version: 66.04
glider: 5
mission: 7
dive: 104
start: 9 15 109 11 41 41
data:
$ID,5
$MISSION,7
$DIVE,104
$D_SURF,3
$D_FLARE,2
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$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,412.5
$T_MISSION,440
$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,990
$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,61.599998
$TGT_DEFAULT_LON,-8.75
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$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,-102204.36
$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,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,159
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,2130
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,390
$VBD_MAX,3851
$C_VBD,2831
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0016
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$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,-23.674383
$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,120
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,6
$XPDR_INHIBIT,9
$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,0.0043731672
$SEABIRD_T_H,0.00064376107
$SEABIRD_T_I,2.5908092e-05
$SEABIRD_T_J,2.8225327e-06
$SEABIRD_C_G,-9.8535681
$SEABIRD_C_H,1.1081258
$SEABIRD_C_I,-0.00043031506
$SEABIRD_C_J,0.00012618699
$GPS1,113206,6236.893,-1206.427,54,1.0,59,-11.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-59.5
$GPS2,114050,6236.809,-1206.398,15,1.1,15,-11.3
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,GW
$TGT_LATLONG,6240.000,-1220.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.088,0.229
$KALMAN_X,-99536.0,480.7,-22.3,-82824.6,-2321.2
$KALMAN_Y,-1076.6,476.3,-97.9,112154.1,-3426.4
$MHEAD_RNG_PITCHd_Wd,350.2,12990,-14.8,-8.000
$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,-1.22,-146.6,0.0,0.0,0,59,0.00,0.00,-41.42,0.000,2,0.000,0.000,418,2153,2515
$GC,63,-1.22,-146.6,2.3,-2.8,2,113,11.43,2.60,-31.42,0.000,4,0.163,0.066,2471,707,3429
$GC,288,-1.15,-146.6,30.7,-11.4,12,293,0.12,2.50,0.00,0.000,6,0.105,0.044,2494,2127,3429
$GC,610,-1.10,-146.6,69.6,-12.4,28,615,0.00,2.55,0.00,0.000,4,0.000,0.064,2495,3541,3429
$GC,633,-1.06,-146.6,72.4,-11.4,29,637,0.00,2.50,0.00,0.000,6,0.000,0.047,2495,2131,3429
$GC,956,-1.03,-146.6,109.0,-11.4,45,961,0.10,2.50,0.00,0.000,4,0.107,0.058,2516,718,3429
$GC,997,-1.06,-146.6,113.6,-10.9,47,1001,0.00,2.50,0.00,0.000,6,0.000,0.046,2516,2138,3430
$GC,1324,-1.06,-146.6,147.6,-10.5,63,1325,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2139,3430
$GC,1633,-1.06,-146.6,178.0,-9.2,78,1637,0.00,2.58,0.00,0.000,4,0.000,0.060,2516,714,3430
$GC,1689,-1.11,-146.6,183.4,-10.3,80,1695,0.00,2.50,0.00,0.000,6,0.000,0.048,2516,2131,3430
$GC,2005,-1.11,-146.6,213.2,-9.6,96,2006,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2132,3430
$GC,2315,-1.11,-146.6,243.3,-9.7,111,2319,0.00,2.55,0.00,0.000,4,0.000,0.061,2516,720,3430
$GC,2359,-1.15,-146.6,247.9,-9.8,113,2364,0.12,2.47,0.00,0.000,6,0.055,0.050,2480,2120,3430
$GC,2681,-1.10,-146.6,284.0,-11.4,129,2683,0.12,0.00,0.00,0.000,6,0.091,0.000,2506,2120,3430
$GC,2990,-1.10,-146.6,315.5,-10.1,144,2994,0.00,2.53,0.00,0.000,4,0.000,0.061,2506,722,3430
$GC,3017,-1.10,-146.6,318.6,-10.8,145,3022,0.00,2.47,0.00,0.000,6,0.000,0.049,2506,2120,3430
$GC,3333,-1.10,-146.6,350.5,-10.2,160,3335,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2121,3429
$GC,3642,-1.10,-146.6,382.2,-10.3,175,3647,0.00,2.55,0.00,0.000,4,0.000,0.063,2506,714,3429
$GC,3705,-1.10,-146.6,389.0,-11.0,178,3709,0.00,2.47,0.00,0.000,6,0.000,0.050,2506,2114,3429
$GC,4034,-1.10,-146.6,421.8,-9.8,194,4035,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2114,3429
$GC,4340,-1.10,-146.6,451.2,-9.4,209,4345,0.00,2.53,0.00,0.000,4,0.000,0.064,2506,719,3428
$GC,4403,-1.13,-146.6,457.3,-9.9,212,4408,0.00,2.45,0.00,0.000,6,0.000,0.051,2506,2105,3428
$GC,4731,-1.13,-146.6,488.3,-9.6,228,4735,0.00,2.50,0.00,0.000,4,0.000,0.066,2505,720,3428
$GC,4764,-1.13,-146.6,491.8,-10.0,229,4769,0.00,2.45,0.00,0.000,6,0.000,0.051,2506,2102,3428
$GC,5080,-1.13,-146.6,523.5,-10.4,244,5085,0.00,2.53,0.00,0.000,4,0.000,0.066,2505,718,3428
$GC,5114,-1.13,-146.6,527.2,-10.2,245,5120,0.00,2.45,0.00,0.000,6,0.000,0.051,2506,2099,3428
$GC,5430,-1.13,-146.6,560.6,-10.6,261,5431,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2099,3428
$GC,5740,-1.13,-146.6,593.3,-10.4,276,5744,0.00,2.53,0.00,0.000,4,0.000,0.066,2506,715,3428
$GC,5807,-1.16,-146.6,600.8,-10.9,279,5811,0.00,2.45,0.00,0.000,6,0.000,0.051,2506,2097,3427
$GC,6128,-1.16,-146.6,634.1,-9.7,295,6129,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2098,3427
$GC,6437,-1.16,-146.6,660.4,-8.0,310,6438,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2098,3427
$GC,6746,-1.16,-146.6,685.2,-8.5,325,6747,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2098,3427
$GC,7055,-1.16,-146.6,714.7,-9.6,340,7059,0.00,2.53,0.00,0.000,4,0.000,0.068,2506,716,3426
$GC,7078,-1.16,-146.6,717.0,-10.1,341,7082,0.00,2.45,0.00,0.000,6,0.000,0.054,2506,2090,3426
$GC,7403,-1.16,-146.6,746.7,-9.2,357,7407,0.00,2.53,0.00,0.000,4,0.000,0.069,2506,713,3426
$GC,7438,-1.20,-146.6,750.6,-10.0,358,7444,0.10,2.45,0.00,0.000,6,0.064,0.054,2476,2085,3426
$GC,7754,-1.17,-146.6,784.0,-10.2,374,7755,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2085,3425
$GC,8063,-1.17,-146.6,814.8,-10.2,389,8067,0.00,2.53,0.00,0.000,4,0.000,0.077,2476,724,3425
$GC,8096,-1.17,-146.6,818.5,-11.5,390,8102,0.00,2.42,0.00,0.000,6,0.000,0.059,2476,2070,3425
$STATE,8120,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8120,begin apogee
$GC,8128,-0.33,0.0,821.1,10.3,392,8263,0.93,0.00,131.15,1.378,6,0.081,0.000,2673,1838,2831
$STATE,8264,end apogee,CONTROL_FINISHED_OK
$STATE,8264,begin climb
$GC,8267,1.22,146.6,826.0,0.0,399,8413,1.52,2.75,132.35,1.336,4,0.058,0.071,3010,3252,2233
$GC,8517,1.11,146.6,815.6,8.9,410,8522,0.12,2.62,0.00,0.000,6,0.104,0.069,2986,1853,2233
$GC,8833,1.07,150.9,792.2,7.8,425,8841,0.00,0.00,5.78,0.993,6,0.000,0.000,2987,1853,2215
$GC,9143,1.03,153.0,767.4,7.9,440,9144,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,1853,2214
$GC,9452,1.00,166.6,743.8,7.5,455,9475,0.12,2.67,15.20,1.241,4,0.101,0.071,2964,3254,2150
$GC,9509,1.07,187.9,739.3,7.2,457,9535,0.00,2.62,20.30,1.267,6,0.000,0.067,2964,1851,2064
$GC,9846,1.08,195.2,713.4,7.7,473,9855,0.00,0.00,7.60,1.105,6,0.000,0.000,2964,1850,2035
$GC,10155,1.15,217.3,689.8,7.2,488,10179,0.15,0.00,20.83,1.257,6,0.057,0.000,3001,1851,1945
$GC,10487,1.11,217.3,659.7,9.2,504,10491,0.00,2.62,0.00,0.000,4,0.000,0.067,3001,3261,1944
$GC,10527,1.11,217.3,655.9,9.6,506,10531,0.00,2.62,0.00,0.000,6,0.000,0.064,3001,1835,1944
$GC,10854,1.07,217.3,623.9,9.8,522,10859,0.12,2.58,0.00,0.000,4,0.096,0.075,2977,434,1944
$GC,10898,1.07,217.3,619.4,9.7,524,10903,0.00,2.55,0.00,0.000,6,0.000,0.054,2977,1850,1944
$GC,11220,1.15,267.3,597.0,6.2,540,11266,0.00,0.00,44.17,1.236,6,0.000,0.000,2977,1865,1741
$GC,11573,1.22,287.5,572.6,7.3,557,11598,0.15,2.60,19.10,1.161,4,0.055,0.063,3015,3254,1658
$GC,11621,1.22,287.5,568.0,9.6,559,11626,0.00,2.62,0.00,0.000,6,0.000,0.060,3015,1832,1658
$GC,11943,1.18,287.5,534.9,10.7,575,11944,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,1832,1658
$GC,12252,1.14,287.5,501.1,10.9,590,12257,0.12,2.60,0.00,0.000,4,0.091,0.062,2992,3253,1658
$GC,12302,1.20,287.5,495.9,9.4,592,12306,0.00,2.58,0.00,0.000,6,0.000,0.057,2992,1838,1658
$GC,12618,1.20,287.5,466.5,9.1,607,12619,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,1838,1658
$GC,12927,1.20,287.5,437.8,9.1,622,12931,0.00,2.60,0.00,0.000,4,0.000,0.061,2992,3259,1659
$GC,12977,1.26,287.5,433.0,9.2,624,12982,0.12,2.55,0.00,0.000,6,0.056,0.056,3026,1851,1659
$GC,13294,1.22,287.5,398.5,10.8,639,13295,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,1850,1659
$GC,13603,1.18,287.5,365.7,10.7,654,13608,0.12,2.55,0.00,0.000,4,0.090,0.061,3002,3254,1659
$GC,13636,1.22,287.5,362.1,10.1,655,13643,0.00,2.53,0.00,0.000,6,0.000,0.054,3002,1848,1660
$GC,13953,1.22,287.5,332.3,9.3,671,13957,0.00,2.58,0.00,0.000,4,0.000,0.061,3002,3260,1660
$GC,13986,1.26,287.5,329.0,9.3,672,13992,0.00,2.50,0.00,0.000,6,0.000,0.054,3002,1865,1660
$GC,14302,1.26,287.5,298.6,9.9,688,14306,0.00,2.53,0.00,0.000,4,0.000,0.061,3002,3262,1660
$GC,14335,1.29,287.5,295.2,10.0,689,14342,0.12,2.47,0.00,0.000,6,0.055,0.052,3036,1878,1660
$GC,14652,1.23,287.5,256.8,12.4,705,14653,0.12,0.00,0.00,0.000,6,0.091,0.000,3011,1878,1660
$GC,14960,1.23,287.5,222.7,10.9,720,14964,0.00,2.47,0.00,0.000,4,0.000,0.060,3011,3254,1661
$GC,15010,1.23,287.5,217.2,10.8,722,15015,0.00,2.45,0.00,0.000,6,0.000,0.051,3011,1880,1661
$GC,15332,1.23,287.5,184.6,9.9,738,15333,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,1880,1661
$GC,15641,1.23,287.5,154.2,9.6,753,15645,0.00,2.50,0.00,0.000,4,0.000,0.059,3012,3261,1661
$GC,15703,1.23,287.5,148.2,9.2,755,15709,0.00,2.42,0.00,0.000,6,0.000,0.050,3011,1897,1661
$GC,16019,1.23,287.5,120.0,8.5,771,16023,0.00,2.47,0.00,0.000,4,0.000,0.059,3011,3266,1662
$GC,16060,1.27,290.1,116.8,7.9,773,16070,0.00,2.42,4.65,0.644,6,0.000,0.050,3011,1900,1648
$GC,16387,1.27,290.1,83.3,10.5,789,16388,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,1900,1648
$GC,16696,1.27,290.1,51.7,10.3,804,16700,0.00,2.45,0.00,0.000,4,0.000,0.058,3011,3256,1648
$GC,16786,1.34,290.1,44.3,8.8,808,16790,0.12,2.40,0.00,0.000,6,0.054,0.048,3047,1902,1647
$GC,17108,1.24,290.1,11.0,9.6,824,17113,0.17,2.60,0.00,0.000,4,0.087,0.061,3009,441,1648
$GC,17163,1.24,290.1,3.7,13.2,826,17170,0.00,2.55,0.00,0.000,6,0.000,0.045,3009,1901,1648
$STATE,17188,end climb,SURFACE_DEPTH_REACHED
$STATE,17188,begin surface coast
$FINISH,0.8,1.013646
$STATE,17210,end surface coast,CONTROL_FINISHED_OK
$STATE,17210,begin surface
$SM_CCo,17234,5.22,0.604,0,0,1608,300.00
$SM_GC,1.93,0.00,0.00,5.22,0.000,0.000,0.604,416,2154,1608,-10.71,0.59,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1818
$TCM_TEMP,17.70
$XPDR_PINGS,31
$ALTIM_BOTTOM_PING,746.7,82.2
$24V_AH,23.8,19.941
$10V_AH,10.1,8.936
$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,27.175,147.350,401.125,5.225,0.000,75.523,60.497,194.868,14.500,0.000,0.000,15.127,1531.646,13287.015,519.619,1774.972,650.670,33.362,1444.355,0.000,1732.633,0.000,46.801,0.000
$DEVICE_MAMPS,162.604,76.700,1377.532,604.396,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,568.090,619.674,476.382,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41108,829
$CAP_FILE_SIZE,134224,0
$CFSIZE,254472192,246018048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,150909,163024,6238.857,-1211.762,43,1.8,43,-11.4