version: 66.04
glider: 5
mission: 7
dive: 105
start: 9 15 109 16 37 50
data:
$ID,5
$MISSION,7
$DIVE,105
$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,-102222.4
$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,24
$R_STBD_OVSHOOT,35
$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
$GPS1,163024,6238.857,-1211.762,43,1.8,43,-11.4
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-58.3
$GPS2,163701,6238.854,-1211.707,12,1.5,17,-11.4
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,GW
$TGT_LATLONG,6240.000,-1220.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.104,0.222
$KALMAN_X,-101770.7,93.5,123.2,-85000.9,-3776.9
$KALMAN_Y,-3234.9,298.6,509.9,117684.8,-5437.2
$MHEAD_RNG_PITCHd_Wd,346.4,7365,-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,15,-1.22,-146.6,0.0,0.0,0,59,0.00,0.00,-41.75,0.000,2,0.000,0.000,415,2153,2513
$GC,63,-1.22,-146.6,2.4,-4.8,2,119,11.30,2.60,-36.62,0.000,4,0.161,0.067,2471,718,3426
$GC,243,-1.14,-146.6,23.8,-15.6,10,248,0.12,2.50,0.00,0.000,6,0.103,0.045,2496,2132,3427
$GC,567,-1.09,-146.6,69.2,-13.4,26,568,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2132,3427
$GC,874,-1.06,-146.6,102.3,-8.9,41,875,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2132,3428
$GC,1184,-1.03,-146.6,130.7,-9.7,56,1185,0.10,0.00,0.00,0.000,6,0.100,0.000,2517,2132,3428
$GC,1493,-1.03,-146.6,159.8,-9.6,71,1494,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2132,3428
$GC,1802,-1.03,-146.6,190.2,-9.8,86,1803,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2132,3428
$GC,2112,-1.03,-146.6,221.4,-10.2,101,2116,0.00,2.55,0.00,0.000,4,0.000,0.061,2517,718,3428
$GC,2168,-1.07,-146.6,227.4,-10.7,103,2174,0.00,2.47,0.00,0.000,6,0.000,0.048,2517,2121,3428
$GC,2484,-1.07,-146.6,258.9,-9.6,119,2485,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2120,3428
$GC,2793,-1.07,-146.6,288.1,-9.3,134,2797,0.00,2.55,0.00,0.000,4,0.000,0.061,2517,707,3428
$GC,2856,-1.12,-146.6,294.0,-9.8,137,2860,0.00,2.50,0.00,0.000,6,0.000,0.048,2517,2122,3428
$GC,3182,-1.12,-146.6,323.1,-9.1,153,3183,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2122,3428
$GC,3492,-1.12,-146.6,352.3,-9.6,168,3496,0.00,2.55,0.00,0.000,4,0.000,0.061,2517,710,3428
$GC,3536,-1.17,-146.6,356.8,-10.2,170,3541,0.12,2.50,0.00,0.000,6,0.056,0.048,2482,2125,3428
$GC,3858,-1.12,-146.6,394.3,-11.9,186,3863,0.00,2.55,0.00,0.000,4,0.000,0.062,2481,715,3427
$GC,3897,-1.12,-146.6,399.5,-13.0,187,3903,0.00,2.47,0.00,0.000,6,0.000,0.049,2482,2112,3428
$GC,4213,-1.07,-146.6,439.2,-13.0,203,4218,0.15,2.53,0.00,0.000,4,0.092,0.061,2513,718,3427
$GC,4247,-1.11,-146.6,443.5,-12.3,204,4253,0.00,2.45,0.00,0.000,6,0.000,0.049,2513,2102,3427
$GC,4563,-1.11,-146.6,478.8,-10.9,220,4567,0.00,2.53,0.00,0.000,4,0.000,0.065,2513,712,3427
$GC,4597,-1.15,-146.6,482.6,-10.4,221,4601,0.00,2.45,0.00,0.000,6,0.000,0.051,2513,2103,3427
$GC,4918,-1.15,-146.6,514.5,-9.1,237,4922,0.00,2.53,0.00,0.000,4,0.000,0.064,2513,713,3427
$GC,4952,-1.19,-146.6,517.7,-9.5,238,4958,0.12,2.45,0.00,0.000,6,0.056,0.051,2477,2095,3427
$GC,5268,-1.14,-146.6,549.5,-9.6,254,5270,0.10,0.00,0.00,0.000,6,0.097,0.000,2497,2095,3426
$GC,5577,-1.14,-146.6,577.5,-9.3,269,5581,0.00,2.50,0.00,0.000,4,0.000,0.063,2497,717,3426
$GC,5621,-1.14,-146.6,581.7,-9.7,271,5625,0.00,2.40,0.00,0.000,6,0.000,0.051,2496,2077,3426
$GC,5948,-1.14,-146.6,612.3,-9.9,287,5949,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2078,3426
$GC,6257,-1.14,-146.6,643.3,-10.1,302,6261,0.00,2.47,0.00,0.000,4,0.000,0.067,2497,720,3426
$GC,6307,-1.14,-146.6,648.6,-10.1,304,6311,0.00,2.40,0.00,0.000,6,0.000,0.051,2497,2072,3426
$GC,6628,-1.14,-146.6,682.9,-10.9,320,6632,0.00,2.45,0.00,0.000,4,0.000,0.066,2496,718,3426
$GC,6673,-1.14,-146.6,687.7,-10.8,322,6678,0.00,2.40,0.00,0.000,6,0.000,0.052,2497,2067,3426
$GC,7001,-1.14,-146.6,717.4,-8.9,338,7004,0.00,2.45,0.00,0.000,4,0.000,0.067,2497,718,3426
$GC,7040,-1.17,-146.6,721.1,-9.1,339,7046,0.00,2.40,0.00,0.000,6,0.000,0.054,2497,2063,3425
$GC,7357,-1.17,-146.6,749.0,-8.9,355,7361,0.00,2.47,0.00,0.000,4,0.000,0.070,2497,717,3425
$GC,7412,-1.17,-146.6,754.4,-10.3,357,7418,0.00,2.38,0.00,0.000,6,0.000,0.056,2497,2043,3425
$STATE,7602,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7602,begin apogee
$GC,7609,-0.33,0.0,771.1,8.6,367,7744,0.80,0.00,129.52,1.333,6,0.078,0.000,2668,1832,2831
$STATE,7745,end apogee,CONTROL_FINISHED_OK
$STATE,7745,begin climb
$GC,7749,1.22,146.6,775.5,0.0,374,7894,1.55,2.67,131.93,1.292,4,0.064,0.074,3005,445,2233
$GC,7930,1.06,146.6,767.0,8.6,382,7935,0.15,2.58,0.00,0.000,6,0.097,0.057,2978,1853,2233
$GC,8247,1.06,148.9,742.5,7.9,397,8254,0.00,0.00,4.10,0.796,6,0.000,0.000,2978,1868,2223
$GC,8579,1.09,184.6,718.6,6.7,413,8617,0.00,0.00,32.78,1.253,6,0.000,0.000,2978,1868,2078
$GC,8927,1.09,184.6,689.1,9.5,430,8932,0.00,2.65,0.00,0.000,4,0.000,0.077,2978,450,2077
$GC,8984,1.04,184.6,683.2,10.5,432,8990,0.00,2.53,0.00,0.000,6,0.000,0.057,2978,1841,2077
$GC,9299,1.04,184.6,655.9,8.2,448,9304,0.00,2.60,0.00,0.000,4,0.000,0.071,2978,3261,2076
$GC,9327,1.04,184.6,653.5,8.5,449,9332,0.00,2.62,0.00,0.000,6,0.000,0.066,2978,1842,2076
$GC,9644,1.13,239.4,632.8,6.0,464,9694,0.00,0.00,48.85,1.254,6,0.000,0.000,2978,1842,1854
$GC,9993,1.20,283.5,611.5,6.4,481,10040,0.12,2.70,39.12,1.223,4,0.058,0.065,3011,3257,1675
$GC,10080,1.20,283.5,604.3,8.8,485,10085,0.00,2.65,0.00,0.000,6,0.000,0.063,3011,1828,1676
$GC,10408,1.17,283.5,574.7,9.3,501,10410,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,1828,1675
$GC,10718,1.13,283.5,544.5,9.9,516,10722,0.00,2.62,0.00,0.000,4,0.000,0.063,3012,3255,1676
$GC,10790,1.13,283.5,536.9,10.8,519,10794,0.00,2.58,0.00,0.000,6,0.000,0.059,3011,1845,1676
$GC,11106,1.10,283.5,502.5,11.4,534,11108,0.15,0.00,0.00,0.000,6,0.091,0.000,2981,1845,1675
$GC,11416,1.13,283.5,472.6,9.6,549,11420,0.00,2.60,0.00,0.000,4,0.000,0.062,2981,3262,1676
$GC,11466,1.21,283.5,467.6,9.9,551,11471,0.12,2.55,0.00,0.000,6,0.054,0.057,3016,1849,1676
$GC,11783,1.17,283.5,430.9,11.8,566,11784,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,1849,1676
$GC,12092,1.14,283.5,394.6,12.0,581,12097,0.12,2.58,0.00,0.000,4,0.089,0.061,2992,3258,1676
$GC,12142,1.19,283.5,388.9,10.0,583,12146,0.00,2.53,0.00,0.000,6,0.000,0.056,2992,1858,1676
$GC,12458,1.19,283.5,356.8,10.0,598,12462,0.00,2.55,0.00,0.000,4,0.000,0.061,2993,3258,1677
$GC,12492,1.26,283.5,353.2,10.0,599,12497,0.12,2.50,0.00,0.000,6,0.055,0.055,3026,1869,1677
$GC,12808,1.20,283.5,316.8,11.2,614,12810,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,1869,1677
$GC,13118,1.15,283.5,281.4,11.7,629,13123,0.17,2.53,0.00,0.000,4,0.085,0.060,2988,3265,1677
$GC,13163,1.23,283.5,276.6,9.7,631,13168,0.10,2.50,0.00,0.000,6,0.059,0.053,3017,1869,1677
$GC,13484,1.23,283.5,241.1,11.1,647,13485,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,1869,1677
$GC,13793,1.23,283.5,207.1,10.8,662,13797,0.00,2.53,0.00,0.000,4,0.000,0.059,3017,3264,1678
$GC,13844,1.23,283.5,201.6,10.5,664,13849,0.00,2.47,0.00,0.000,6,0.000,0.051,3016,1875,1678
$GC,14166,1.23,283.5,167.8,10.4,680,14167,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,1874,1678
$GC,14475,1.23,283.5,136.0,10.2,695,14479,0.00,2.50,0.00,0.000,4,0.000,0.059,3017,3258,1678
$GC,14515,1.23,283.5,131.9,10.6,697,14519,0.00,2.45,0.00,0.000,6,0.000,0.050,3017,1877,1678
$GC,14848,1.23,283.5,97.8,10.1,713,14850,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,1878,1678
$GC,15157,1.23,283.5,67.6,9.2,728,15158,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,1878,1679
$GC,15468,1.30,327.5,41.2,6.4,743,15507,0.00,0.00,37.05,0.808,6,0.000,0.000,3017,1877,1496
$GC,15818,1.30,327.5,8.4,9.3,760,15820,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,1866,1495
$STATE,15896,end climb,SURFACE_DEPTH_REACHED
$STATE,15896,begin surface coast
$FINISH,0.8,1.026918
$STATE,15920,end surface coast,CONTROL_FINISHED_OK
$STATE,15920,begin surface
$SM_CCo,16003,0.00,0.000,0,0,1495,327.72
$SM_GC,1.57,11.23,0.00,0.00,0.035,0.000,0.000,418,2138,1495,-10.60,0.23,327.72
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1822
$TCM_TEMP,17.70
$XPDR_PINGS,33
$ALTIM_BOTTOM_PING,745.4,35.3
$24V_AH,23.8,20.106
$10V_AH,10.1,9.010
$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,26.675,121.800,423.350,0.000,0.000,37.762,30.922,196.378,15.250,0.000,0.000,17.405,1394.159,12304.731,531.526,1612.130,552.076,33.355,1365.300,0.000,1567.670,0.000,48.971,0.000
$DEVICE_MAMPS,161.070,76.700,1333.046,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,523.686,573.153,459.277,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38071,765
$CAP_FILE_SIZE,117786,0
$CFSIZE,254472192,245977088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,150909,210602,6241.131,-1214.478,51,1.0,52,-11.5