version: 66.04
glider: 5
mission: 5
dive: 309
start: 1 11 109 5 22 17
data:
$ID,5
$MISSION,5
$DIVE,309
$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,2
$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,-93463.195
$T_RSLEEP,27
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,432
$PITCH_MAX,3760
$C_PITCH,2625
$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,2125
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,28
$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,0
$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,6
$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
$GPS1,051325,6027.207,-348.052,40,1.4,40,-6.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-55.5
$GPS2,052156,6027.265,-347.827,11,1.7,11,-6.2
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FSCS_NW
$TGT_LATLONG,6055.000,-555.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.132,-0.177
$KALMAN_X,220775.9,-921.1,-1644.0,-80717.6,25183.1
$KALMAN_Y,135954.9,-405.3,-1430.2,-453990.2,21805.5
$MHEAD_RNG_PITCHd_Wd,300.4,125479,-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,16,-0.97,-146.6,0.0,0.0,0,119,0.00,0.00,-101.60,0.000,2,0.000,0.000,418,1969,3322
$GC,123,-0.97,-146.6,3.7,-3.2,5,146,10.20,2.55,-2.83,0.000,4,0.127,0.074,2404,597,3432
$GC,328,-0.50,-146.6,43.3,-20.9,14,333,0.52,2.50,0.00,0.000,6,0.085,0.051,2515,1999,3432
$GC,656,-0.36,-146.6,88.9,-14.8,30,661,0.15,2.58,0.00,0.000,4,0.089,0.061,2547,587,3432
$GC,700,-0.36,-146.6,94.6,-12.4,32,705,0.00,2.47,0.00,0.000,6,0.000,0.051,2547,1987,3432
$GC,1024,-0.31,-146.6,125.8,-9.8,48,1025,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,1994,3431
$GC,1333,-0.26,-146.6,151.0,-7.0,63,1334,0.10,0.00,0.00,0.000,6,0.093,0.000,2568,2002,3432
$GC,1641,-0.26,-146.6,171.4,-7.5,78,1642,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2004,3431
$GC,1950,-0.26,-146.6,201.9,-11.0,93,1951,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,1994,3432
$GC,2259,-0.26,-146.6,225.9,-6.6,108,2264,0.00,2.53,0.00,0.000,4,0.000,0.062,2568,3402,3432
$GC,2311,-0.31,-146.6,227.8,-3.3,110,2316,0.00,2.53,0.00,0.000,6,0.000,0.050,2568,1978,3431
$GC,2629,-0.31,-146.6,243.6,-5.4,125,2630,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,1966,3432
$GC,2936,-0.31,-146.6,272.5,-11.1,140,2940,0.00,2.47,0.00,0.000,4,0.000,0.065,2568,594,3431
$GC,2965,-0.36,-146.6,275.4,-9.4,141,2969,0.00,2.47,0.00,0.000,6,0.000,0.051,2568,1995,3431
$GC,3281,-0.36,-146.6,298.1,-4.4,156,3283,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,1996,3431
$GC,3590,-0.36,-146.6,322.2,-8.5,171,3592,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2014,3431
$GC,3901,-0.40,-146.6,345.9,-7.6,186,3903,0.15,0.00,0.00,0.000,6,0.053,0.000,2525,1999,3431
$GC,4209,-0.31,-146.6,371.5,-9.5,201,4211,0.15,0.00,0.00,0.000,6,0.084,0.000,2557,2008,3431
$GC,4519,-0.31,-146.6,395.5,-6.1,216,4520,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2008,3431
$GC,4827,-0.31,-146.6,417.5,-8.1,231,4832,0.00,2.55,0.00,0.000,4,0.000,0.066,2557,597,3431
$GC,4883,-0.31,-146.6,420.6,-5.2,233,4889,0.00,2.47,0.00,0.000,6,0.000,0.051,2557,2003,3431
$GC,5199,-0.31,-146.6,442.7,-6.3,249,5204,0.00,2.55,0.00,0.000,4,0.000,0.066,2557,597,3431
$STATE,5230,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5230,begin apogee
$GC,5240,-0.33,0.0,444.8,6.9,250,5366,0.00,0.00,124.10,1.078,6,0.000,0.000,2557,2150,2832
$STATE,5367,end apogee,CONTROL_FINISHED_OK
$STATE,5367,begin climb
$GC,5370,0.97,146.6,454.3,0.0,257,5502,1.27,2.65,122.53,1.051,4,0.065,0.063,2830,3528,2234
$GC,5590,1.27,163.7,444.4,5.5,267,5612,0.32,2.53,15.85,0.958,6,0.042,0.051,2913,2114,2164
$GC,5937,1.29,177.6,429.6,5.6,284,5958,0.00,2.60,12.88,0.943,4,0.000,0.063,2914,732,2107
$GC,6060,1.34,209.4,422.4,5.1,289,6093,0.00,2.47,27.73,1.003,6,0.000,0.050,2914,2120,1978
$GC,6402,1.40,209.4,404.4,6.9,306,6403,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2120,1977
$GC,6711,1.44,209.4,385.8,6.3,321,6716,0.10,2.55,0.00,0.000,4,0.060,0.062,2948,3524,1977
$GC,6751,1.39,209.4,383.1,6.9,323,6756,0.12,2.53,0.00,0.000,6,0.086,0.054,2925,2119,1977
$GC,7078,1.39,209.4,361.8,7.6,339,7083,0.00,2.53,0.00,0.000,4,0.000,0.063,2925,707,1977
$GC,7119,1.39,209.4,358.0,10.1,341,7123,0.00,2.50,0.00,0.000,6,0.000,0.050,2924,2121,1977
$GC,7445,1.39,209.4,333.7,7.1,357,7446,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2121,1977
$GC,7755,1.54,306.3,319.1,3.3,372,7838,0.15,0.00,80.18,0.990,6,0.048,0.000,2971,2122,1583
$GC,8145,1.50,306.3,284.3,10.1,391,8146,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2125,1584
$GC,8454,1.45,306.3,253.4,9.2,406,8456,0.15,0.00,0.00,0.000,6,0.079,0.000,2940,2125,1584
$GC,8764,1.51,306.3,229.7,7.4,421,8768,0.00,2.58,0.00,0.000,4,0.000,0.065,2939,717,1584
$GC,8808,1.55,306.3,225.3,10.0,423,8813,0.10,2.47,0.00,0.000,6,0.055,0.051,2973,2109,1583
$GC,9130,1.51,306.3,192.0,9.6,439,9135,0.00,2.55,0.00,0.000,4,0.000,0.061,2973,3530,1583
$GC,9164,1.51,306.3,188.3,9.7,440,9170,0.00,2.53,0.00,0.000,6,0.000,0.051,2973,2113,1584
$GC,9480,1.51,306.3,159.8,8.0,456,9481,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2113,1584
$GC,9790,1.51,306.3,133.0,9.3,471,9791,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2112,1584
$GC,10098,1.51,306.3,107.1,8.1,486,10103,0.00,2.58,0.00,0.000,4,0.000,0.061,2973,3527,1584
$GC,10143,1.51,306.3,103.0,9.6,488,10147,0.00,2.50,0.00,0.000,6,0.000,0.049,2973,2119,1584
$GC,10465,1.51,306.3,75.6,9.5,504,10466,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2119,1584
$GC,10773,1.51,306.3,47.6,9.2,519,10778,0.00,2.58,0.00,0.000,4,0.000,0.061,2973,3536,1584
$GC,10801,1.51,306.3,44.8,10.4,520,10805,0.00,2.50,0.00,0.000,6,0.000,0.049,2973,2126,1584
$GC,11118,1.51,306.3,16.0,8.2,535,11119,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2115,1584
$STATE,11239,end climb,SURFACE_DEPTH_REACHED
$STATE,11239,begin surface coast
$FINISH,1.8,1.027312
$STATE,11260,end surface coast,CONTROL_FINISHED_OK
$STATE,11260,begin surface
$SM_CCo,11343,0.00,0.000,0,0,1582,306.62
$SM_GC,0.85,11.18,0.00,0.00,0.044,0.000,0.000,423,1991,1582,-10.04,-0.25,306.62
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1813
$TCM_TEMP,17.40
$XPDR_PINGS,33
$ALTIM_BOTTOM_PING,426.2,28.1
$24V_AH,23.9,53.659
$10V_AH,10.1,26.419
$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,24.675,71.225,383.250,0.000,0.000,79.134,62.144,199.832,12.000,0.000,0.000,11.492,988.843,8676.708,491.390,1150.245,554.942,0.000,1084.284,0.000,1129.265,0.000,28.072,0.000
$DEVICE_MAMPS,127.322,74.399,1078.402,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,398.387,363.553,383.180,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25454,542
$CAP_FILE_SIZE,84601,0
$CFSIZE,254472192,233402368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,17,0,0
$GPS,110109,083236,6029.855,-345.084,39,1.0,39,-6.1