version: 66.04
glider: 5
mission: 5
dive: 74
start: 11 17 108 0 9 23
data:
$ID,5
$MISSION,5
$DIVE,74
$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,-88695.023
$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,21
$R_STBD_OVSHOOT,22
$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
$GPS1,000356,6216.583,-321.991,44,1.8,44,-6.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-58.5
$GPS2,000832,6216.628,-321.876,17,1.6,17,-6.4
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FSCN_SE
$TGT_LATLONG,6105.000,-150.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.260,-0.040
$KALMAN_X,48373.0,669.1,662.2,83521.2,-9576.5
$KALMAN_Y,-9616.7,-1269.2,-303.7,-143698.7,8563.7
$MHEAD_RNG_PITCHd_Wd,105.2,156098,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-61.10,0.000,2,0.000,0.000,425,1979,3036
$GC,82,-1.44,-146.6,3.6,-5.3,3,112,10.10,2.62,-11.40,0.000,4,0.136,0.073,2376,3416,3431
$GC,331,-1.23,-146.6,49.1,-18.6,14,336,0.28,2.55,0.00,0.000,6,0.098,0.051,2428,1996,3432
$GC,653,-1.16,-146.6,96.3,-14.6,30,657,0.00,2.53,0.00,0.000,4,0.000,0.066,2428,595,3432
$GC,709,-1.10,-146.6,104.7,-14.7,32,716,0.15,2.50,0.00,0.000,6,0.098,0.051,2457,1998,3432
$GC,1025,-1.10,-146.6,144.9,-12.9,48,1026,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,1998,3433
$GC,1334,-1.10,-146.6,184.9,-12.2,63,1338,0.00,2.53,0.00,0.000,4,0.000,0.064,2457,3405,3433
$GC,1361,-1.10,-146.6,188.3,-12.3,64,1365,0.00,2.55,0.00,0.000,6,0.000,0.051,2457,1977,3434
$GC,1676,-1.10,-146.6,223.2,-11.7,79,1678,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,1978,3434
$GC,1986,-1.10,-146.6,259.0,-12.0,94,1987,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,1978,3434
$GC,2295,-1.10,-146.6,297.9,-13.2,109,2296,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,1977,3435
$GC,2604,-1.10,-146.6,334.6,-10.7,124,2609,0.00,2.65,0.00,0.000,4,0.000,0.070,2457,3409,3434
$GC,2644,-1.10,-146.6,339.2,-12.0,126,2648,0.00,2.58,0.00,0.000,6,0.000,0.058,2457,1986,3435
$GC,2971,-1.10,-146.6,375.6,-11.1,142,2976,0.00,2.65,0.00,0.000,4,0.000,0.074,2457,3409,3434
$GC,3012,-1.14,-146.6,380.4,-11.7,144,3016,0.00,2.55,0.00,0.000,6,0.000,0.062,2457,2007,3435
$GC,3338,-1.14,-146.6,414.2,-10.3,160,3342,0.00,2.60,0.00,0.000,4,0.000,0.077,2457,589,3434
$GC,3427,-1.14,-146.6,424.8,-11.9,164,3432,0.00,2.58,0.00,0.000,6,0.000,0.063,2457,2004,3434
$GC,3754,-1.19,-146.6,463.7,-11.9,180,3758,0.00,2.65,0.00,0.000,4,0.000,0.083,2457,596,3434
$GC,3852,-1.24,-146.6,475.3,-11.6,184,3857,0.12,2.55,0.00,0.000,6,0.068,0.067,2427,1984,3433
$GC,4168,-1.19,-146.6,514.3,-12.0,199,4172,0.00,2.65,0.00,0.000,4,0.000,0.087,2427,3405,3432
$GC,4253,-1.19,-146.6,524.7,-12.5,203,4257,0.00,2.60,0.00,0.000,6,0.000,0.074,2428,2002,3431
$STATE,4412,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4412,begin apogee
$GC,4419,-0.33,0.0,544.0,12.0,211,4543,0.95,0.00,120.78,1.289,6,0.095,0.000,2622,2255,2832
$STATE,4544,end apogee,CONTROL_FINISHED_OK
$STATE,4544,begin climb
$GC,4547,1.44,146.6,549.8,0.0,217,4674,1.83,2.72,119.12,1.244,4,0.074,0.089,3009,3651,2234
$GC,4754,1.39,166.3,538.2,9.1,226,4780,0.00,2.65,17.23,1.157,6,0.000,0.075,3010,2251,2154
$GC,5090,1.43,193.1,508.0,8.8,243,5119,0.00,2.78,23.27,1.195,4,0.000,0.087,3010,844,2044
$GC,5188,1.43,193.1,497.9,10.9,247,5193,0.00,2.60,0.00,0.000,6,0.000,0.072,3010,2224,2043
$GC,5504,1.43,193.1,466.2,10.1,262,5505,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2225,2043
$GC,5813,1.49,225.9,437.6,8.5,277,5848,0.00,2.78,27.33,1.224,4,0.000,0.085,3010,845,1909
$GC,5933,1.49,229.5,426.0,9.8,282,5944,0.00,2.60,4.45,0.884,6,0.000,0.072,3010,2224,1896
$GC,6254,1.56,231.2,394.2,9.9,298,6259,0.12,2.65,0.00,0.000,4,0.069,0.086,3040,846,1894
$GC,6276,1.56,231.2,391.5,11.8,299,6281,0.00,2.55,0.00,0.000,6,0.000,0.073,3040,2202,1895
$GC,6597,1.56,231.2,356.9,10.2,315,6602,0.00,2.75,0.00,0.000,4,0.000,0.088,3040,3656,1894
$GC,6665,1.50,231.2,349.9,10.4,318,6669,0.00,2.70,0.00,0.000,6,0.000,0.072,3040,2211,1894
$GC,6985,1.50,231.2,315.8,11.4,334,6987,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2211,1894
$GC,7295,1.50,231.2,281.0,11.8,349,7299,0.00,2.55,0.00,0.000,4,0.000,0.079,3040,838,1893
$GC,7335,1.50,231.2,276.0,13.1,351,7340,0.00,2.50,0.00,0.000,6,0.000,0.066,3040,2193,1892
$GC,7662,1.50,231.2,238.4,11.6,367,7667,0.00,2.72,0.00,0.000,4,0.000,0.079,3040,3659,1893
$GC,7729,1.50,231.2,230.4,11.8,370,7733,0.00,2.67,0.00,0.000,6,0.000,0.061,3040,2193,1893
$GC,8050,1.50,231.2,196.5,10.8,386,8051,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2194,1893
$GC,8359,1.50,231.2,162.3,11.8,401,8364,0.00,2.72,0.00,0.000,4,0.000,0.071,3041,3660,1893
$GC,8392,1.50,231.2,157.6,13.4,402,8399,0.00,2.62,0.00,0.000,6,0.000,0.058,3041,2204,1894
$GC,8709,1.50,231.2,118.2,12.5,418,8710,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2204,1894
$GC,9018,1.50,231.2,75.8,13.6,433,9019,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2204,1895
$GC,9328,1.50,231.2,36.0,12.1,448,9333,0.00,2.67,0.00,0.000,4,0.000,0.066,3040,3660,1896
$GC,9351,1.50,231.2,33.3,11.7,449,9356,0.00,2.58,0.00,0.000,6,0.000,0.051,3041,2217,1896
$STATE,9610,end climb,SURFACE_DEPTH_REACHED
$STATE,9610,begin surface coast
$FINISH,0.5,1.013790
$STATE,9651,end surface coast,CONTROL_FINISHED_OK
$STATE,9651,begin surface
$SM_CCo,9674,11.82,0.815,0,0,1811,250.21
$SM_GC,2.07,0.00,0.00,11.82,0.000,0.000,0.815,424,1981,1811,-10.47,-0.54,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1806
$TCM_TEMP,16.70
$XPDR_PINGS,180
$ALTIM_TOP_PING,18.9,999.0
$ALTIM_BOTTOM_PING,475.3,77.1
$24V_AH,23.8,13.640
$10V_AH,10.1,5.867
$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,25.050,90.000,312.175,11.825,0.000,37.779,27.307,105.770,49.250,0.000,0.000,17.282,897.054,7213.670,425.185,1083.745,351.787,33.358,990.306,0.000,1057.542,0.000,29.525,0.000
$DEVICE_MAMPS,135.759,88.972,1288.560,814.554,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,346.927,312.415,309.330,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22293,464
$CAP_FILE_SIZE,76743,0
$CFSIZE,254472192,248684544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,25,0,0
$GPS,171108,025148,6217.172,-317.419,10,1.7,19,-6.4