version: 66.04
glider: 5
mission: 7
dive: 109
start: 9 16 109 10 29 32
data:
$ID,5
$MISSION,7
$DIVE,109
$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,-102282.41
$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,39
$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
$GPS1,102307,6243.751,-1231.068,40,1.4,40,-11.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-67.6
$GPS2,102843,6243.758,-1230.984,10,1.5,15,-11.6
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,HW
$TGT_LATLONG,6250.000,-1305.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.085,0.230
$KALMAN_X,-103309.5,485.3,458.3,-101195.0,-2357.1
$KALMAN_Y,-7666.3,843.4,201.9,130942.7,-3978.8
$MHEAD_RNG_PITCHd_Wd,351.5,31000,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.22,-146.6,0.0,0.0,0,61,0.00,0.00,-41.58,0.000,2,0.000,0.000,418,2143,2524
$GC,65,-1.22,-146.6,2.3,-2.1,2,117,11.10,2.58,-34.97,0.000,4,0.158,0.068,2469,718,3429
$GC,274,-1.14,-146.6,27.4,-14.4,11,281,0.12,2.47,0.00,0.000,6,0.103,0.045,2495,2127,3430
$GC,591,-1.10,-146.6,70.6,-13.0,27,595,0.00,2.55,0.00,0.000,4,0.000,0.058,2495,711,3430
$GC,681,-1.10,-146.6,81.6,-11.7,31,685,0.00,2.50,0.00,0.000,6,0.000,0.044,2495,2131,3430
$GC,1002,-1.06,-146.6,116.3,-10.7,47,1007,0.00,2.55,0.00,0.000,4,0.000,0.058,2495,714,3431
$GC,1065,-1.06,-146.6,123.5,-11.1,50,1070,0.00,2.47,0.00,0.000,6,0.000,0.046,2495,2116,3431
$GC,1393,-1.03,-146.6,159.2,-11.1,66,1395,0.10,0.00,0.00,0.000,6,0.103,0.000,2516,2116,3431
$GC,1702,-1.03,-146.6,190.3,-9.8,81,1706,0.00,2.53,0.00,0.000,4,0.000,0.060,2516,718,3432
$GC,1735,-1.07,-146.6,194.0,-10.3,82,1741,0.00,2.47,0.00,0.000,6,0.000,0.048,2516,2117,3432
$GC,2051,-1.07,-146.6,224.9,-9.5,98,2055,0.00,2.53,0.00,0.000,4,0.000,0.061,2517,719,3432
$GC,2084,-1.11,-146.6,228.1,-9.9,99,2091,0.00,2.45,0.00,0.000,6,0.000,0.048,2516,2107,3432
$GC,2400,-1.11,-146.6,257.7,-9.3,115,2402,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2107,3432
$GC,2709,-1.11,-146.6,286.2,-9.3,130,2714,0.00,2.53,0.00,0.000,4,0.000,0.062,2516,714,3431
$GC,2760,-1.16,-146.6,291.1,-9.6,132,2765,0.12,2.45,0.00,0.000,6,0.054,0.049,2480,2097,3431
$GC,3076,-1.11,-146.6,325.3,-10.6,147,3078,0.12,0.00,0.00,0.000,6,0.096,0.000,2506,2097,3431
$GC,3385,-1.11,-146.6,354.6,-9.4,162,3389,0.00,2.50,0.00,0.000,4,0.000,0.062,2506,717,3431
$GC,3418,-1.11,-146.6,357.8,-9.4,163,3424,0.00,2.45,0.00,0.000,6,0.000,0.049,2506,2101,3430
$GC,3734,-1.11,-146.6,386.8,-9.2,179,3735,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2102,3430
$GC,4043,-1.11,-146.6,415.2,-9.2,194,4047,0.00,2.53,0.00,0.000,4,0.000,0.064,2506,709,3430
$GC,4070,-1.11,-146.6,417.7,-9.0,195,4074,0.00,2.47,0.00,0.000,6,0.000,0.050,2506,2104,3430
$GC,4386,-1.11,-146.6,447.4,-9.6,210,4387,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2105,3430
$GC,4695,-1.11,-146.6,477.5,-9.9,225,4699,0.00,2.53,0.00,0.000,4,0.000,0.064,2506,716,3430
$GC,4745,-1.14,-146.6,482.6,-9.9,227,4750,0.00,2.45,0.00,0.000,6,0.000,0.050,2506,2099,3429
$GC,5061,-1.14,-146.6,516.1,-10.9,242,5065,0.00,2.50,0.00,0.000,4,0.000,0.062,2506,718,3429
$GC,5103,-1.18,-146.6,520.5,-10.9,244,5107,0.00,2.42,0.00,0.000,6,0.000,0.051,2506,2086,3429
$GC,5430,-1.18,-146.6,555.1,-10.1,260,5434,0.00,2.47,0.00,0.000,4,0.000,0.063,2506,719,3429
$GC,5480,-1.22,-146.6,560.3,-10.1,262,5485,0.12,2.40,0.00,0.000,6,0.059,0.051,2469,2073,3429
$GC,5796,-1.16,-146.6,594.5,-10.1,277,5798,0.12,0.00,0.00,0.000,6,0.098,0.000,2494,2074,3428
$GC,6106,-1.16,-146.6,622.5,-9.3,292,6110,0.00,2.47,0.00,0.000,4,0.000,0.064,2494,711,3428
$GC,6146,-1.16,-146.6,626.4,-10.1,294,6150,0.00,2.40,0.00,0.000,6,0.000,0.051,2494,2064,3428
$GC,6473,-1.16,-146.6,657.0,-9.6,310,6474,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2064,3428
$GC,6782,-1.16,-146.6,685.9,-8.8,325,6786,0.00,2.45,0.00,0.000,4,0.000,0.067,2494,720,3428
$GC,6826,-1.16,-146.6,690.0,-9.4,327,6830,0.00,2.35,0.00,0.000,6,0.000,0.053,2494,2050,3428
$GC,7153,-1.16,-146.6,717.5,-8.4,343,7154,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2050,3427
$GC,7462,-1.16,-146.6,744.1,-9.1,358,7463,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2050,3427
$STATE,7645,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7645,begin apogee
$GC,7652,-0.33,0.0,761.9,9.9,367,7788,0.82,0.00,132.23,1.327,6,0.078,0.000,2674,1843,2832
$STATE,7789,end apogee,CONTROL_FINISHED_OK
$STATE,7789,begin climb
$GC,7792,1.22,146.6,766.7,0.0,374,7936,1.52,0.00,134.80,1.281,6,0.060,0.000,3008,1844,2233
$GC,8248,1.13,149.6,735.9,7.9,396,8254,0.00,0.00,4.25,0.811,6,0.000,0.000,3008,1844,2221
$GC,8555,1.04,149.6,711.0,8.5,411,8557,0.17,0.00,0.00,0.000,6,0.094,0.000,2975,1843,2221
$GC,8864,1.09,179.8,689.6,6.9,426,8899,0.00,2.72,27.70,1.247,4,0.000,0.068,2976,3252,2097
$GC,8963,1.13,201.5,682.3,7.2,430,8989,0.00,2.60,20.38,1.223,6,0.000,0.065,2976,1853,2009
$GC,9301,1.15,214.7,657.6,7.5,446,9319,0.00,0.00,13.20,1.172,6,0.000,0.000,2976,1853,1955
$GC,9629,1.15,214.7,630.5,8.2,462,9630,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,1853,1954
$GC,9939,1.15,215.3,604.9,8.0,477,9940,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,1853,1954
$GC,10248,1.16,221.0,580.8,7.8,492,10261,0.00,2.65,6.50,0.992,4,0.000,0.064,2975,3257,1930
$GC,10321,1.23,240.0,575.3,7.3,495,10346,0.17,2.58,18.23,1.167,6,0.054,0.059,3019,1850,1851
$GC,10671,1.17,240.0,540.6,10.4,512,10672,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,1850,1851
$GC,10978,1.10,240.0,510.0,9.8,527,10980,0.17,0.00,0.00,0.000,6,0.089,0.000,2985,1850,1851
$GC,11288,1.12,253.2,485.9,7.5,542,11309,0.00,2.62,12.88,1.066,4,0.000,0.061,2984,3247,1798
$GC,11338,1.17,253.2,481.7,8.2,544,11343,0.00,2.55,0.00,0.000,6,0.000,0.057,2984,1852,1798
$GC,11660,1.18,255.8,456.6,7.9,560,11669,0.00,2.58,3.95,0.725,4,0.000,0.061,2985,3258,1788
$GC,11699,1.23,256.4,453.3,8.0,561,11705,0.12,2.53,0.00,0.000,6,0.056,0.057,3019,1869,1788
$GC,12015,1.18,256.4,421.9,10.1,577,12016,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,1869,1788
$GC,12324,1.13,256.4,390.2,10.3,592,12329,0.15,2.55,0.00,0.000,4,0.090,0.061,2989,3262,1788
$GC,12371,1.18,256.4,386.0,8.2,594,12375,0.00,2.50,0.00,0.000,6,0.000,0.054,2989,1874,1788
$GC,12692,1.18,256.4,359.5,8.3,610,12693,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,1873,1788
$GC,13001,1.18,256.4,333.6,8.2,625,13005,0.00,2.53,0.00,0.000,4,0.000,0.061,2989,3261,1789
$GC,13034,1.23,256.4,330.7,8.6,626,13041,0.10,2.50,0.00,0.000,6,0.060,0.054,3017,1870,1788
$GC,13350,1.18,256.4,299.9,9.9,642,13352,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,1870,1789
$GC,13660,1.14,256.4,268.4,10.0,657,13665,0.12,2.50,0.00,0.000,4,0.091,0.059,2994,3255,1789
$GC,13700,1.19,256.4,264.8,8.4,659,13704,0.00,2.42,0.00,0.000,6,0.000,0.053,2993,1887,1790
$GC,14032,1.19,256.4,237.3,8.1,675,14034,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,1887,1789
$GC,14342,1.22,275.2,214.0,7.3,690,14362,0.00,0.00,17.73,0.910,6,0.000,0.000,2993,1887,1709
$GC,14671,1.22,275.2,188.2,8.1,706,14675,0.00,2.47,0.00,0.000,4,0.000,0.058,2994,3258,1709
$GC,14711,1.28,275.2,184.8,8.7,707,14718,0.15,2.45,0.00,0.000,6,0.051,0.051,3034,1888,1709
$GC,15027,1.22,275.2,151.2,10.6,723,15029,0.12,0.00,0.00,0.000,6,0.091,0.000,3010,1887,1709
$GC,15336,1.22,275.2,120.9,9.6,738,15338,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1887,1709
$GC,15646,1.22,275.2,89.3,10.8,753,15650,0.00,2.47,0.00,0.000,4,0.000,0.058,3010,3257,1709
$GC,15679,1.22,275.2,85.8,9.6,754,15685,0.00,2.42,0.00,0.000,6,0.000,0.050,3009,1893,1709
$GC,15997,1.22,275.2,55.7,9.0,770,16001,0.00,2.47,0.00,0.000,4,0.000,0.058,3010,3264,1709
$GC,16087,1.28,275.2,47.6,9.1,774,16091,0.00,2.38,0.00,0.000,6,0.000,0.048,3010,1922,1709
$GC,16408,1.28,275.2,18.2,9.4,790,16412,0.00,2.65,0.00,0.000,4,0.000,0.065,3010,442,1709
$GC,16458,1.28,275.2,13.1,9.8,792,16462,0.00,2.62,0.00,0.000,6,0.000,0.044,3010,1939,1709
$STATE,16566,end climb,SURFACE_DEPTH_REACHED
$STATE,16566,begin surface coast
$FINISH,0.9,1.026889
$STATE,16587,end surface coast,CONTROL_FINISHED_OK
$STATE,16587,begin surface
$SM_CCo,16611,13.35,0.738,0,0,1608,300.00
$SM_GC,1.64,0.00,0.00,13.35,0.000,0.000,0.738,420,2145,1608,-10.70,0.42,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1813
$TCM_TEMP,17.80
$XPDR_PINGS,45
$ALTIM_BOTTOM_PING,746.0,25.6
$24V_AH,23.8,20.683
$10V_AH,10.1,9.301
$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,26.575,120.925,391.825,13.350,0.000,37.762,27.845,147.516,18.250,0.000,0.000,15.568,1454.576,12809.994,526.662,1660.709,506.958,33.359,1376.803,0.000,1620.331,0.000,48.926,0.000
$DEVICE_MAMPS,158.002,68.263,1326.910,737.854,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,546.497,598.004,462.815,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41140,798
$CAP_FILE_SIZE,121360,0
$CFSIZE,254472192,245743616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,160909,150800,6245.795,-1236.394,38,1.6,43,-11.7