version: 66.04
glider: 5
mission: 7
dive: 121
start: 9 18 109 18 25 47
data:
$ID,5
$MISSION,7
$DIVE,121
$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,-102483.77
$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,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
$GPS1,181906,6301.659,-1316.605,41,1.0,41,-12.2
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-63.1
$GPS2,182456,6301.655,-1316.503,12,1.5,12,-12.2
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,IW
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.014,0.246
$KALMAN_X,-98889.5,344.3,-398.2,-144643.8,483.6
$KALMAN_Y,-12878.2,1019.6,359.4,168982.8,-3710.8
$MHEAD_RNG_PITCHd_Wd,8.8,24746,-14.7,-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,-1.21,-146.6,0.0,0.0,0,59,0.00,0.00,-41.53,0.000,2,0.000,0.000,419,2156,2461
$GC,63,-1.21,-146.6,2.0,-3.0,2,127,11.30,2.65,-42.28,0.000,4,0.162,0.072,2473,711,3430
$GC,380,-1.13,-146.6,39.9,-14.4,16,385,0.12,2.50,0.00,0.000,6,0.101,0.051,2497,2128,3429
$GC,704,-1.09,-146.6,72.7,-6.9,32,708,0.00,2.55,0.00,0.000,4,0.000,0.059,2498,714,3430
$GC,771,-1.09,-146.6,77.6,-8.1,35,775,0.00,2.50,0.00,0.000,6,0.000,0.051,2498,2133,3431
$GC,1092,-1.09,-146.6,109.6,-10.2,51,1093,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2133,3431
$GC,1402,-1.09,-146.6,144.6,-11.3,66,1407,0.00,2.55,0.00,0.000,4,0.000,0.060,2498,717,3431
$GC,1452,-1.09,-146.6,150.4,-11.3,68,1456,0.00,2.50,0.00,0.000,6,0.000,0.051,2498,2134,3431
$GC,1773,-1.09,-146.6,183.7,-10.1,84,1777,0.00,2.58,0.00,0.000,4,0.000,0.067,2498,707,3431
$GC,1828,-1.09,-146.6,189.6,-10.6,86,1835,0.00,2.53,0.00,0.000,6,0.000,0.058,2498,2133,3431
$GC,2145,-1.09,-146.6,221.2,-9.4,102,2149,0.00,2.55,0.00,0.000,4,0.000,0.061,2498,718,3431
$GC,2179,-1.09,-146.6,224.5,-9.3,103,2185,0.00,2.50,0.00,0.000,6,0.000,0.058,2498,2132,3431
$GC,2495,-1.09,-146.6,256.4,-10.9,119,2499,0.00,2.58,0.00,0.000,4,0.000,0.064,2498,706,3431
$GC,2550,-1.09,-146.6,262.8,-11.5,121,2556,0.00,2.50,0.00,0.000,6,0.000,0.058,2498,2116,3431
$GC,2867,-1.09,-146.6,295.2,-10.1,137,2871,0.00,2.53,0.00,0.000,4,0.000,0.064,2498,718,3431
$GC,2906,-1.09,-146.6,299.5,-11.4,139,2911,0.00,2.47,0.00,0.000,6,0.000,0.059,2498,2115,3431
$GC,3234,-1.09,-146.6,334.8,-10.8,155,3238,0.00,2.53,0.00,0.000,4,0.000,0.064,2498,720,3431
$GC,3274,-1.09,-146.6,339.2,-11.1,157,3278,0.00,2.45,0.00,0.000,6,0.000,0.055,2498,2100,3430
$GC,3600,-1.09,-146.6,374.6,-11.2,173,3602,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2101,3430
$GC,3909,-1.09,-146.6,409.9,-11.2,188,3914,0.00,2.50,0.00,0.000,4,0.000,0.065,2498,718,3430
$GC,3973,-1.09,-146.6,416.9,-11.6,191,3977,0.00,2.45,0.00,0.000,6,0.000,0.054,2498,2100,3430
$GC,4300,-1.09,-146.6,451.4,-10.5,207,4304,0.00,2.50,0.00,0.000,4,0.000,0.071,2498,720,3429
$GC,4350,-1.09,-146.6,457.0,-10.9,209,4354,0.00,2.42,0.00,0.000,6,0.000,0.056,2498,2088,3429
$GC,4666,-1.09,-146.6,489.1,-10.4,224,4667,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2088,3429
$GC,4976,-1.09,-146.6,520.6,-10.3,239,4980,0.00,2.50,0.00,0.000,4,0.000,0.066,2498,711,3429
$GC,5016,-1.09,-146.6,524.9,-10.3,241,5020,0.00,2.42,0.00,0.000,6,0.000,0.058,2498,2078,3429
$GC,5343,-1.09,-146.6,559.8,-10.8,257,5347,0.00,2.47,0.00,0.000,4,0.000,0.070,2498,721,3429
$GC,5382,-1.09,-146.6,564.1,-11.3,259,5387,0.00,2.40,0.00,0.000,6,0.000,0.059,2498,2066,3429
$GC,5709,-1.09,-146.6,594.9,-8.8,275,5711,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2066,3429
$GC,6020,-1.09,-146.6,620.6,-8.0,290,6024,0.00,2.47,0.00,0.000,4,0.000,0.074,2497,710,3428
$GC,6064,-1.09,-146.6,624.4,-9.0,292,6068,0.00,2.40,0.00,0.000,6,0.000,0.058,2498,2069,3428
$GC,6391,-1.09,-146.6,650.5,-7.8,308,6392,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2070,3428
$GC,6700,-1.09,-146.6,678.0,-9.4,323,6704,0.00,2.47,0.00,0.000,4,0.000,0.069,2498,711,3427
$GC,6745,-1.09,-146.6,682.5,-10.1,325,6749,0.00,2.40,0.00,0.000,6,0.000,0.056,2498,2062,3427
$GC,7078,-1.09,-146.6,713.2,-8.7,341,7082,0.00,2.67,0.00,0.000,4,0.000,0.076,2498,3534,3427
$GC,7111,-1.09,-146.6,716.2,-9.3,342,7117,0.00,2.67,0.00,0.000,6,0.000,0.062,2498,2051,3427
$GC,7427,-1.09,-146.6,743.9,-9.8,358,7431,0.00,2.40,0.00,0.000,4,0.000,0.070,2498,715,3427
$GC,7477,-1.09,-146.6,749.1,-9.9,360,7481,0.00,2.42,0.00,0.000,6,0.000,0.060,2498,2074,3427
$STATE,7790,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7790,begin apogee
$GC,7798,-0.33,0.0,779.9,11.1,375,7933,0.82,0.00,132.07,1.335,6,0.084,0.000,2673,1833,2832
$STATE,7934,end apogee,CONTROL_FINISHED_OK
$STATE,7934,begin climb
$GC,7937,1.21,146.6,784.6,0.0,382,8075,1.52,0.00,133.00,1.297,6,0.058,0.000,3007,1833,2233
$GC,8371,1.10,146.6,754.1,9.5,403,8376,0.12,2.58,0.00,0.000,4,0.104,0.076,2985,446,2232
$GC,8461,1.02,162.0,748.5,7.4,407,8481,0.00,2.55,15.02,1.184,6,0.000,0.064,2985,1861,2170
$GC,8807,1.06,207.9,729.1,6.4,424,8854,0.00,2.70,42.03,1.272,4,0.000,0.074,2985,446,1982
$GC,8941,1.00,207.9,716.0,11.4,430,8946,0.12,2.47,0.00,0.000,6,0.102,0.062,2962,1808,1982
$GC,9264,1.04,207.9,682.4,11.9,446,9268,0.00,2.65,0.00,0.000,4,0.000,0.073,2962,3259,1981
$GC,9297,1.11,207.9,678.0,13.1,447,9304,0.10,2.67,0.00,0.000,6,0.062,0.067,2989,1811,1981
$GC,9613,1.11,207.9,644.2,9.4,463,9617,0.00,2.50,0.00,0.000,4,0.000,0.077,2988,439,1981
$GC,9653,1.05,207.9,640.6,9.3,465,9657,0.00,2.45,0.00,0.000,6,0.000,0.059,2989,1803,1980
$GC,9981,1.13,263.3,617.8,6.0,481,10036,0.00,2.72,49.20,1.236,4,0.000,0.070,2989,3248,1757
$GC,10090,1.19,276.8,610.4,7.5,486,10112,0.00,2.67,13.43,1.131,6,0.000,0.064,2989,1799,1702
$GC,10421,1.19,276.8,584.4,8.3,502,10426,0.00,2.67,0.00,0.000,4,0.000,0.067,2988,3255,1702
$GC,10462,1.24,276.8,580.7,9.1,504,10467,0.12,2.65,0.00,0.000,6,0.057,0.061,3021,1807,1702
$GC,10790,1.18,276.8,541.3,12.7,520,10794,0.00,2.67,0.00,0.000,4,0.000,0.066,3022,3261,1702
$GC,10839,1.18,276.8,534.7,13.0,522,10844,0.00,2.60,0.00,0.000,6,0.000,0.062,3022,1831,1702
$GC,11156,1.13,276.8,495.7,11.8,537,11158,0.17,0.00,0.00,0.000,6,0.089,0.000,2988,1831,1702
$GC,11464,1.13,276.8,468.0,8.3,552,11469,0.00,2.62,0.00,0.000,4,0.000,0.067,2988,3262,1702
$GC,11551,1.18,278.9,461.2,7.9,556,11555,0.00,2.58,0.00,0.000,6,0.000,0.062,2988,1833,1703
$GC,11878,1.19,286.5,438.1,7.7,572,11890,0.00,0.00,10.32,0.995,6,0.000,0.000,2988,1833,1662
$GC,12186,1.19,286.5,410.0,9.6,587,12191,0.00,2.60,0.00,0.000,4,0.000,0.067,2988,3261,1662
$GC,12254,1.26,286.5,403.4,9.5,590,12259,0.15,2.55,0.00,0.000,6,0.053,0.055,3028,1850,1662
$GC,12577,1.20,286.5,366.3,11.7,606,12579,0.12,0.00,0.00,0.000,6,0.093,0.000,3004,1850,1662
$GC,12885,1.20,286.5,333.1,10.9,621,12890,0.00,2.55,0.00,0.000,4,0.000,0.065,3003,3254,1662
$GC,12948,1.24,286.5,326.2,10.0,624,12953,0.00,2.53,0.00,0.000,6,0.000,0.056,3004,1846,1663
$GC,13276,1.24,286.5,292.1,10.5,640,13280,0.00,2.58,0.00,0.000,4,0.000,0.065,3004,3262,1662
$GC,13327,1.28,286.5,286.6,10.3,642,13331,0.00,2.50,0.00,0.000,6,0.000,0.054,3004,1866,1663
$GC,13643,1.28,286.5,252.9,10.8,657,13647,0.00,2.50,0.00,0.000,4,0.000,0.064,3003,3254,1663
$GC,13676,1.32,286.5,249.0,11.2,658,13681,0.12,2.47,0.00,0.000,6,0.055,0.054,3038,1870,1663
$GC,13993,1.25,286.5,209.3,13.0,673,13994,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,1870,1663
$GC,14302,1.19,286.5,168.7,13.1,688,14307,0.17,2.50,0.00,0.000,4,0.085,0.060,3004,3258,1664
$GC,14358,1.23,286.5,162.2,10.8,690,14364,0.00,2.45,0.00,0.000,6,0.000,0.055,3004,1883,1663
$GC,14676,1.23,286.5,130.2,9.7,706,14677,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,1883,1663
$GC,14983,1.25,299.1,104.5,7.5,721,15005,0.00,2.58,12.20,0.815,4,0.000,0.064,3003,3264,1611
$GC,15053,1.34,322.2,99.4,7.2,724,15079,0.15,2.45,19.88,0.843,6,0.051,0.055,3044,1896,1517
$GC,15410,1.30,322.2,57.9,12.8,741,15414,0.00,2.62,0.00,0.000,4,0.000,0.071,3045,439,1517
$GC,15443,1.21,322.2,53.4,12.1,742,15450,0.17,2.60,0.00,0.000,6,0.084,0.056,3009,1907,1517
$GC,15760,1.25,322.2,24.4,9.0,758,15764,0.00,2.38,0.00,0.000,4,0.000,0.058,3009,3255,1517
$GC,15823,1.33,322.2,19.1,8.6,761,15827,0.12,2.40,0.00,0.000,6,0.052,0.050,3045,1901,1517
$STATE,15982,end climb,SURFACE_DEPTH_REACHED
$STATE,15982,begin surface coast
$FINISH,0.5,1.017218
$STATE,16004,end surface coast,CONTROL_FINISHED_OK
$STATE,16004,begin surface
$SM_CCo,16088,0.00,0.000,0,0,1516,322.57
$SM_GC,1.33,11.35,0.00,0.00,0.035,0.000,0.000,417,2153,1516,-10.61,0.68,322.57
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1824
$TCM_TEMP,17.60
$XPDR_PINGS,59
$ALTIM_BOTTOM_PING,720.3,68.5
$24V_AH,23.8,22.593
$10V_AH,10.1,10.208
$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,26.800,162.925,427.150,0.000,0.000,37.762,36.894,150.385,21.250,0.000,0.000,12.317,1451.672,12117.671,543.145,1787.110,535.700,33.357,1480.803,0.000,1743.454,0.000,44.585,0.000
$DEVICE_MAMPS,161.837,86.671,1335.347,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,526.798,573.963,460.793,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37968,770
$CAP_FILE_SIZE,128745,0
$CFSIZE,254472192,245035008
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,180909,225507,6305.784,-1313.240,35,1.3,35,-12.2