version: 66.04
glider: 5
mission: 5
dive: 146
start: 12 4 108 17 27 53
data:
$ID,5
$MISSION,5
$DIVE,146
$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,-90104.953
$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,30
$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
$GPS1,170838,6134.329,-434.778,28,1.1,28,-6.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-56.0
$GPS2,172702,6134.476,-435.117,17,1.1,35,-6.9
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,ESEC_NW
$TGT_LATLONG,6140.000,-445.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.178,0.132
$KALMAN_X,73603.7,481.2,-1.3,-1013.8,-11.0
$KALMAN_Y,30913.0,-610.9,-467.7,-262780.0,3080.1
$MHEAD_RNG_PITCHd_Wd,313.4,13422,-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,-146.6,0.0,0.0,0,99,0.00,0.00,-81.43,0.000,2,0.000,0.000,422,1967,3375
$GC,103,-0.97,-146.6,4.2,-5.3,4,125,10.57,2.55,-1.30,0.000,4,0.133,0.071,2482,588,3432
$GC,378,-0.71,-146.6,44.5,-13.0,16,384,0.30,2.53,0.00,0.000,6,0.087,0.051,2546,2008,3432
$GC,701,-0.71,-146.6,72.6,-9.1,32,705,0.00,2.58,0.00,0.000,4,0.000,0.065,2546,598,3433
$GC,930,-0.71,-146.6,90.7,-7.5,42,934,0.00,2.47,0.00,0.000,6,0.000,0.051,2546,1988,3432
$GC,1246,-0.71,-146.6,114.2,-7.0,57,1251,0.00,2.55,0.00,0.000,4,0.000,0.067,2546,600,3433
$GC,1297,-0.65,-146.6,117.7,-7.5,59,1301,0.00,2.45,0.00,0.000,6,0.000,0.051,2546,1979,3433
$GC,1614,-0.60,-146.6,140.3,-8.5,74,1619,0.10,2.55,0.00,0.000,4,0.100,0.064,2566,594,3432
$GC,1654,-0.60,-146.6,143.4,-7.0,76,1658,0.00,2.42,0.00,0.000,6,0.000,0.051,2567,1969,3433
$GC,1986,-0.60,-146.6,166.9,-7.0,92,1988,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,1969,3433
$GC,2296,-0.60,-146.6,187.3,-6.8,107,2300,0.00,2.58,0.00,0.000,4,0.000,0.064,2567,3404,3432
$GC,2329,-0.64,-146.6,189.6,-7.6,108,2335,0.00,2.55,0.00,0.000,6,0.000,0.052,2566,1974,3433
$GC,2645,-0.64,-146.6,211.4,-7.0,124,2649,0.00,2.60,0.00,0.000,4,0.000,0.063,2566,3404,3432
$GC,2672,-0.64,-146.6,213.4,-7.5,125,2676,0.00,2.55,0.00,0.000,6,0.000,0.051,2566,1972,3432
$GC,2988,-0.64,-146.6,236.4,-7.4,140,2992,0.00,2.60,0.00,0.000,4,0.000,0.063,2567,3403,3433
$GC,3021,-0.69,-146.6,238.8,-7.6,141,3027,0.00,2.53,0.00,0.000,6,0.000,0.051,2567,1984,3433
$GC,3337,-0.69,-146.6,261.9,-7.7,157,3338,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1982,3432
$GC,3646,-0.69,-146.6,285.5,-7.7,172,3650,0.00,2.60,0.00,0.000,4,0.000,0.063,2567,3413,3433
$GC,3695,-0.76,-146.6,289.6,-7.8,174,3701,0.15,2.55,0.00,0.000,6,0.054,0.052,2524,1981,3432
$GC,4012,-0.68,-146.6,317.0,-8.8,189,4017,0.12,2.50,0.00,0.000,4,0.090,0.066,2552,590,3433
$GC,4079,-0.68,-146.6,322.6,-7.8,192,4083,0.00,2.47,0.00,0.000,6,0.000,0.051,2552,1986,3433
$GC,4400,-0.68,-146.6,345.0,-6.7,208,4404,0.00,2.58,0.00,0.000,4,0.000,0.067,2552,3411,3433
$GC,4477,-0.68,-146.6,350.5,-7.3,211,4484,0.00,2.58,0.00,0.000,6,0.000,0.056,2552,1977,3432
$GC,4793,-0.68,-146.6,370.2,-5.7,227,4798,0.00,2.62,0.00,0.000,4,0.000,0.067,2552,3408,3433
$GC,4827,-0.68,-146.6,372.2,-5.8,228,4833,0.00,2.58,0.00,0.000,6,0.000,0.057,2552,1976,3432
$GC,5143,-0.68,-146.6,391.1,-6.2,244,5147,0.00,2.62,0.00,0.000,4,0.000,0.071,2552,3402,3432
$GC,5187,-0.68,-146.6,394.1,-6.7,246,5191,0.00,2.55,0.00,0.000,6,0.000,0.061,2552,1991,3432
$GC,5508,-0.68,-146.6,414.5,-6.3,262,5509,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1991,3432
$GC,5817,-0.68,-146.6,436.9,-7.4,277,5821,0.00,2.62,0.00,0.000,4,0.000,0.074,2552,3402,3431
$GC,5889,-0.68,-146.6,442.7,-7.7,280,5893,0.00,2.58,0.00,0.000,6,0.000,0.066,2552,1995,3431
$GC,6205,-0.68,-146.6,465.0,-6.5,295,6206,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1996,3430
$GC,6514,-0.68,-146.6,486.5,-6.8,310,6518,0.00,2.65,0.00,0.000,4,0.000,0.081,2553,3403,3429
$GC,6563,-0.68,-146.6,490.1,-7.5,312,6568,0.00,2.58,0.00,0.000,6,0.000,0.069,2552,2004,3429
$GC,6879,-0.68,-146.6,511.5,-6.8,327,6880,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2004,3428
$STATE,7041,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7041,begin apogee
$GC,7049,-0.33,0.0,522.7,6.6,335,7172,0.35,0.00,120.62,1.262,6,0.085,0.000,2624,2249,2832
$STATE,7173,end apogee,CONTROL_FINISHED_OK
$STATE,7173,begin climb
$GC,7176,0.97,146.6,527.1,0.0,341,7304,1.33,2.75,119.82,1.223,4,0.067,0.078,2910,854,2234
$GC,7377,0.98,154.1,518.8,5.8,350,7390,0.00,2.60,7.75,1.012,6,0.000,0.066,2910,2245,2204
$GC,7698,1.04,190.4,502.8,5.0,366,7735,0.00,2.75,30.90,1.190,4,0.000,0.079,2911,842,2054
$GC,7791,1.07,210.3,497.6,5.5,369,7815,0.00,2.60,17.50,1.146,6,0.000,0.067,2911,2240,1975
$GC,8134,1.11,235.2,479.6,5.3,386,8163,0.12,2.78,21.62,1.180,4,0.064,0.081,2944,845,1872
$GC,8221,1.04,235.2,473.5,7.6,390,8226,0.00,2.55,0.00,0.000,6,0.000,0.068,2944,2220,1872
$GC,8548,1.00,235.2,449.8,7.3,406,8553,0.15,2.65,0.00,0.000,4,0.096,0.082,2915,842,1872
$GC,8582,1.00,235.2,447.2,7.4,407,8588,0.00,2.55,0.00,0.000,6,0.000,0.068,2915,2214,1872
$GC,8898,1.04,235.2,427.3,6.6,423,8902,0.00,2.60,0.00,0.000,4,0.000,0.082,2915,848,1871
$GC,8931,1.04,235.2,424.9,7.1,424,8937,0.00,2.53,0.00,0.000,6,0.000,0.068,2915,2211,1872
$GC,9247,1.09,235.2,404.8,6.4,440,9251,0.00,2.60,0.00,0.000,4,0.000,0.081,2915,842,1870
$GC,9291,1.09,235.2,401.6,7.3,442,9295,0.00,2.53,0.00,0.000,6,0.000,0.067,2914,2203,1870
$GC,9612,1.14,242.0,382.1,5.8,458,9622,0.15,0.00,6.78,1.022,6,0.064,0.000,2952,2203,1845
$GC,9922,1.09,242.0,359.1,7.7,473,9926,0.00,2.55,0.00,0.000,4,0.000,0.080,2953,848,1844
$GC,10006,1.00,242.0,352.0,9.1,477,10011,0.17,2.47,0.00,0.000,6,0.094,0.066,2918,2190,1845
$GC,10334,1.00,243.5,332.3,6.0,493,10335,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2190,1844
$GC,10643,1.05,245.2,314.1,6.0,508,10653,0.00,2.55,4.07,0.798,4,0.000,0.074,2917,851,1832
$GC,10693,1.05,245.2,310.8,6.4,510,10697,0.00,2.45,0.00,0.000,6,0.000,0.061,2917,2189,1832
$GC,11015,1.10,250.7,292.6,5.8,526,11029,0.00,2.55,6.65,0.945,4,0.000,0.072,2918,847,1809
$GC,11092,1.15,250.7,287.5,6.6,529,11097,0.15,2.42,0.00,0.000,6,0.058,0.059,2958,2176,1809
$GC,11409,1.10,250.7,263.7,6.9,544,11410,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2176,1808
$GC,11718,1.04,250.7,240.5,7.5,559,11723,0.15,2.47,0.00,0.000,4,0.087,0.068,2928,846,1810
$GC,11775,1.04,250.7,236.5,6.4,561,11781,0.00,2.38,0.00,0.000,6,0.000,0.055,2928,2165,1809
$GC,12091,1.04,250.7,216.1,6.9,577,12092,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2165,1811
$GC,12400,1.08,250.7,194.0,7.1,592,12404,0.00,2.42,0.00,0.000,4,0.000,0.068,2927,846,1811
$GC,12449,1.08,250.7,190.3,7.5,594,12454,0.00,2.38,0.00,0.000,6,0.000,0.054,2927,2170,1811
$GC,12766,1.13,250.7,168.7,6.8,609,12770,0.00,2.40,0.00,0.000,4,0.000,0.066,2927,846,1812
$GC,12812,1.13,250.7,165.6,7.1,611,12816,0.00,2.35,0.00,0.000,6,0.000,0.054,2927,2160,1812
$GC,13139,1.17,250.7,147.7,6.2,627,13141,0.12,0.00,0.00,0.000,6,0.056,0.000,2964,2160,1813
$GC,13450,1.11,250.7,120.2,9.3,642,13455,0.12,2.42,0.00,0.000,4,0.087,0.064,2939,845,1813
$GC,13494,1.11,250.7,116.0,8.3,644,13498,0.00,2.33,0.00,0.000,6,0.000,0.053,2938,2143,1813
$GC,13816,1.11,250.7,94.0,6.2,660,13820,0.00,2.38,0.00,0.000,4,0.000,0.066,2939,845,1814
$GC,13865,1.11,250.7,90.5,6.8,662,13869,0.00,2.30,0.00,0.000,6,0.000,0.052,2938,2142,1814
$GC,14187,1.11,250.7,70.5,6.7,678,14188,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2143,1814
$GC,14497,1.11,250.7,49.9,6.2,693,14498,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2153,1815
$GC,14806,1.24,330.3,30.1,3.8,708,14875,0.15,2.47,63.12,0.854,4,0.051,0.065,2980,842,1484
$GC,14922,1.19,330.3,17.7,12.2,713,14927,0.00,2.35,0.00,0.000,6,0.000,0.051,2980,2142,1484
$STATE,15071,end climb,SURFACE_DEPTH_REACHED
$STATE,15071,begin surface coast
$FINISH,0.3,1.027382
$STATE,15113,end surface coast,CONTROL_FINISHED_OK
$STATE,15113,begin surface
$SM_CCo,15197,0.00,0.000,0,0,1481,331.40
$SM_GC,0.97,11.23,0.00,0.00,0.041,0.000,0.000,425,1965,1481,-10.38,-0.99,331.40
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1769
$TCM_TEMP,16.90
$XPDR_PINGS,298
$ALTIM_TOP_PING,19.8,999.0
$ALTIM_BOTTOM_PING,450.6,81.9
$24V_AH,23.8,26.373
$10V_AH,10.1,12.413
$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,25.450,147.475,398.850,0.000,0.000,188.798,163.893,345.657,78.500,0.000,0.000,35.443,1371.504,11691.801,512.905,1723.223,996.603,33.383,1394.238,0.000,1665.530,0.000,27.946,0.000
$DEVICE_MAMPS,132.691,82.069,1261.715,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,532.366,486.422,491.358,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37900,722
$CAP_FILE_SIZE,130476,0
$CFSIZE,254472192,243699712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,49,0,0
$GPS,041208,214226,6135.461,-438.646,40,1.3,40,-6.9