version: 66.04
glider: 5
mission: 5
dive: 44
start: 11 12 108 14 24 6
data:
$ID,5
$MISSION,5
$DIVE,44
$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,-88090.562
$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,28
$R_STBD_OVSHOOT,20
$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
$GPS1,141752,6246.644,-440.642,59,1.6,67,-7.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-59.0
$GPS2,142315,6246.659,-440.610,13,1.2,13,-7.3
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FC1K
$TGT_LATLONG,6247.000,-415.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.263,-0.018
$KALMAN_X,48353.8,367.4,-20.5,19869.9,1919.6
$KALMAN_Y,-30746.4,90.0,-445.9,-68192.5,568.4
$MHEAD_RNG_PITCHd_Wd,101.2,21702,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.44,-146.6,0.0,0.0,0,100,0.00,0.00,-78.80,0.000,6,0.000,0.000,423,1975,3431
$GC,103,-1.44,-146.6,5.7,-6.6,4,117,10.12,0.00,0.00,0.000,6,0.138,0.000,2378,1970,3432
$GC,436,-1.21,-146.6,72.2,-16.3,20,441,0.25,2.53,0.00,0.000,4,0.099,0.065,2430,591,3433
$GC,503,-1.15,-146.6,82.8,-15.9,23,507,0.00,2.53,0.00,0.000,6,0.000,0.053,2431,2002,3433
$GC,827,-1.08,-146.6,127.1,-13.3,39,829,0.17,0.00,0.00,0.000,6,0.094,0.000,2466,2003,3434
$GC,1133,-1.08,-146.6,161.7,-11.1,54,1134,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2003,3435
$GC,1442,-1.08,-146.6,197.2,-11.5,69,1443,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2004,3434
$GC,1751,-1.08,-146.6,231.3,-11.1,84,1756,0.00,2.58,0.00,0.000,4,0.000,0.067,2466,596,3434
$GC,1818,-1.08,-146.6,238.9,-11.3,87,1822,0.00,2.53,0.00,0.000,6,0.000,0.054,2466,2006,3434
$GC,2141,-1.08,-146.6,276.1,-12.0,103,2145,0.00,2.55,0.00,0.000,4,0.000,0.071,2466,3409,3435
$GC,2168,-1.08,-146.6,280.2,-13.2,104,2173,0.00,2.55,0.00,0.000,6,0.000,0.055,2465,1993,3435
$GC,2484,-1.08,-146.6,319.2,-12.1,119,2488,0.00,2.53,0.00,0.000,4,0.000,0.070,2466,593,3435
$GC,2505,-1.08,-146.6,321.9,-12.3,120,2510,0.00,2.55,0.00,0.000,6,0.000,0.055,2466,2020,3435
$GC,2826,-1.08,-146.6,357.2,-11.3,136,2831,0.00,2.62,0.00,0.000,4,0.000,0.071,2466,589,3435
$GC,2854,-1.13,-146.6,360.5,-11.8,137,2858,0.00,2.55,0.00,0.000,6,0.000,0.057,2466,2006,3435
$GC,3170,-1.18,-146.6,394.7,-10.3,152,3175,0.12,2.62,0.00,0.000,4,0.059,0.071,2433,595,3435
$GC,3260,-1.14,-146.6,405.6,-12.3,156,3264,0.00,2.45,0.00,0.000,6,0.000,0.057,2433,1960,3435
$GC,3581,-1.14,-146.6,442.6,-11.8,172,3585,0.00,2.65,0.00,0.000,4,0.000,0.075,2433,3405,3435
$GC,3692,-1.14,-146.6,455.4,-11.4,177,3697,0.00,2.62,0.00,0.000,6,0.000,0.060,2433,1956,3435
$GC,4014,-1.14,-146.6,491.8,-10.5,193,4018,0.00,2.72,0.00,0.000,4,0.000,0.077,2433,3408,3435
$GC,4041,-1.14,-146.6,494.7,-10.9,194,4045,0.00,2.62,0.00,0.000,6,0.000,0.064,2433,1971,3435
$GC,4356,-1.14,-146.6,529.1,-11.1,209,4358,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,1971,3435
$GC,4665,-1.14,-146.6,563.3,-11.1,224,4667,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,1971,3433
$GC,4975,-1.14,-146.6,598.3,-10.7,239,4979,0.00,2.58,0.00,0.000,4,0.000,0.088,2433,596,3433
$GC,5003,-1.10,-146.6,601.4,-11.7,240,5008,0.12,2.53,0.00,0.000,6,0.115,0.071,2456,1960,3432
$GC,5321,-1.15,-146.6,632.0,-9.6,255,5326,0.00,2.75,0.00,0.000,4,0.000,0.095,2456,3405,3431
$GC,5383,-1.22,-146.6,638.5,-10.2,258,5388,0.00,2.70,0.00,0.000,6,0.000,0.076,2456,1963,3431
$GC,5711,-1.28,-146.6,668.7,-9.1,274,5716,0.15,2.80,0.00,0.000,4,0.076,0.094,2420,3411,3429
$GC,5738,-1.28,-146.6,671.7,-10.9,275,5743,0.00,2.70,0.00,0.000,6,0.000,0.077,2420,1972,3429
$GC,6054,-1.23,-146.6,705.4,-10.7,290,6059,0.00,2.62,0.00,0.000,4,0.000,0.095,2421,586,3428
$GC,6077,-1.16,-146.6,708.0,-11.0,291,6082,0.15,2.60,0.00,0.000,6,0.117,0.077,2448,1975,3428
$GC,6399,-1.16,-146.6,739.1,-9.8,307,6403,0.00,2.75,0.00,0.000,4,0.000,0.097,2448,3413,3426
$GC,6443,-1.20,-146.6,743.6,-10.3,309,6448,0.00,2.70,0.00,0.000,6,0.000,0.077,2448,1975,3426
$GC,6765,-1.20,-146.6,774.2,-9.6,325,6766,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1976,3424
$GC,7075,-1.25,-146.6,804.1,-9.8,340,7079,0.00,2.80,0.00,0.000,4,0.000,0.098,2448,3410,3423
$GC,7107,-1.25,-146.6,807.7,-10.2,341,7113,0.00,2.67,0.00,0.000,6,0.000,0.081,2448,1992,3423
$GC,7423,-1.29,-146.6,840.2,-10.4,357,7425,0.15,0.00,0.00,0.000,6,0.079,0.000,2415,1992,3422
$GC,7733,-1.25,-146.6,877.5,-12.0,372,7734,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1992,3421
$STATE,8019,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8019,begin apogee
$GC,8026,-0.33,0.0,911.7,11.4,386,8153,1.02,0.00,123.72,1.610,6,0.107,0.000,2622,2251,2832
$STATE,8154,end apogee,CONTROL_FINISHED_OK
$STATE,8154,begin climb
$GC,8157,1.44,146.6,915.7,0.0,392,8290,1.85,2.83,124.57,1.559,4,0.081,0.090,3010,843,2234
$GC,8352,1.34,149.4,906.2,9.9,401,8363,0.00,2.70,4.05,0.946,6,0.000,0.079,3010,2247,2223
$GC,8674,1.28,149.6,874.2,10.0,417,8675,0.17,0.00,0.00,0.000,6,0.106,0.000,2978,2247,2222
$GC,8983,1.36,168.5,846.3,9.1,432,9005,0.00,2.85,17.40,1.447,4,0.000,0.091,2978,845,2145
$GC,9039,1.36,168.5,840.5,10.5,434,9043,0.00,2.70,0.00,0.000,6,0.000,0.081,2978,2242,2145
$GC,9355,1.42,177.6,810.4,9.6,449,9367,0.15,0.00,9.57,1.348,6,0.071,0.000,3013,2243,2107
$GC,9663,1.42,177.6,777.1,10.9,464,9667,0.00,2.72,0.00,0.000,4,0.000,0.094,3013,843,2106
$GC,9696,1.37,177.6,773.3,11.6,465,9703,0.00,2.67,0.00,0.000,6,0.000,0.082,3012,2240,2106
$GC,10012,1.37,177.6,739.0,10.9,481,10013,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2239,2106
$GC,10321,1.37,177.6,704.7,11.2,496,10326,0.00,2.72,0.00,0.000,4,0.000,0.093,3012,841,2105
$GC,10343,1.37,177.6,702.1,11.3,497,10347,0.00,2.65,0.00,0.000,6,0.000,0.081,3012,2231,2105
$GC,10664,1.37,177.6,667.9,10.4,513,10665,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2231,2105
$GC,10973,1.38,183.9,636.7,9.7,528,10987,0.00,2.78,6.53,1.207,4,0.000,0.090,3012,843,2082
$GC,11022,1.33,183.9,631.5,10.5,530,11027,0.12,2.65,0.00,0.000,6,0.116,0.079,2992,2228,2082
$GC,11344,1.42,207.7,603.1,8.9,546,11368,0.00,0.00,21.42,1.394,6,0.000,0.000,2991,2229,1985
$GC,11673,1.51,222.9,572.8,9.3,562,11695,0.17,2.78,14.02,1.335,4,0.072,0.091,3034,837,1923
$GC,11746,1.43,222.9,564.0,12.5,565,11751,0.12,2.65,0.00,0.000,6,0.120,0.080,3013,2224,1922
$GC,12068,1.43,222.9,529.6,10.8,581,12072,0.00,2.67,0.00,0.000,4,0.000,0.091,3013,844,1922
$GC,12101,1.43,222.9,525.7,11.2,582,12107,0.00,2.58,0.00,0.000,6,0.000,0.079,3013,2199,1922
$GC,12416,1.43,222.9,492.9,10.2,598,12421,0.00,2.62,0.00,0.000,4,0.000,0.090,3013,838,1922
$GC,12438,1.43,222.9,490.4,11.3,599,12442,0.00,2.55,0.00,0.000,6,0.000,0.077,3013,2186,1922
$GC,12759,1.44,228.3,459.0,9.8,615,12772,0.00,2.85,6.15,1.105,4,0.000,0.094,3013,3656,1901
$GC,12813,1.44,228.3,453.0,10.8,617,12817,0.00,2.80,0.00,0.000,6,0.000,0.074,3013,2166,1900
$GC,13129,1.49,228.3,420.4,10.3,632,13130,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2166,1901
$GC,13438,1.53,228.3,389.1,10.5,647,13443,0.00,2.88,0.00,0.000,4,0.000,0.087,3013,3660,1901
$GC,13465,1.53,228.3,385.8,11.6,648,13470,0.00,2.78,0.00,0.000,6,0.000,0.069,3013,2166,1900
$GC,13781,1.53,228.3,349.4,11.3,663,13782,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2166,1901
$GC,14090,1.59,228.3,315.0,11.0,678,14096,0.15,2.83,0.00,0.000,4,0.067,0.078,3048,3662,1901
$GC,14186,1.53,228.3,302.0,13.6,682,14191,0.00,2.70,0.00,0.000,6,0.000,0.060,3048,2179,1901
$GC,14502,1.48,228.3,260.3,13.2,697,14508,0.12,2.78,0.00,0.000,4,0.111,0.074,3025,3663,1902
$GC,14524,1.48,228.3,257.3,13.3,698,14529,0.00,2.67,0.00,0.000,6,0.000,0.057,3026,2185,1902
$GC,14845,1.48,228.3,220.0,11.5,714,14850,0.00,2.75,0.00,0.000,4,0.000,0.073,3025,3659,1903
$GC,14908,1.48,228.3,212.3,11.7,717,14913,0.00,2.60,0.00,0.000,6,0.000,0.055,3025,2211,1903
$GC,15234,1.48,228.3,174.4,11.6,733,15238,0.00,2.47,0.00,0.000,4,0.000,0.067,3025,844,1905
$GC,15256,1.48,228.3,171.8,11.2,734,15260,0.00,2.50,0.00,0.000,6,0.000,0.058,3025,2224,1905
$GC,15577,1.48,228.3,135.3,11.3,750,15581,0.00,2.62,0.00,0.000,4,0.000,0.072,3025,3660,1906
$GC,15609,1.48,228.3,131.1,12.1,751,15616,0.00,2.60,0.00,0.000,6,0.000,0.054,3025,2210,1906
$GC,15927,1.48,228.3,95.9,10.8,767,15931,0.00,2.47,0.00,0.000,4,0.000,0.067,3025,842,1907
$GC,15944,1.48,228.3,93.9,11.0,768,15949,0.00,2.53,0.00,0.000,6,0.000,0.055,3025,2249,1907
$GC,16272,1.48,228.3,57.4,10.8,784,16273,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2249,1908
$GC,16581,1.48,228.3,21.9,11.7,799,16585,0.00,2.58,0.00,0.000,4,0.000,0.070,3025,3663,1909
$GC,16608,1.48,228.3,18.7,11.4,800,16612,0.00,2.55,0.00,0.000,6,0.000,0.051,3025,2235,1909
$STATE,16737,end climb,SURFACE_DEPTH_REACHED
$STATE,16737,begin surface coast
$FINISH,1.5,1.027323
$STATE,16758,end surface coast,CONTROL_FINISHED_OK
$STATE,16758,begin surface
$SM_CCo,16781,13.20,0.812,0,0,1811,250.21
$SM_GC,2.08,0.00,0.00,13.20,0.000,0.000,0.812,421,1969,1811,-10.48,-0.88,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1803
$TCM_TEMP,17.00
$XPDR_PINGS,263
$ALTIM_TOP_PING,19.9,18.4
$ALTIM_BOTTOM_PING,852.3,67.7
$24V_AH,23.6,9.310
$10V_AH,10.0,4.106
$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,26.525,165.400,327.450,13.200,0.000,37.756,36.192,135.950,73.750,0.000,0.000,13.671,1507.895,12944.383,503.058,1672.585,491.986,33.352,1369.465,0.000,1631.739,0.000,53.419,0.000
$DEVICE_MAMPS,138.060,98.176,1609.933,812.253,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,603.656,546.729,431.360,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41112,807
$CAP_FILE_SIZE,130708,0
$CFSIZE,254472192,250052608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,50,0,0
$GPS,121108,190509,6245.979,-433.060,28,1.9,29,-7.2