0.081,3036,3663,1807
$GC,17314,1.55,251.3,163.1,11.8,834,17319,0.00,2.72,0.00,0.000,6,0.000,0.065,3036,2185,1807
$GC,17641,1.55,251.3,126.3,11.5,850,17642,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2186,1808
$GC,17952,1.55,251.3,91.1,11.2,865,17953,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2186,1809
$GC,18259,1.55,251.3,55.0,11.6,880,18264,0.00,2.78,0.00,0.000,4,0.000,0.077,3036,3658,1810
$GC,18303,1.55,251.3,49.2,12.0,882,18308,0.00,2.67,0.00,0.000,6,0.000,0.060,3036,2196,1810
$GC,18625,1.55,251.3,10.3,11.8,898,18626,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2196,1811
$STATE,18684,end climb,SURFACE_DEPTH_REACHED
$STATE,18684,begin surface coast
$FINISH,0.1,1.027369
$STATE,18707,end surface coast,CONTROL_FINISHED_OK
$STATE,18708,begin surface
$SM_CCo,18791,0.00,0.000,0,0,1810,250.45
$SM_GC,0.99,11.62,0.00,0.00,0.047,0.000,0.000,424,1990,1810,-10.40,-0.28,250.45
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1809
$TCM_TEMP,15.80
$XPDR_PINGS,176
$ALTIM_TOP_PING,19.8,18.9
$24V_AH,23.5,4.704
$10V_AH,10.0,2.232
$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,26.175,124.275,351.375,0.000,0.000,113.273,199.216,146.299,53.000,0.000,0.000,15.439,1622.777,14888.259,504.376,1732.970,742.451,33.356,1376.221,0.000,1694.143,0.000,58.569,0.000
$DEVICE_MAMPS,151.099,96.642,1690.468,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,673.915,611.001,460.632,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44231,902
$CAP_FILE_SIZE,129189,0
$CFSIZE,254472192,251580416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,39,0,0
$GPS,081108,054708,6318.842,-557.844,41,0.9,41,-8.2