version: 66.04
glider: 5
mission: 7
dive: 129
start: 9 20 109 5 40 3
data:
$ID,5
$MISSION,7
$DIVE,129
$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,-102641.71
$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,26
$R_STBD_OVSHOOT,38
$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
$GPS1,053355,6322.437,-1320.509,40,1.1,40,-12.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-62.3
$GPS2,053914,6322.427,-1320.559,16,1.3,16,-12.4
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,JW
$TGT_LATLONG,6335.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.082,0.231
$KALMAN_X,-94865.0,-245.2,-1089.2,-150955.2,2866.6
$KALMAN_Y,-14632.0,-162.7,-362.9,211146.1,-1667.4
$MHEAD_RNG_PITCHd_Wd,353.0,23731,-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,-146.6,0.0,0.0,0,81,0.00,0.00,-61.33,0.000,2,0.000,0.000,420,2149,2578
$GC,84,-1.22,-146.6,2.5,-2.5,3,136,11.20,2.60,-33.88,0.000,4,0.163,0.066,2472,715,3429
$GC,316,-1.15,-146.6,30.8,-14.4,13,321,0.10,2.47,0.00,0.000,6,0.110,0.045,2491,2119,3430
$GC,634,-1.11,-146.6,74.1,-13.6,28,639,0.00,2.55,0.00,0.000,4,0.000,0.062,2491,3536,3430
$GC,680,-1.06,-146.6,80.7,-14.3,30,685,0.10,2.50,0.00,0.000,6,0.105,0.046,2513,2122,3430
$GC,1001,-1.06,-146.6,115.2,-11.9,46,1006,0.00,2.47,0.00,0.000,4,0.000,0.057,2513,718,3430
$GC,1043,-1.10,-146.6,120.2,-13.1,48,1047,0.00,2.45,0.00,0.000,6,0.000,0.045,2512,2119,3430
$GC,1376,-1.10,-146.6,152.8,-8.0,64,1377,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2119,3431
$GC,1685,-1.10,-146.6,174.9,-7.5,79,1689,0.00,2.50,0.00,0.000,4,0.000,0.058,2512,718,3431
$GC,1736,-1.14,-146.6,179.2,-8.9,81,1740,0.00,2.50,0.00,0.000,6,0.000,0.048,2513,2136,3431
$GC,2057,-1.14,-146.6,204.6,-8.1,97,2058,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2137,3431
$GC,2366,-1.14,-146.6,229.8,-8.3,112,2370,0.00,2.55,0.00,0.000,4,0.000,0.060,2513,719,3431
$GC,2430,-1.18,-146.6,235.4,-9.3,115,2435,0.12,2.47,0.00,0.000,6,0.057,0.048,2476,2122,3431
$GC,2760,-1.13,-146.6,271.5,-11.3,131,2762,0.10,0.00,0.00,0.000,6,0.097,0.000,2496,2122,3431
$GC,3066,-1.13,-146.6,304.4,-10.5,146,3067,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2122,3431
$GC,3376,-1.13,-146.6,337.7,-10.6,161,3380,0.00,2.53,0.00,0.000,4,0.000,0.061,2496,720,3431
$GC,3409,-1.13,-146.6,341.5,-10.8,162,3415,0.00,2.47,0.00,0.000,6,0.000,0.049,2496,2120,3431
$GC,3724,-1.13,-146.6,374.4,-10.1,178,3729,0.00,2.53,0.00,0.000,4,0.000,0.061,2496,718,3430
$GC,3752,-1.13,-146.6,377.3,-10.1,179,3756,0.00,2.47,0.00,0.000,6,0.000,0.049,2496,2117,3430
$GC,4074,-1.13,-146.6,406.2,-8.5,195,4075,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2119,3429
$GC,4383,-1.13,-146.6,433.4,-8.8,210,4384,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2119,3429
$GC,4693,-1.13,-146.6,461.8,-9.5,225,4697,0.00,2.53,0.00,0.000,4,0.000,0.061,2496,718,3429
$GC,4737,-1.13,-146.6,466.3,-9.9,227,4741,0.00,2.47,0.00,0.000,6,0.000,0.049,2496,2119,3429
$GC,5058,-1.13,-146.6,500.8,-11.3,243,5062,0.00,2.53,0.00,0.000,4,0.000,0.061,2496,719,3429
$GC,5102,-1.13,-146.6,506.2,-12.2,245,5106,0.00,2.45,0.00,0.000,6,0.000,0.050,2496,2105,3429
$GC,5423,-1.13,-146.6,541.9,-11.0,261,5425,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2105,3429
$GC,5733,-1.13,-146.6,574.7,-10.1,276,5737,0.00,2.53,0.00,0.000,4,0.000,0.064,2496,714,3429
$GC,5772,-1.13,-146.6,578.7,-10.4,278,5777,0.00,2.45,0.00,0.000,6,0.000,0.051,2496,2097,3429
$GC,6099,-1.13,-146.6,610.3,-9.2,294,6104,0.00,2.50,0.00,0.000,4,0.000,0.062,2496,715,3429
$GC,6128,-1.13,-146.6,613.1,-10.0,295,6132,0.00,2.45,0.00,0.000,6,0.000,0.050,2496,2098,3429
$GC,6444,-1.13,-146.6,644.8,-9.4,310,6445,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2098,3429
$GC,6755,-1.13,-146.6,671.1,-7.5,325,6760,0.00,2.60,0.00,0.000,4,0.000,0.068,2496,3534,3428
$GC,6789,-1.13,-146.6,674.1,-8.2,326,6795,0.00,2.58,0.00,0.000,6,0.000,0.057,2496,2100,3428
$GC,7105,-1.13,-146.6,701.0,-8.7,342,7106,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2090,3428
$GC,7414,-1.13,-146.6,730.1,-9.6,357,7415,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2087,3427
$GC,7724,-1.13,-146.6,755.1,-7.7,372,7725,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2087,3427
$GC,8033,-1.13,-146.6,774.9,-6.1,387,8037,0.00,2.47,0.00,0.000,4,0.000,0.067,2496,718,3427
$GC,8072,-1.13,-146.6,777.8,-8.0,389,8077,0.00,2.47,0.00,0.000,6,0.000,0.053,2496,2108,3427
$GC,8400,-1.13,-146.6,805.0,-9.4,405,8404,0.00,2.55,0.00,0.000,4,0.000,0.071,2496,718,3426
$GC,8478,-1.13,-146.6,813.8,-12.9,408,8484,0.00,2.47,0.00,0.000,6,0.000,0.057,2496,2100,3426
$STATE,8646,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8646,begin apogee
$GC,8654,-0.33,0.0,832.0,10.4,417,8793,0.82,0.00,135.43,1.374,6,0.077,0.000,2675,1843,2831
$STATE,8793,end apogee,CONTROL_FINISHED_OK
$STATE,8794,begin climb
$GC,8797,1.22,146.6,837.7,0.0,424,8946,1.52,2.67,136.45,1.335,4,0.058,0.067,3011,3254,2233
$GC,9003,1.14,147.2,828.8,8.0,433,9008,0.00,2.62,0.00,0.000,6,0.000,0.067,3011,1851,2233
$GC,9319,1.02,147.2,801.3,9.4,448,9324,0.20,2.60,0.00,0.000,4,0.092,0.077,2970,433,2232
$GC,9393,0.98,166.4,795.3,7.3,451,9418,0.00,2.55,19.40,1.243,6,0.000,0.055,2970,1860,2151
$GC,9735,1.06,215.3,773.0,6.2,468,9783,0.00,0.00,45.88,1.302,6,0.000,0.000,2970,1860,1953
$GC,10087,1.08,232.8,744.7,7.4,485,10110,0.00,2.70,17.35,1.239,4,0.000,0.074,2970,439,1881
$GC,10144,1.15,273.5,740.7,6.5,487,10190,0.12,2.53,37.83,1.287,6,0.059,0.056,3001,1839,1714
$GC,10506,1.15,273.5,710.5,8.7,505,10511,0.00,2.58,0.00,0.000,4,0.000,0.067,3002,3241,1715
$GC,10596,1.15,273.5,702.3,8.9,509,10600,0.00,2.58,0.00,0.000,6,0.000,0.062,3001,1843,1714
$GC,10917,1.15,273.5,668.9,11.8,525,10921,0.00,2.60,0.00,0.000,4,0.000,0.064,3002,3250,1714
$GC,10979,1.15,273.5,661.0,12.4,528,10984,0.00,2.53,0.00,0.000,6,0.000,0.061,3002,1863,1714
$GC,11306,1.15,273.5,623.2,10.2,544,11310,0.00,2.55,0.00,0.000,4,0.000,0.063,3001,3251,1713
$GC,11346,1.15,275.8,619.9,7.9,546,11350,0.00,2.53,0.00,0.000,6,0.000,0.058,3002,1858,1714
$GC,11673,1.15,275.8,591.4,9.2,562,11677,0.00,2.55,0.00,0.000,4,0.000,0.063,3001,3246,1714
$GC,11712,1.15,275.8,586.8,12.9,564,11717,0.00,2.47,0.00,0.000,6,0.000,0.058,3001,1875,1714
$GC,12039,1.15,275.8,553.5,10.4,580,12040,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,1875,1713
$GC,12348,1.15,275.8,517.3,10.9,595,12352,0.00,2.47,0.00,0.000,4,0.000,0.061,3002,3241,1713
$GC,12394,1.18,275.8,512.5,9.7,597,12398,0.00,2.45,0.00,0.000,6,0.000,0.056,3001,1877,1714
$GC,12721,1.18,275.8,482.1,8.9,613,12722,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,1877,1714
$GC,13030,1.18,275.8,456.4,8.1,628,13034,0.00,2.50,0.00,0.000,4,0.000,0.061,3002,3251,1714
$GC,13070,1.26,301.7,453.4,7.1,629,13100,0.00,2.45,25.35,1.096,6,0.000,0.054,3002,1889,1601
$GC,13429,1.26,301.7,422.9,8.1,647,13430,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,1889,1601
$GC,13739,1.26,301.7,393.1,12.0,662,13740,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,1889,1602
$GC,14047,1.26,301.7,357.5,11.0,677,14049,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,1889,1602
$GC,14357,1.26,301.7,322.4,11.6,692,14361,0.00,2.47,0.00,0.000,4,0.000,0.060,3002,3250,1602
$GC,14402,1.31,301.7,316.9,11.7,694,14407,0.12,2.42,0.00,0.000,6,0.054,0.053,3036,1897,1602
$GC,14723,1.25,301.7,273.1,13.1,710,14728,0.00,2.62,0.00,0.000,4,0.000,0.067,3036,438,1602
$GC,14768,1.17,301.7,266.9,12.7,712,14773,0.20,2.58,0.00,0.000,6,0.084,0.048,2997,1893,1602
$GC,15090,1.20,301.7,236.9,8.6,728,15094,0.00,2.42,0.00,0.000,4,0.000,0.060,2997,3258,1602
$GC,15124,1.27,301.7,233.8,8.7,729,15129,0.12,2.45,0.00,0.000,6,0.055,0.053,3031,1890,1602
$GC,15441,1.24,301.7,202.2,10.1,744,15442,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,1891,1603
$GC,15750,1.20,301.7,164.2,13.9,759,15755,0.12,2.45,0.00,0.000,4,0.090,0.058,3006,3253,1603
$GC,15783,1.24,301.7,159.4,13.4,760,15790,0.00,2.42,0.00,0.000,6,0.000,0.051,3006,1888,1603
$GC,16100,1.24,301.7,121.0,11.2,776,16101,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1888,1603
$GC,16409,1.24,301.7,90.6,8.5,791,16413,0.00,2.47,0.00,0.000,4,0.000,0.058,3006,3257,1603
$GC,16472,1.33,320.2,85.9,7.3,794,16495,0.12,2.42,17.05,0.835,6,0.054,0.050,3041,1893,1525
$GC,16808,1.29,320.2,53.5,10.3,810,16813,0.00,2.60,0.00,0.000,4,0.000,0.064,3041,440,1525
$GC,16939,1.23,320.2,37.9,11.4,816,16944,0.15,2.55,0.00,0.000,6,0.085,0.045,3011,1889,1524
$GC,17270,1.33,352.0,7.9,6.8,832,17298,0.12,0.00,26.00,0.797,6,0.054,0.000,3046,1906,1396
$STATE,17325,end climb,SURFACE_DEPTH_REACHED
$STATE,17325,begin surface coast
$FINISH,0.5,1.026970
$STATE,17348,end surface coast,CONTROL_FINISHED_OK
$STATE,17348,begin surface
$SM_CCo,17432,0.00,0.000,0,0,1394,352.50
$SM_GC,1.34,11.45,0.00,0.00,0.037,0.000,0.000,418,2145,1394,-10.61,0.40,352.50
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1814
$TCM_TEMP,17.50
$XPDR_PINGS,31
$ALTIM_BOTTOM_PING,795.7,45.2
$24V_AH,23.8,23.936
$10V_AH,10.1,10.791
$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,26.725,146.800,460.725,0.000,0.000,37.762,26.149,133.226,15.000,0.000,0.000,16.186,1537.716,13301.045,567.759,1824.821,516.435,33.363,1518.515,0.000,1777.346,0.000,49.277,0.000
$DEVICE_MAMPS,162.604,76.700,1374.464,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,572.443,624.949,471.358,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44247,836
$CAP_FILE_SIZE,130799,0
$CFSIZE,254472192,244576256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,200909,103155,6327.110,-1322.083,43,1.2,43,-12.4