version: 66.04
glider: 5
mission: 5
dive: 320
start: 1 13 109 3 53 4
data:
$ID,5
$MISSION,5
$DIVE,320
$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,315
$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,-93666.672
$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,24
$R_STBD_OVSHOOT,26
$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
$GPS1,034055,6059.850,-247.982,36,2.0,54,-5.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-56.2
$GPS2,035244,6059.764,-247.657,10,1.9,10,-5.8
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,HEADING
$TGT_LATLONG,6107.400,-303.469
$TGT_RADIUS,1852.000
$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,320.8,20000,-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,-81.40,0.000,2,0.000,0.000,421,1970,3240
$GC,102,-0.97,-146.6,5.3,-7.1,4,124,10.25,2.50,-4.35,0.000,4,0.133,0.071,2404,590,3431
$GC,257,-0.51,-146.6,40.8,-23.2,10,264,0.50,2.53,0.00,0.000,6,0.091,0.051,2510,1999,3432
$GC,574,-0.38,-146.6,83.2,-9.1,26,575,0.15,0.00,0.00,0.000,6,0.089,0.000,2541,2006,3432
$GC,883,-0.33,-146.6,111.4,-11.4,41,888,0.00,2.60,0.00,0.000,4,0.000,0.065,2541,584,3432
$GC,928,-0.33,-146.6,115.0,-8.0,43,933,0.00,2.53,0.00,0.000,6,0.000,0.052,2540,2003,3432
$GC,1252,-0.28,-146.6,140.8,-7.0,59,1254,0.10,0.00,0.00,0.000,6,0.095,0.000,2562,2011,3432
$GC,1559,-0.28,-146.6,161.5,-6.7,74,1561,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2010,3432
$GC,1868,-0.28,-146.6,183.8,-7.2,89,1872,0.00,2.58,0.00,0.000,4,0.000,0.067,2563,591,3432
$GC,1912,-0.28,-146.6,187.3,-8.2,91,1916,0.00,2.50,0.00,0.000,6,0.000,0.052,2562,1998,3432
$GC,2233,-0.28,-146.6,212.3,-7.6,107,2235,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,1999,3432
$GC,2543,-0.28,-146.6,237.2,-8.4,122,2547,0.00,2.58,0.00,0.000,4,0.000,0.067,2563,584,3432
$GC,2587,-0.28,-146.6,241.0,-8.8,124,2591,0.00,2.50,0.00,0.000,6,0.000,0.053,2563,1992,3432
$GC,2908,-0.28,-146.6,266.2,-8.0,140,2909,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,1992,3432
$GC,3217,-0.28,-146.6,290.9,-7.8,155,3221,0.00,2.55,0.00,0.000,4,0.000,0.065,2563,3408,3432
$GC,3249,-0.28,-146.6,293.7,-7.9,156,3256,0.00,2.55,0.00,0.000,6,0.000,0.053,2563,1981,3432
$GC,3566,-0.28,-146.6,315.6,-6.7,172,3567,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,1978,3432
$GC,3874,-0.28,-146.6,335.4,-6.5,187,3875,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,1979,3432
$GC,4184,-0.28,-146.6,353.7,-7.1,202,4185,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,1979,3432
$GC,4494,-0.28,-146.6,373.2,-5.8,217,4498,0.00,2.60,0.00,0.000,4,0.000,0.064,2562,3409,3432
$GC,4544,-0.28,-146.6,376.4,-5.8,219,4548,0.00,2.53,0.00,0.000,6,0.000,0.054,2563,1996,3432
$GC,4860,-0.28,-146.6,397.1,-6.9,234,4861,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,1996,3432
$GC,5170,-0.28,-146.6,417.5,-6.4,249,5172,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,1996,3432
$GC,5478,-0.28,-146.6,437.3,-6.3,264,5479,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,1996,3432
$GC,5788,-0.28,-146.6,456.3,-6.3,279,5792,0.00,2.60,0.00,0.000,4,0.000,0.068,2562,3412,3432
$GC,5850,-0.32,-146.6,460.2,-6.3,282,5855,0.00,2.53,0.00,0.000,6,0.000,0.057,2563,2000,3432
$GC,6178,-0.37,-146.6,476.8,-5.3,298,6182,0.00,2.58,0.00,0.000,4,0.000,0.068,2563,3404,3432
$GC,6229,-0.41,-146.6,479.6,-5.4,300,6234,0.12,2.50,0.00,0.000,6,0.058,0.056,2528,2011,3432
$GC,6546,-0.35,-146.6,500.9,-7.2,315,6548,0.10,0.00,0.00,0.000,6,0.098,0.000,2549,2010,3431
$GC,6855,-0.35,-146.6,523.3,-7.9,330,6859,0.00,2.58,0.00,0.000,4,0.000,0.074,2549,586,3432
$GC,6917,-0.35,-146.6,528.7,-8.7,333,6922,0.00,2.55,0.00,0.000,6,0.000,0.059,2549,2011,3431
$GC,7243,-0.35,-146.6,554.5,-8.0,349,7244,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2012,3430
$GC,7553,-0.35,-146.6,576.8,-6.6,364,7555,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2012,3430
$GC,7862,-0.35,-146.6,594.5,-6.1,379,7866,0.00,2.65,0.00,0.000,4,0.000,0.081,2549,592,3430
$GC,7928,-0.35,-146.6,598.9,-7.2,382,7933,0.00,2.58,0.00,0.000,6,0.000,0.063,2549,2015,3430
$GC,8250,-0.35,-146.6,621.7,-6.6,398,8252,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2016,3429
$STATE,8329,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8330,begin apogee
$GC,8337,-0.33,0.0,626.9,6.3,402,8472,0.00,0.00,129.25,1.284,6,0.000,0.000,2549,2137,2831
$STATE,8472,end apogee,CONTROL_FINISHED_OK
$STATE,8472,begin climb
$GC,8475,0.97,146.6,635.1,0.0,409,8610,1.35,0.00,129.35,1.243,6,0.080,0.000,2830,2136,2234
$GC,8910,1.31,190.4,616.9,4.8,430,8956,0.32,2.80,39.22,1.212,4,0.055,0.083,2915,717,2055
$GC,9096,1.31,190.4,604.8,7.0,438,9101,0.00,2.45,0.00,0.000,6,0.000,0.064,2915,2048,2055
$GC,9412,1.32,194.6,586.3,5.9,453,9421,0.00,0.00,5.20,0.911,6,0.000,0.000,2915,2049,2038
$GC,9744,1.36,217.1,567.4,5.4,469,9767,0.00,0.00,20.45,1.201,6,0.000,0.000,2915,2049,1948
$GC,10075,1.36,220.5,549.5,5.9,485,10081,0.00,0.00,5.12,0.926,6,0.000,0.000,2915,2049,1933
$GC,10383,1.36,220.5,530.9,6.5,500,10384,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2049,1933
$GC,10693,1.36,220.5,510.0,6.4,515,10694,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2049,1932
$GC,11002,1.37,223.2,492.3,5.9,530,11007,0.00,0.00,4.00,0.803,6,0.000,0.000,2915,2049,1922
$GC,11311,1.37,223.2,470.1,7.1,545,11312,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2049,1921
$GC,11621,1.43,235.5,449.9,5.7,560,11643,0.00,2.85,12.00,1.103,4,0.000,0.073,2915,3533,1871
$GC,11683,1.48,235.5,446.1,6.4,562,11690,0.12,2.75,0.00,0.000,6,0.062,0.063,2949,2044,1871
$GC,11999,1.42,235.5,422.2,8.3,578,12004,0.00,2.78,0.00,0.000,4,0.000,0.073,2948,3527,1871
$GC,12039,1.37,235.5,418.5,9.2,580,12045,0.12,2.67,0.00,0.000,6,0.094,0.061,2924,2063,1871
$GC,12367,1.37,235.5,391.1,8.4,596,12368,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2063,1871
$GC,12676,1.37,235.5,367.9,7.1,611,12680,0.00,2.72,0.00,0.000,4,0.000,0.068,2924,3535,1871
$GC,12726,1.37,235.5,363.9,7.5,613,12731,0.00,2.65,0.00,0.000,6,0.000,0.057,2924,2069,1871
$GC,13042,1.37,235.5,341.9,7.0,628,13043,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2068,1872
$GC,13351,1.37,235.5,320.8,6.9,643,13355,0.00,2.70,0.00,0.000,4,0.000,0.067,2924,3531,1872
$GC,13402,1.37,235.5,317.2,7.0,645,13406,0.00,2.62,0.00,0.000,6,0.000,0.054,2924,2072,1871
$GC,13719,1.43,272.7,300.8,5.0,660,13757,0.00,0.00,32.75,1.035,6,0.000,0.000,2924,2072,1719
$GC,14068,1.53,294.5,283.1,5.4,677,14094,0.15,2.75,19.67,0.993,4,0.053,0.064,2967,3528,1630
$GC,14128,1.53,294.5,278.8,7.8,680,14133,0.00,2.62,0.00,0.000,6,0.000,0.053,2967,2081,1631
$GC,14456,1.48,294.5,252.9,8.6,696,14460,0.00,2.47,0.00,0.000,4,0.000,0.067,2967,715,1632
$GC,14484,1.43,294.5,250.2,9.7,697,14489,0.15,2.45,0.00,0.000,6,0.084,0.052,2936,2078,1632
$GC,14801,1.48,294.5,229.2,6.1,712,14802,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2078,1633
$GC,15111,1.63,360.2,214.5,4.2,727,15174,0.20,2.72,55.08,0.966,4,0.048,0.064,2989,3527,1363
$GC,15197,1.59,360.2,206.8,11.1,731,15201,0.00,2.65,0.00,0.000,6,0.000,0.054,2989,2074,1363
$GC,15519,1.51,360.2,171.7,10.6,747,15521,0.17,0.00,0.00,0.000,6,0.081,0.000,2954,2074,1363
$GC,15828,1.55,360.2,143.2,7.2,762,15829,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2075,1363
$GC,16138,1.61,360.2,116.9,7.6,777,16140,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2075,1364
$GC,16447,1.65,360.2,91.4,9.1,792,16452,0.12,2.70,0.00,0.000,4,0.055,0.062,2990,3538,1365
$GC,16487,1.65,360.2,86.4,12.7,794,16492,0.00,2.62,0.00,0.000,6,0.000,0.051,2990,2071,1365
$GC,16814,1.59,360.2,52.8,12.9,810,16815,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2071,1365
$GC,17124,1.53,360.2,14.9,10.0,825,17129,0.15,2.70,0.00,0.000,4,0.081,0.062,2959,3535,1365
$GC,17197,1.53,360.2,9.1,9.2,828,17201,0.00,2.58,0.00,0.000,6,0.000,0.053,2959,2098,1366
$STATE,17242,end climb,SURFACE_DEPTH_REACHED
$STATE,17242,begin surface coast
$FINISH,1.0,1.027415
$STATE,17266,end surface coast,CONTROL_FINISHED_OK
$STATE,17266,begin surface
$SM_CCo,17350,0.00,0.000,0,0,1364,360.10
$SM_GC,0.98,11.10,0.00,0.00,0.042,0.000,0.000,423,1963,1364,-10.04,-0.57,360.10
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1805
$TCM_TEMP,16.90
$XPDR_PINGS,49
$ALTIM_BOTTOM_PING,551.4,84.6
$24V_AH,23.7,55.242
$10V_AH,10.1,27.196
$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,25.200,104.700,452.100,0.000,0.000,113.288,97.090,242.528,17.000,0.000,0.000,10.236,1491.131,13557.851,559.139,1686.177,764.149,0.000,1418.880,0.000,1650.972,0.000,35.692,0.000
$DEVICE_MAMPS,133.458,82.836,1283.958,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,611.389,559.945,475.802,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41075,831
$CAP_FILE_SIZE,123766,0
$CFSIZE,254472192,232800256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,33,0,0
$GPS,130109,084340,6102.264,-246.786,42,1.8,50,-5.8