version: 66.04
glider: 5
mission: 7
dive: 138
start: 9 21 109 20 57 33
data:
$ID,5
$MISSION,7
$DIVE,138
$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,-102799.97
$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,25
$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
$GPS1,205137,6342.491,-1310.644,31,1.0,31,-12.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-65.6
$GPS2,205644,6342.557,-1310.546,14,0.9,14,-12.4
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,KW
$TGT_LATLONG,6350.000,-1310.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.070,0.235
$KALMAN_X,-103242.5,235.3,720.4,-136076.8,-6496.8
$KALMAN_Y,-24533.1,281.9,1112.3,256359.2,-9796.2
$MHEAD_RNG_PITCHd_Wd,28.9,13792,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-61.40,0.000,2,0.000,0.000,416,2138,2882
$GC,82,-1.22,-146.6,2.9,-4.0,3,118,11.60,2.60,-16.75,0.000,4,0.167,0.074,2475,3538,3430
$GC,158,-1.11,-146.6,13.2,-13.8,6,164,0.15,2.53,0.00,0.000,6,0.100,0.047,2506,2120,3430
$GC,475,-1.11,-146.6,51.9,-12.3,21,476,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2107,3431
$GC,784,-1.11,-146.6,92.2,-12.4,36,788,0.00,2.60,0.00,0.000,4,0.000,0.063,2506,3537,3431
$GC,824,-1.11,-146.6,97.1,-12.4,38,828,0.00,2.50,0.00,0.000,6,0.000,0.047,2506,2124,3431
$GC,1151,-1.11,-146.6,134.1,-10.5,54,1152,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2114,3431
$GC,1460,-1.11,-146.6,160.5,-7.3,69,1464,0.00,2.47,0.00,0.000,4,0.000,0.057,2506,720,3431
$GC,1510,-1.11,-146.6,163.9,-6.2,71,1514,0.00,2.50,0.00,0.000,6,0.000,0.047,2506,2141,3431
$GC,1827,-1.11,-146.6,184.0,-6.8,86,1831,0.00,2.55,0.00,0.000,4,0.000,0.057,2506,719,3432
$GC,1894,-1.11,-146.6,189.6,-8.4,89,1898,0.00,2.50,0.00,0.000,6,0.000,0.047,2506,2138,3431
$GC,2215,-1.11,-146.6,219.9,-10.0,105,2220,0.00,2.55,0.00,0.000,4,0.000,0.058,2506,719,3431
$GC,2283,-1.11,-146.6,226.6,-9.6,108,2287,0.00,2.47,0.00,0.000,6,0.000,0.049,2506,2120,3431
$GC,2609,-1.11,-146.6,257.1,-8.9,124,2610,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2121,3431
$GC,2919,-1.11,-146.6,284.6,-9.2,139,2923,0.00,2.53,0.00,0.000,4,0.000,0.060,2507,718,3431
$GC,2981,-1.14,-146.6,290.4,-9.2,142,2985,0.00,2.47,0.00,0.000,6,0.000,0.049,2506,2119,3432
$GC,3309,-1.14,-146.6,321.0,-9.9,158,3313,0.00,2.53,0.00,0.000,4,0.000,0.060,2506,719,3431
$GC,3336,-1.14,-146.6,324.1,-10.7,159,3340,0.00,2.47,0.00,0.000,6,0.000,0.050,2506,2116,3432
$GC,3652,-1.14,-146.6,358.3,-11.0,174,3653,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2116,3431
$GC,3961,-1.14,-146.6,390.1,-9.6,189,3966,0.00,2.53,0.00,0.000,4,0.000,0.061,2506,718,3431
$GC,4006,-1.18,-146.6,394.6,-10.1,191,4011,0.00,2.47,0.00,0.000,6,0.000,0.049,2506,2116,3431
$GC,4333,-1.18,-146.6,422.9,-8.3,207,4334,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2116,3431
$GC,4642,-1.18,-146.6,451.1,-9.6,222,4643,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2116,3431
$GC,4951,-1.18,-146.6,485.1,-12.2,237,4955,0.00,2.53,0.00,0.000,4,0.000,0.061,2506,718,3430
$GC,5024,-1.21,-146.6,494.8,-13.7,240,5030,0.12,2.45,0.00,0.000,6,0.058,0.050,2470,2103,3430
$GC,5351,-1.16,-146.6,545.6,-16.2,256,5352,0.10,0.00,0.00,0.000,6,0.096,0.000,2489,2103,3430
$GC,5656,-1.16,-146.6,589.0,-13.0,271,5660,0.00,2.53,0.00,0.000,4,0.000,0.064,2489,715,3430
$GC,5700,-1.16,-146.6,594.8,-12.7,273,5708,0.00,2.45,0.00,0.000,6,0.000,0.051,2489,2096,3430
$GC,6030,-1.16,-146.6,632.6,-10.8,289,6034,0.00,2.47,0.00,0.000,4,0.000,0.062,2489,721,3429
$GC,6070,-1.16,-146.6,636.8,-10.4,291,6074,0.00,2.42,0.00,0.000,6,0.000,0.051,2490,2093,3429
$GC,6397,-1.16,-146.6,669.0,-11.1,307,6402,0.00,2.50,0.00,0.000,4,0.000,0.062,2490,712,3429
$GC,6441,-1.16,-146.6,674.2,-11.0,309,6446,0.00,2.42,0.00,0.000,6,0.000,0.054,2490,2073,3429
$GC,6763,-1.16,-146.6,709.1,-11.0,325,6764,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2073,3429
$GC,7073,-1.16,-146.6,726.7,-3.0,340,7077,0.00,2.65,0.00,0.000,4,0.000,0.071,2490,3531,3428
$GC,7100,-1.16,-146.6,727.4,-2.0,341,7105,0.00,2.67,0.00,0.000,6,0.000,0.064,2489,2068,3428
$GC,7417,-1.19,-146.6,751.1,-10.1,356,7421,0.00,2.40,0.00,0.000,4,0.000,0.067,2490,719,3428
$STATE,7425,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7425,begin apogee
$GC,7434,-0.33,0.0,752.3,9.4,356,7571,0.80,0.00,133.15,1.306,6,0.078,0.000,2666,1868,2831
$STATE,7572,end apogee,CONTROL_FINISHED_OK
$STATE,7572,begin climb
$GC,7575,1.22,146.6,756.3,0.0,363,7717,1.55,0.00,133.50,1.267,6,0.059,0.000,3005,1871,2233
$GC,8031,1.15,163.5,730.7,7.4,385,8053,0.00,0.00,16.45,1.167,6,0.000,0.000,3006,1870,2164
$GC,8363,1.06,163.5,706.8,8.5,401,8365,0.17,0.00,0.00,0.000,6,0.097,0.000,2974,1860,2163
$GC,8672,1.09,185.2,688.3,7.2,416,8695,0.00,0.00,20.55,1.206,6,0.000,0.000,2974,1870,2075
$GC,9003,1.20,252.5,663.1,5.6,432,9067,0.15,0.00,60.70,1.246,6,0.054,0.000,3011,1870,1801
$GC,9373,1.15,252.5,623.5,8.9,450,9377,0.00,2.62,0.00,0.000,4,0.000,0.072,3012,439,1801
$GC,9458,1.06,252.5,616.6,8.1,454,9463,0.17,2.55,0.00,0.000,6,0.091,0.053,2978,1856,1801
$GC,9785,1.08,266.1,596.9,7.5,470,9805,0.00,0.00,13.60,1.129,6,0.000,0.000,2978,1872,1746
$GC,10115,1.11,266.1,571.3,8.7,486,10116,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,1871,1745
$GC,10425,1.14,266.1,543.9,8.7,501,10426,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,1871,1745
$GC,10734,1.18,266.1,514.1,9.6,516,10738,0.10,2.47,0.00,0.000,4,0.060,0.061,3006,3255,1745
$GC,10761,1.18,266.1,511.0,11.3,517,10765,0.00,2.55,0.00,0.000,6,0.000,0.057,3005,1847,1745
$GC,11077,1.18,266.1,480.8,8.2,532,11078,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1847,1745
$GC,11386,1.18,266.1,452.3,9.1,547,11390,0.00,2.55,0.00,0.000,4,0.000,0.061,3006,3255,1745
$GC,11453,1.18,266.1,446.2,8.8,550,11457,0.00,2.55,0.00,0.000,6,0.000,0.056,3006,1842,1746
$GC,11775,1.18,266.1,414.0,10.9,566,11779,0.00,2.58,0.00,0.000,4,0.000,0.060,3005,3265,1746
$GC,11809,1.18,266.1,409.8,11.8,567,11815,0.00,2.55,0.00,0.000,6,0.000,0.056,3006,1853,1746
$GC,12125,1.18,266.1,373.0,11.7,583,12129,0.00,2.55,0.00,0.000,4,0.000,0.060,3006,3255,1746
$GC,12169,1.18,266.1,367.7,10.7,585,12174,0.00,2.47,0.00,0.000,6,0.000,0.054,3006,1875,1746
$GC,12490,1.18,266.1,335.8,9.3,601,12492,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1876,1746
$GC,12800,1.18,266.1,306.2,9.7,616,12804,0.00,2.50,0.00,0.000,4,0.000,0.060,3006,3261,1746
$GC,12839,1.18,266.1,302.3,9.5,618,12844,0.00,2.47,0.00,0.000,6,0.000,0.053,3006,1877,1747
$GC,13166,1.18,266.1,270.4,10.3,634,13168,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1877,1747
$GC,13476,1.18,266.1,236.6,10.7,649,13480,0.00,2.50,0.00,0.000,4,0.000,0.060,3006,3257,1747
$GC,13520,1.18,266.1,231.6,10.2,651,13524,0.00,2.45,0.00,0.000,6,0.000,0.051,3006,1882,1747
$GC,13841,1.18,266.1,197.2,10.7,667,13842,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1881,1747
$GC,14150,1.18,266.1,167.3,9.0,682,14155,0.00,2.50,0.00,0.000,4,0.000,0.058,3006,3264,1747
$GC,14184,1.18,266.1,164.0,9.4,683,14190,0.00,2.45,0.00,0.000,6,0.000,0.051,3006,1887,1747
$GC,14500,1.18,266.1,137.0,8.1,699,14504,0.00,2.47,0.00,0.000,4,0.000,0.058,3006,3258,1748
$GC,14527,1.19,270.1,134.7,7.9,700,14540,0.00,2.40,5.50,0.699,6,0.000,0.050,3006,1906,1729
$GC,14851,1.21,283.4,109.8,7.5,716,14869,0.00,0.00,12.25,0.815,6,0.000,0.000,3006,1906,1675
$GC,15180,1.21,283.4,82.5,8.8,732,15184,0.00,2.62,0.00,0.000,4,0.000,0.064,3006,440,1674
$GC,15252,1.21,283.4,74.7,9.8,735,15256,0.00,2.58,0.00,0.000,6,0.000,0.046,3006,1902,1674
$GC,15568,1.21,283.7,47.8,8.0,750,15573,0.00,2.65,0.00,0.000,4,0.000,0.061,3006,442,1674
$GC,15609,1.21,283.7,44.0,9.5,752,15613,0.00,2.58,0.00,0.000,6,0.000,0.046,3006,1910,1674
$GC,15937,1.25,283.7,15.8,8.2,768,15941,0.00,2.38,0.00,0.000,4,0.000,0.056,3006,3258,1674
$GC,15965,1.30,283.7,13.1,9.4,769,15969,0.00,2.40,0.00,0.000,6,0.000,0.044,3006,1890,1674
$STATE,16094,end climb,SURFACE_DEPTH_REACHED
$STATE,16094,begin surface coast
$FINISH,0.5,1.026973
$STATE,16115,end surface coast,CONTROL_FINISHED_OK
$STATE,16115,begin surface
$SM_CCo,16139,8.57,0.693,0,0,1608,300.00
$SM_GC,1.83,0.00,0.00,8.57,0.000,0.000,0.693,419,2151,1608,-10.70,0.59,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1834
$TCM_TEMP,17.70
$XPDR_PINGS,41
$ALTIM_BOTTOM_PING,720.7,40.5
$24V_AH,23.8,25.493
$10V_AH,10.1,11.431
$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,26.050,130.650,395.700,8.575,0.000,37.761,35.526,123.028,17.000,0.000,0.000,14.307,1417.001,12410.849,548.573,1601.462,482.568,33.353,1365.690,0.000,1565.044,0.000,47.439,0.000
$DEVICE_MAMPS,167.206,74.399,1306.201,692.601,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,531.593,580.336,469.753,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41041,776
$CAP_FILE_SIZE,115258,0
$CFSIZE,254472192,244084736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,220909,012801,6346.011,-1304.999,40,1.8,40,-12.4