version: 66.04
glider: 5
mission: 5
dive: 145
start: 12 4 108 11 41 31
data:
$ID,5
$MISSION,5
$DIVE,145
$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,550
$T_MISSION,580
$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,-90068.883
$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,43
$R_STBD_OVSHOOT,18
$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
$GPS1,113407,6131.799,-430.944,40,1.8,46,-6.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-54.3
$GPS2,114040,6131.862,-431.096,11,2.2,30,-6.8
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,ESEC_NW
$TGT_LATLONG,6140.000,-445.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.156,0.157
$KALMAN_X,72227.8,-467.2,357.5,4296.6,-1384.5
$KALMAN_Y,31704.3,-979.0,-310.3,-268187.8,3364.9
$MHEAD_RNG_PITCHd_Wd,322.2,19404,-11.0,-6.000
$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,15,-0.97,-146.6,0.0,0.0,0,119,0.00,0.00,-101.82,0.000,2,0.000,0.000,426,1962,3212
$GC,123,-0.97,-146.6,3.4,-3.3,5,146,10.70,2.47,-5.60,0.000,4,0.140,0.078,2483,604,3429
$GC,399,-0.75,-146.6,46.4,-11.4,17,405,0.25,2.50,0.00,0.000,6,0.089,0.050,2536,2009,3429
$GC,722,-0.67,-146.6,65.5,-7.4,33,726,0.00,2.55,0.00,0.000,4,0.000,0.064,2536,614,3429
$GC,856,-0.60,-146.6,83.5,-13.7,39,861,0.15,2.47,0.00,0.000,6,0.096,0.051,2566,1999,3429
$GC,1180,-0.60,-146.6,107.9,-4.3,55,1181,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2019,3429
$GC,1487,-0.60,-146.6,130.4,-7.5,70,1488,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2003,3429
$GC,1796,-0.60,-146.6,158.3,-8.5,85,1797,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2003,3429
$GC,2105,-0.60,-146.6,180.4,-6.6,100,2109,0.00,2.53,0.00,0.000,4,0.000,0.064,2566,3406,3429
$GC,2146,-0.64,-146.6,183.1,-6.9,102,2150,0.00,2.50,0.00,0.000,6,0.000,0.050,2567,2000,3429
$GC,2472,-0.64,-146.6,203.7,-6.1,118,2473,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1999,3429
$GC,2781,-0.64,-146.6,223.9,-6.7,133,2786,0.00,2.58,0.00,0.000,4,0.000,0.063,2566,3412,3429
$GC,2826,-0.69,-146.6,227.0,-6.9,135,2830,0.00,2.53,0.00,0.000,6,0.000,0.051,2567,1996,3429
$GC,3147,-0.69,-146.6,248.5,-6.7,151,3151,0.00,2.58,0.00,0.000,4,0.000,0.064,2566,3408,3429
$GC,3180,-0.74,-146.6,250.8,-7.0,152,3187,0.12,2.53,0.00,0.000,6,0.056,0.052,2531,1993,3429
$GC,3499,-0.67,-146.6,276.2,-8.2,168,3501,0.10,0.00,0.00,0.000,6,0.095,0.000,2551,1991,3429
$GC,3807,-0.67,-146.6,300.0,-7.5,183,3811,0.00,2.58,0.00,0.000,4,0.000,0.064,2551,3406,3429
$GC,3856,-0.67,-146.6,304.0,-7.6,185,3860,0.00,2.50,0.00,0.000,6,0.000,0.052,2551,2006,3429
$GC,4172,-0.67,-146.6,327.0,-7.4,200,4176,0.00,2.53,0.00,0.000,4,0.000,0.067,2552,598,3429
$GC,4205,-0.67,-146.6,329.6,-8.4,201,4211,0.00,2.53,0.00,0.000,6,0.000,0.054,2551,2016,3429
$GC,4520,-0.67,-146.6,351.7,-6.6,217,4525,0.00,2.60,0.00,0.000,4,0.000,0.071,2551,594,3429
$GC,4554,-0.67,-146.6,354.1,-6.6,218,4560,0.00,2.53,0.00,0.000,6,0.000,0.054,2551,2009,3429
$GC,4869,-0.67,-146.6,373.7,-6.4,234,4871,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2009,3429
$GC,5179,-0.67,-146.6,392.3,-6.0,249,5180,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2009,3429
$GC,5488,-0.67,-146.6,411.2,-5.8,264,5489,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2010,3429
$GC,5797,-0.67,-146.6,431.3,-6.9,279,5802,0.00,2.58,0.00,0.000,4,0.000,0.076,2551,3411,3428
$GC,5860,-0.67,-146.6,436.1,-8.1,282,5864,0.00,2.60,0.00,0.000,6,0.000,0.066,2551,1991,3428
$GC,6186,-0.67,-146.6,457.6,-6.2,298,6187,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1991,3427
$GC,6496,-0.67,-146.6,478.0,-7.0,313,6500,0.00,2.65,0.00,0.000,4,0.000,0.078,2552,3405,3426
$GC,6539,-0.67,-146.6,481.4,-7.7,315,6544,0.00,2.58,0.00,0.000,6,0.000,0.068,2551,2001,3426
$GC,6861,-0.67,-146.6,503.3,-6.7,331,6862,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2001,3425
$GC,7170,-0.67,-146.6,524.2,-7.3,346,7172,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2001,3424
$GC,7479,-0.67,-146.6,545.2,-6.6,361,7480,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2001,3423
$GC,7788,-0.67,-146.6,565.7,-7.0,376,7793,0.00,2.65,0.00,0.000,4,0.000,0.082,2551,3404,3422
$GC,7833,-0.71,-146.6,569.2,-8.2,378,7838,0.00,2.58,0.00,0.000,6,0.000,0.073,2551,2018,3422
$GC,8154,-0.71,-146.6,591.4,-6.7,394,8155,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2018,3421
$GC,8464,-0.71,-146.6,610.8,-6.0,409,8468,0.00,2.65,0.00,0.000,4,0.000,0.086,2551,3408,3420
$GC,8496,-0.71,-146.6,612.9,-6.9,410,8503,0.00,2.60,0.00,0.000,6,0.000,0.076,2551,2018,3420
$GC,8813,-0.75,-146.6,632.6,-6.1,426,8814,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2018,3419
$GC,9121,-0.75,-146.6,651.6,-6.5,441,9123,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2017,3418
$STATE,9160,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9160,begin apogee
$GC,9167,-0.33,0.0,654.3,6.5,443,9291,0.35,0.00,120.80,1.399,6,0.087,0.000,2624,2247,2832
$STATE,9292,end apogee,CONTROL_FINISHED_OK
$STATE,9292,begin climb
$GC,9295,0.97,146.6,654.9,0.0,449,9425,1.38,0.00,122.45,1.347,6,0.074,0.000,2912,2246,2233
$GC,9739,0.96,173.4,633.8,5.3,471,9769,0.00,2.80,23.33,1.282,4,0.000,0.087,2912,849,2124
$GC,9901,0.96,173.4,623.7,6.4,478,9905,0.00,2.55,0.00,0.000,6,0.000,0.072,2912,2202,2124
$GC,10221,0.96,173.4,604.4,6.3,494,10226,0.00,2.60,0.00,0.000,4,0.000,0.087,2912,844,2124
$GC,10254,0.96,173.4,602.3,6.2,495,10261,0.00,2.55,0.00,0.000,6,0.000,0.073,2912,2201,2124
$GC,10571,0.98,185.0,583.8,5.7,511,10591,0.00,2.67,11.23,1.232,4,0.000,0.085,2912,845,2076
$GC,10608,0.98,185.0,581.4,6.3,512,10614,0.00,2.55,0.00,0.000,6,0.000,0.072,2912,2192,2076
$GC,10924,0.98,185.0,561.3,6.2,528,10928,0.00,2.60,0.00,0.000,4,0.000,0.087,2912,842,2075
$GC,10963,0.98,185.0,558.6,7.0,530,10967,0.00,2.50,0.00,0.000,6,0.000,0.071,2912,2176,2075
$GC,11290,0.98,185.0,538.1,6.4,546,11291,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2178,2075
$GC,11599,0.98,185.0,519.0,6.1,561,11604,0.00,2.55,0.00,0.000,4,0.000,0.087,2913,846,2075
$GC,11655,0.98,185.0,515.2,7.2,563,11661,0.00,2.47,0.00,0.000,6,0.000,0.071,2912,2172,2074
$GC,11971,0.98,185.0,495.3,6.4,579,11975,0.00,2.53,0.00,0.000,4,0.000,0.087,2912,845,2074
$GC,12026,0.98,185.0,491.3,7.3,581,12032,0.00,2.45,0.00,0.000,6,0.000,0.071,2912,2158,2074
$GC,12342,0.98,185.0,470.7,6.5,597,12343,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2158,2074
$GC,12651,0.98,185.0,450.5,6.6,612,12655,0.00,2.50,0.00,0.000,4,0.000,0.084,2912,845,2074
$GC,12701,0.98,185.0,446.9,7.3,614,12705,0.00,2.42,0.00,0.000,6,0.000,0.071,2912,2146,2074
$GC,13021,0.98,185.0,427.2,6.2,630,13023,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2146,2074
$GC,13331,0.98,185.0,408.0,6.1,645,13335,0.00,2.47,0.00,0.000,4,0.000,0.084,2912,844,2073
$GC,13364,0.98,185.0,405.8,6.7,646,13370,0.00,2.40,0.00,0.000,6,0.000,0.069,2912,2143,2073
$GC,13680,1.00,200.4,388.0,5.6,662,13701,0.00,2.90,13.75,1.176,4,0.000,0.083,2913,3655,2014
$GC,13718,1.00,200.4,385.7,6.4,663,13724,0.00,2.85,0.00,0.000,6,0.000,0.070,2913,2139,2014
$GC,14034,1.01,206.1,367.6,5.8,679,14047,0.00,2.42,6.45,1.024,4,0.000,0.081,2912,841,1990
$GC,14105,1.01,206.1,362.9,6.5,682,14109,0.00,2.40,0.00,0.000,6,0.000,0.065,2912,2139,1989
$GC,14426,1.02,213.5,344.2,5.8,698,14436,0.00,0.00,7.72,1.052,6,0.000,0.000,2913,2140,1961
$GC,14735,1.02,213.5,324.7,6.3,713,14736,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2141,1961
$GC,15044,1.06,238.2,306.7,5.3,728,15068,0.00,0.00,21.30,1.122,6,0.000,0.000,2912,2140,1859
$GC,15375,1.11,238.2,286.2,6.1,744,15379,0.12,2.45,0.00,0.000,4,0.061,0.072,2949,839,1859
$GC,15437,1.04,238.2,281.2,8.7,747,15442,0.12,2.35,0.00,0.000,6,0.094,0.058,2926,2132,1859
$GC,15764,1.04,238.2,259.8,6.7,763,15765,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2131,1860
$GC,16073,1.04,238.2,238.2,7.2,778,16077,0.00,2.38,0.00,0.000,4,0.000,0.069,2926,843,1861
$GC,16101,1.04,238.2,236.1,8.2,779,16105,0.00,2.33,0.00,0.000,6,0.000,0.055,2926,2132,1861
$GC,16416,1.04,238.2,215.0,6.7,794,16418,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2132,1862
$GC,16725,1.04,238.2,194.8,6.5,809,16727,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2132,1863
$GC,17035,1.04,238.2,175.7,6.2,824,17036,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2132,1864
$GC,17345,1.12,253.7,156.8,5.6,839,17367,0.00,2.45,15.18,0.930,4,0.000,0.068,2926,838,1796
$GC,17413,1.12,253.7,152.3,6.9,842,17417,0.00,2.33,0.00,0.000,6,0.000,0.053,2926,2132,1796
$GC,17746,1.17,253.7,130.0,7.2,858,17748,0.12,0.00,0.00,0.000,6,0.054,0.000,2965,2132,1796
$GC,18055,1.10,253.7,104.8,6.1,873,18060,0.12,2.40,0.00,0.000,4,0.084,0.065,2939,838,1797
$GC,18099,1.10,253.7,101.5,6.6,875,18103,0.00,2.33,0.00,0.000,6,0.000,0.053,2939,2132,1796
$GC,18427,1.10,253.7,78.1,7.3,891,18428,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2133,1797
$GC,18736,1.10,253.7,55.4,6.4,906,18740,0.00,2.38,0.00,0.000,4,0.000,0.067,2939,841,1797
$GC,18776,1.10,253.7,51.8,10.8,908,18780,0.00,2.30,0.00,0.000,6,0.000,0.052,2939,2128,1797
$GC,19109,1.10,253.7,27.1,7.7,924,19110,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2145,1798
$STATE,19417,end climb,SURFACE_DEPTH_REACHED
$STATE,19417,begin surface coast
$FINISH,0.1,1.027327
$STATE,19479,end surface coast,CONTROL_FINISHED_OK
$STATE,19479,begin surface
$SM_CCo,19562,0.00,0.000,0,0,1797,253.64
$SM_GC,0.96,11.02,0.00,0.00,0.043,0.000,0.000,423,1968,1797,-10.39,-0.57,253.64
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1767
$TCM_TEMP,16.00
$XPDR_PINGS,283
$ALTIM_TOP_PING,18.7,999.0
$ALTIM_BOTTOM_PING,600.8,62.4
$24V_AH,23.7,26.199
$10V_AH,10.1,12.332
$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,24.575,136.925,342.200,0.000,0.000,37.762,28.438,170.130,76.250,0.000,0.000,31.791,1691.906,15210.982,527.484,1956.745,558.224,33.375,1490.369,0.000,1904.870,0.000,37.435,0.000
$DEVICE_MAMPS,139.594,87.438,1399.008,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,699.164,635.711,568.207,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47448,942
$CAP_FILE_SIZE,134643,0
$CFSIZE,254472192,243748864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,46,0,0
$GPS,041208,170838,6134.329,-434.778,28,1.1,28,-6.9