version: 66.04
glider: 5
mission: 5
dive: 345
start: 1 19 109 21 14 15
data:
$ID,5
$MISSION,5
$DIVE,345
$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,-94156.023
$T_RSLEEP,27
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,432
$PITCH_MAX,3760
$C_PITCH,2745
$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,32
$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,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
$GPS1,210900,6055.496,-542.030,64,1.9,64,-7.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-58.2
$GPS2,211358,6055.494,-542.187,12,2.3,31,-7.3
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,SSEC_NW
$TGT_LATLONG,6058.000,-547.000
$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,324.3,6344,-13.5,-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,13,begin dive
$GC,16,-1.07,-105.8,0.0,0.0,0,98,0.00,0.00,-80.12,0.000,6,0.000,0.000,422,1970,3264
$GC,102,-1.12,-136.6,3.9,-4.8,4,124,10.75,2.55,-3.22,0.000,4,0.133,0.077,2491,597,3389
$GC,377,-1.00,-136.6,40.3,-12.6,16,382,0.15,2.53,0.00,0.000,6,0.092,0.053,2522,2009,3390
$GC,700,-1.00,-136.6,72.7,-9.4,32,704,0.00,2.58,0.00,0.000,4,0.000,0.066,2522,601,3390
$GC,834,-1.00,-136.6,85.9,-9.2,38,839,0.00,2.50,0.00,0.000,6,0.000,0.053,2522,2004,3390
$GC,1156,-1.00,-136.6,112.3,-7.0,54,1157,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2004,3390
$GC,1465,-1.00,-136.6,137.8,-8.6,69,1469,0.00,2.58,0.00,0.000,4,0.000,0.067,2523,596,3390
$GC,1529,-1.00,-136.6,144.3,-11.7,72,1533,0.00,2.47,0.00,0.000,6,0.000,0.054,2523,1984,3390
$GC,1855,-1.00,-136.6,179.0,-9.7,88,1856,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,1986,3390
$GC,2164,-1.00,-136.6,206.1,-8.7,103,2166,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,1986,3390
$GC,2474,-1.00,-136.6,233.7,-11.3,118,2476,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,1986,3390
$GC,2783,-1.00,-136.6,264.0,-8.9,133,2787,0.00,2.55,0.00,0.000,4,0.000,0.071,2522,598,3390
$GC,2827,-1.00,-136.6,267.9,-8.8,135,2831,0.00,2.47,0.00,0.000,6,0.000,0.054,2522,1988,3390
$GC,3155,-1.00,-136.6,295.4,-8.6,151,3159,0.00,2.55,0.00,0.000,4,0.000,0.067,2523,3406,3390
$GC,3262,-1.00,-136.6,305.0,-8.3,155,3269,0.00,2.50,0.00,0.000,6,0.000,0.054,2523,2006,3390
$STATE,3555,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3555,begin apogee
$GC,3563,-0.33,0.0,331.3,10.1,170,3682,0.70,0.00,115.62,1.036,6,0.075,0.000,2673,2142,2832
$STATE,3682,end apogee,CONTROL_FINISHED_OK
$STATE,3682,begin climb
$GC,3685,1.12,136.6,336.3,0.0,176,3810,1.45,2.60,114.95,1.001,4,0.059,0.064,2985,3517,2275
$GC,3985,0.95,136.6,318.7,9.9,190,3990,0.17,2.53,0.00,0.000,6,0.084,0.055,2952,2124,2275
$GC,4307,0.95,138.7,300.0,5.9,206,4311,0.00,2.58,0.00,0.000,4,0.000,0.064,2952,3522,2274
$GC,4351,0.95,138.7,297.2,6.6,208,4360,0.00,2.53,3.78,0.617,6,0.000,0.054,2952,2124,2265
$GC,4678,0.98,154.6,279.4,5.4,224,4697,0.00,0.00,14.75,0.926,6,0.000,0.000,2952,2124,2201
$GC,5010,0.98,154.6,258.2,6.8,240,5014,0.00,2.58,0.00,0.000,4,0.000,0.064,2952,3518,2200
$GC,5095,0.98,154.6,252.2,6.7,244,5099,0.00,2.50,0.00,0.000,6,0.000,0.053,2952,2129,2200
$GC,5421,0.98,154.6,228.9,7.1,260,5423,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2129,2200
$GC,5731,0.98,154.6,209.2,6.4,275,5732,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2129,2200
$GC,6041,0.98,157.0,187.6,5.9,290,6045,0.00,2.55,0.00,0.000,4,0.000,0.064,2952,3521,2200
$GC,6107,0.98,157.0,183.2,6.9,293,6112,0.00,2.50,0.00,0.000,6,0.000,0.051,2952,2125,2200
$GC,6428,0.98,157.0,160.0,8.3,309,6433,0.00,2.53,0.00,0.000,4,0.000,0.065,2952,718,2200
$GC,6457,0.98,157.0,157.5,9.2,310,6461,0.00,2.53,0.00,0.000,6,0.000,0.053,2952,2137,2200
$GC,6773,0.98,157.0,134.2,6.9,325,6777,0.00,2.53,0.00,0.000,4,0.000,0.064,2951,3537,2200
$GC,6813,0.98,157.0,131.5,7.6,327,6817,0.00,2.50,0.00,0.000,6,0.000,0.051,2952,2139,2200
$GC,7140,0.98,157.0,109.3,7.2,343,7145,0.00,2.58,0.00,0.000,4,0.000,0.067,2952,712,2200
$GC,7185,0.98,157.0,106.0,7.1,345,7189,0.00,2.55,0.00,0.000,6,0.000,0.052,2952,2141,2200
$GC,7507,1.05,202.3,87.1,4.3,361,7550,0.00,0.00,39.17,0.868,6,0.000,0.000,2952,2141,2007
$GC,7861,1.11,202.3,63.0,7.2,378,7863,0.15,0.00,0.00,0.000,6,0.053,0.000,2995,2141,2006
$GC,8168,1.04,202.3,43.5,6.8,393,8170,0.12,0.00,0.00,0.000,6,0.084,0.000,2970,2141,2006
$GC,8478,1.04,202.3,21.0,6.7,408,8479,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2141,2007
$STATE,8660,end climb,SURFACE_DEPTH_REACHED
$STATE,8660,begin surface coast
$FINISH,1.3,1.027482
$STATE,8683,end surface coast,CONTROL_FINISHED_OK
$STATE,8683,begin surface
$SM_CCo,8707,31.17,0.736,2,0,1812,250.21
$SM_GC,1.49,0.00,0.00,31.17,0.000,0.000,0.736,424,1956,1812,-10.68,-1.24,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1818
$TCM_TEMP,16.60
$XPDR_PINGS,40
$ALTIM_BOTTOM_PING,276.1,63.0
$24V_AH,23.9,59.928
$10V_AH,10.1,29.593
$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,24.825,61.350,288.275,31.175,0.000,37.758,26.313,106.234,12.000,0.000,0.000,32.670,800.851,6454.479,421.466,1026.598,349.936,0.000,928.702,0.000,989.394,0.000,15.412,0.000
$DEVICE_MAMPS,132.691,76.700,1036.217,736.320,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,307.158,280.301,388.115,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19125,418
$CAP_FILE_SIZE,65079,0
$CFSIZE,254472192,231137280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,20,2,0
$GPS,190109,234144,6055.931,-547.563,40,3.4,59,-7.3