version: 66.04
glider: 5
mission: 7
dive: 124
start: 9 19 109 8 5 15
data:
$ID,5
$MISSION,7
$DIVE,124
$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,-102546.73
$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,44
$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
$GPS1,075900,6310.455,-1319.426,39,1.1,44,-12.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-64.2
$GPS2,080426,6310.435,-1319.364,13,2.0,13,-12.3
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,IW
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.065,0.237
$KALMAN_X,-97371.9,-801.7,-56.9,-147870.5,417.3
$KALMAN_Y,-12650.2,-627.8,459.9,186585.0,-1382.2
$MHEAD_RNG_PITCHd_Wd,27.6,9205,-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,-41.53,0.000,2,0.000,0.000,417,2147,2494
$GC,65,-1.22,-146.6,2.3,-3.4,2,129,11.15,2.58,-41.85,0.000,4,0.160,0.066,2472,707,3428
$GC,194,-1.16,-146.6,13.2,-13.5,7,200,0.00,2.47,0.00,0.000,6,0.000,0.045,2473,2117,3429
$GC,512,-1.06,-146.6,54.9,-12.2,23,517,0.17,2.53,0.00,0.000,4,0.094,0.054,2514,709,3429
$GC,580,-1.09,-146.6,62.4,-10.2,26,584,0.00,2.50,0.00,0.000,6,0.000,0.044,2514,2133,3429
$GC,901,-1.09,-146.6,88.5,-7.0,42,902,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2133,3430
$GC,1212,-1.09,-146.6,117.5,-10.8,57,1216,0.00,2.55,0.00,0.000,4,0.000,0.056,2514,710,3431
$GC,1268,-1.13,-146.6,124.3,-11.5,59,1274,0.00,2.47,0.00,0.000,6,0.000,0.045,2514,2122,3431
$GC,1583,-1.13,-146.6,157.0,-9.9,75,1585,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2121,3431
$GC,1893,-1.13,-146.6,185.4,-9.1,90,1897,0.00,2.53,0.00,0.000,4,0.000,0.059,2514,718,3431
$GC,1933,-1.17,-146.6,189.3,-9.4,92,1939,0.12,2.47,0.00,0.000,6,0.055,0.048,2477,2120,3431
$GC,2263,-1.11,-146.6,228.9,-12.4,108,2268,0.12,2.53,0.00,0.000,4,0.094,0.058,2503,718,3431
$GC,2296,-1.11,-146.6,233.1,-11.6,109,2302,0.00,2.45,0.00,0.000,6,0.000,0.048,2503,2107,3431
$GC,2612,-1.11,-146.6,266.6,-10.7,125,2616,0.00,2.53,0.00,0.000,4,0.000,0.061,2503,709,3431
$GC,2646,-1.11,-146.6,270.4,-11.1,126,2653,0.00,2.47,0.00,0.000,6,0.000,0.049,2503,2110,3430
$GC,2963,-1.11,-146.6,303.2,-10.2,142,2964,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2110,3431
$GC,3271,-1.11,-146.6,333.0,-9.3,157,3276,0.00,2.53,0.00,0.000,4,0.000,0.061,2503,714,3431
$GC,3316,-1.14,-146.6,337.5,-10.4,159,3321,0.00,2.45,0.00,0.000,6,0.000,0.049,2503,2099,3431
$GC,3638,-1.14,-146.6,366.4,-8.9,175,3639,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2099,3430
$GC,3947,-1.14,-146.6,393.9,-9.2,190,3951,0.00,2.50,0.00,0.000,4,0.000,0.062,2503,717,3429
$GC,3997,-1.14,-146.6,398.4,-9.2,192,4001,0.00,2.42,0.00,0.000,6,0.000,0.050,2503,2088,3429
$GC,4313,-1.14,-146.6,426.9,-9.1,207,4314,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2088,3429
$GC,4622,-1.14,-146.6,455.9,-9.6,222,4626,0.00,2.47,0.00,0.000,4,0.000,0.062,2503,718,3429
$GC,4666,-1.18,-146.6,460.4,-10.3,224,4670,0.00,2.42,0.00,0.000,6,0.000,0.050,2503,2088,3429
$GC,4987,-1.18,-146.6,492.4,-10.1,240,4989,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2089,3429
$GC,5296,-1.18,-146.6,523.5,-10.3,255,5297,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2089,3428
$GC,5605,-1.18,-146.6,554.9,-10.0,270,5610,0.00,2.47,0.00,0.000,4,0.000,0.062,2503,718,3428
$GC,5633,-1.18,-146.6,557.9,-10.3,271,5638,0.00,2.40,0.00,0.000,6,0.000,0.050,2503,2073,3428
$GC,5950,-1.18,-146.6,591.1,-10.6,286,5951,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2072,3428
$GC,6259,-1.18,-146.6,624.0,-10.2,301,6263,0.00,2.45,0.00,0.000,4,0.000,0.063,2503,719,3428
$GC,6300,-1.18,-146.6,628.2,-10.4,303,6304,0.00,2.40,0.00,0.000,6,0.000,0.051,2503,2073,3428
$GC,6627,-1.18,-146.6,660.4,-9.8,319,6628,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2073,3428
$GC,6936,-1.18,-146.6,687.1,-7.8,334,6940,0.00,2.45,0.00,0.000,4,0.000,0.064,2503,719,3427
$GC,7038,-1.21,-146.6,695.4,-8.7,338,7044,0.00,2.38,0.00,0.000,6,0.000,0.051,2503,2061,3427
$GC,7354,-1.21,-146.6,719.6,-8.3,354,7355,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2062,3427
$GC,7663,-1.21,-146.6,749.7,-10.2,369,7667,0.00,2.45,0.00,0.000,4,0.000,0.067,2503,719,3427
$GC,7794,-1.26,-146.6,761.1,-8.6,375,7799,0.15,2.38,0.00,0.000,6,0.057,0.053,2460,2050,3426
$STATE,7932,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7932,begin apogee
$GC,7940,-0.33,0.0,775.9,11.2,382,8075,0.98,0.00,131.32,1.335,6,0.077,0.000,2672,1827,2831
$STATE,8076,end apogee,CONTROL_FINISHED_OK
$STATE,8076,begin climb
$GC,8080,1.22,146.6,781.0,0.0,389,8225,1.55,2.70,133.57,1.297,4,0.064,0.066,3009,3247,2233
$GC,8239,1.22,208.3,777.7,5.8,396,8304,0.00,2.58,56.95,1.259,6,0.000,0.062,3008,1862,1982
$GC,8624,1.14,208.3,742.7,9.8,415,8628,0.00,2.62,0.00,0.000,4,0.000,0.075,3009,438,1982
$GC,8702,1.03,208.3,735.7,8.4,418,8709,0.20,2.55,0.00,0.000,6,0.091,0.056,2972,1847,1982
$GC,9019,1.04,218.0,714.5,7.6,434,9034,0.00,2.67,9.85,1.119,4,0.000,0.076,2972,441,1942
$GC,9090,1.04,218.0,708.1,9.6,436,9095,0.00,2.55,0.00,0.000,6,0.000,0.057,2971,1844,1942
$GC,9407,1.04,218.0,676.5,10.7,451,9408,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,1858,1941
$GC,9716,1.08,218.0,646.7,8.9,466,9720,0.00,2.62,0.00,0.000,4,0.000,0.073,2971,438,1941
$GC,9766,1.08,218.0,641.7,10.0,468,9770,0.00,2.50,0.00,0.000,6,0.000,0.053,2971,1831,1941
$GC,10083,1.15,235.1,616.5,7.4,483,10102,0.12,0.00,16.38,1.176,6,0.058,0.000,3004,1845,1872
$GC,10411,1.15,235.1,584.7,9.9,499,10412,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,1845,1872
$GC,10721,1.12,235.1,554.1,9.6,514,10722,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,1845,1872
$GC,11030,1.12,235.1,523.1,10.3,529,11034,0.00,2.55,0.00,0.000,4,0.000,0.063,3004,3264,1872
$GC,11063,1.12,235.1,519.5,10.5,530,11069,0.00,2.62,0.00,0.000,6,0.000,0.058,3004,1817,1872
$GC,11379,1.08,235.1,487.4,9.9,546,11384,0.12,2.62,0.00,0.000,4,0.094,0.061,2979,3254,1872
$GC,11424,1.14,235.1,483.3,8.3,548,11429,0.00,2.58,0.00,0.000,6,0.000,0.057,2979,1830,1872
$GC,11746,1.16,243.7,458.5,7.7,564,11760,0.00,2.62,9.23,0.994,4,0.000,0.061,2979,3255,1837
$GC,11783,1.22,243.7,455.7,8.2,565,11790,0.15,2.58,0.00,0.000,6,0.052,0.056,3019,1842,1837
$GC,12100,1.16,243.7,424.0,10.5,581,12105,0.12,2.60,0.00,0.000,4,0.093,0.060,2996,3264,1837
$GC,12134,1.16,243.7,420.4,9.1,582,12140,0.00,2.55,0.00,0.000,6,0.000,0.055,2996,1852,1837
$GC,12450,1.16,243.7,389.9,10.0,598,12454,0.00,2.55,0.00,0.000,4,0.000,0.061,2996,3255,1837
$GC,12489,1.19,243.7,385.7,9.9,599,12495,0.00,2.47,0.00,0.000,6,0.000,0.055,2996,1872,1837
$GC,12805,1.19,243.7,354.0,10.1,615,12806,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,1872,1837
$GC,13114,1.19,243.7,324.1,9.4,630,13118,0.00,2.53,0.00,0.000,4,0.000,0.061,2996,3259,1837
$GC,13142,1.19,243.7,321.3,9.3,631,13146,0.00,2.47,0.00,0.000,6,0.000,0.053,2996,1877,1837
$GC,13459,1.19,243.7,293.3,8.7,646,13460,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,1877,1837
$GC,13768,1.19,243.7,266.7,8.4,661,13772,0.00,2.50,0.00,0.000,4,0.000,0.060,2996,3263,1837
$GC,13812,1.23,243.7,262.8,8.9,663,13816,0.00,2.47,0.00,0.000,6,0.000,0.051,2995,1874,1838
$GC,14139,1.23,243.7,235.6,8.5,679,14140,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,1874,1838
$GC,14448,1.23,243.7,208.7,9.0,694,14452,0.00,2.50,0.00,0.000,4,0.000,0.058,2996,3257,1838
$GC,14498,1.27,243.7,203.8,10.0,696,14503,0.12,2.42,0.00,0.000,6,0.055,0.051,3030,1891,1838
$GC,14815,1.20,243.7,168.4,11.3,711,14817,0.12,0.00,0.00,0.000,6,0.091,0.000,3005,1892,1838
$GC,15124,1.20,243.7,139.6,8.7,726,15128,0.00,2.47,0.00,0.000,4,0.000,0.058,3005,3261,1838
$GC,15169,1.20,243.7,135.5,8.3,728,15173,0.00,2.42,0.00,0.000,6,0.000,0.050,3005,1895,1838
$GC,15490,1.21,247.2,110.1,7.9,744,15497,0.00,0.00,4.95,0.667,6,0.000,0.000,3005,1894,1823
$GC,15801,1.21,247.2,85.1,8.0,759,15802,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1895,1823
$GC,16109,1.22,254.7,60.1,7.7,774,16123,0.00,2.50,7.93,0.742,4,0.000,0.058,3005,3255,1792
$GC,16169,1.29,272.2,55.2,7.4,776,16190,0.00,2.40,15.43,0.802,6,0.000,0.048,3005,1901,1721
$GC,16508,1.32,272.2,26.0,8.9,793,16513,0.12,2.45,0.00,0.000,4,0.054,0.055,3041,3258,1720
$GC,16580,1.32,272.2,18.4,9.9,796,16584,0.00,2.38,0.00,0.000,6,0.000,0.047,3041,1916,1720
$STATE,16729,end climb,SURFACE_DEPTH_REACHED
$STATE,16729,begin surface coast
$FINISH,0.7,1.026905
$STATE,16751,end surface coast,CONTROL_FINISHED_OK
$STATE,16751,begin surface
$SM_CCo,16775,14.60,0.751,0,0,1607,300.00
$SM_GC,1.58,0.00,0.00,14.60,0.000,0.000,0.751,418,2132,1607,-10.70,0.06,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1826
$TCM_TEMP,17.50
$XPDR_PINGS,32
$ALTIM_BOTTOM_PING,721.5,63.6
$24V_AH,23.8,23.068
$10V_AH,10.1,10.433
$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,26.650,141.075,385.600,14.600,0.000,37.762,28.035,139.835,14.500,0.000,0.000,13.176,1470.702,12885.325,524.585,1720.058,514.037,33.360,1422.285,0.000,1685.369,0.000,44.568,0.000
$DEVICE_MAMPS,160.303,75.933,1335.347,750.893,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,549.996,605.661,489.947,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41182,804
$CAP_FILE_SIZE,125055,0
$CFSIZE,254472192,244858880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,190909,124624,6314.039,-1314.470,39,1.9,39,-12.2