version: 66.04
glider: 5
mission: 7
dive: 132
start: 9 20 109 19 18 41
data:
$ID,5
$MISSION,7
$DIVE,132
$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,-102685.99
$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,22
$R_STBD_OVSHOOT,36
$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
$GPS1,191207,6332.205,-1322.743,29,1.2,29,-12.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-59.0
$GPS2,191750,6332.278,-1322.703,15,1.2,15,-12.5
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,JW
$TGT_LATLONG,6335.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.159,0.187
$KALMAN_X,-98680.3,316.8,-601.4,-150076.4,-2022.5
$KALMAN_Y,-14342.7,320.6,187.2,228061.0,-3191.5
$MHEAD_RNG_PITCHd_Wd,53.0,8105,-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,16,-1.22,-146.6,0.0,0.0,0,79,0.00,0.00,-61.20,0.000,2,0.000,0.000,423,2163,2780
$GC,82,-1.22,-146.6,2.5,-3.3,3,126,11.25,2.53,-22.20,0.000,4,0.162,0.075,2471,3525,3430
$GC,317,-1.14,-146.6,32.4,-13.2,13,322,0.12,2.50,0.00,0.000,6,0.102,0.046,2497,2113,3430
$GC,635,-1.14,-146.6,69.2,-12.6,28,639,0.00,2.45,0.00,0.000,4,0.000,0.056,2497,722,3430
$GC,713,-1.14,-146.6,79.6,-11.8,31,719,0.00,2.45,0.00,0.000,6,0.000,0.045,2497,2119,3431
$GC,1030,-1.14,-146.6,120.0,-13.6,47,1034,0.00,2.50,0.00,0.000,4,0.000,0.057,2497,718,3431
$GC,1092,-1.14,-146.6,129.4,-14.7,50,1097,0.00,2.45,0.00,0.000,6,0.000,0.046,2497,2110,3431
$GC,1420,-1.14,-146.6,178.3,-14.5,66,1421,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2109,3431
$GC,1731,-1.14,-146.6,222.6,-13.2,81,1732,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2110,3431
$GC,2038,-1.14,-146.6,258.4,-10.9,96,2042,0.00,2.50,0.00,0.000,4,0.000,0.059,2497,718,3431
$GC,2088,-1.17,-146.6,263.8,-10.2,98,2092,0.00,2.45,0.00,0.000,6,0.000,0.048,2497,2107,3431
$GC,2404,-1.17,-146.6,297.6,-11.2,113,2405,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2107,3431
$GC,2713,-1.17,-146.6,336.4,-13.2,128,2718,0.00,2.50,0.00,0.000,4,0.000,0.061,2497,718,3431
$GC,2747,-1.17,-146.6,341.1,-13.5,129,2753,0.00,2.45,0.00,0.000,6,0.000,0.050,2497,2103,3431
$GC,3063,-1.17,-146.6,383.8,-13.2,145,3064,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2104,3431
$GC,3373,-1.17,-146.6,420.5,-11.0,160,3377,0.00,2.60,0.00,0.000,4,0.000,0.069,2497,3535,3431
$GC,3423,-1.17,-146.6,425.9,-9.8,162,3427,0.00,2.58,0.00,0.000,6,0.000,0.055,2497,2090,3430
$GC,3739,-1.17,-146.6,456.3,-9.3,177,3743,0.00,2.65,0.00,0.000,4,0.000,0.067,2497,3533,3430
$GC,3801,-1.17,-146.6,462.2,-9.4,180,3805,0.00,2.55,0.00,0.000,6,0.000,0.054,2497,2103,3430
$GC,4128,-1.17,-146.6,493.9,-10.0,196,4132,0.00,2.65,0.00,0.000,4,0.000,0.069,2497,3541,3430
$GC,4172,-1.17,-146.6,498.8,-10.7,198,4176,0.00,2.58,0.00,0.000,6,0.000,0.054,2497,2102,3430
$GC,4493,-1.17,-146.6,532.4,-10.6,214,4494,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2094,3429
$GC,4802,-1.17,-146.6,564.3,-10.6,229,4803,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2094,3430
$GC,5114,-1.17,-146.6,597.4,-11.0,244,5118,0.00,2.62,0.00,0.000,4,0.000,0.069,2497,3535,3429
$GC,5163,-1.17,-146.6,604.0,-13.2,246,5168,0.00,2.55,0.00,0.000,6,0.000,0.055,2497,2112,3429
$GC,5480,-1.17,-146.6,646.6,-14.2,261,5485,0.00,2.65,0.00,0.000,4,0.000,0.071,2497,3542,3429
$GC,5508,-1.17,-146.6,650.6,-13.2,262,5513,0.00,2.58,0.00,0.000,6,0.000,0.057,2497,2109,3428
$GC,5824,-1.17,-146.6,690.4,-12.2,277,5828,0.00,2.47,0.00,0.000,4,0.000,0.067,2497,720,3428
$GC,5887,-1.17,-146.6,698.5,-13.6,280,5891,0.00,2.47,0.00,0.000,6,0.000,0.051,2497,2121,3428
$GC,6215,-1.17,-146.6,745.4,-13.9,296,6216,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2122,3428
$GC,6523,-1.17,-146.6,779.4,-9.4,311,6524,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2121,3428
$GC,6832,-1.17,-146.6,804.6,-8.0,326,6837,0.00,2.55,0.00,0.000,4,0.000,0.068,2497,723,3428
$GC,6924,-1.22,-146.6,811.3,-8.4,330,6929,0.00,2.50,0.00,0.000,6,0.000,0.054,2497,2124,3427
$GC,7247,-1.25,-146.6,839.3,-9.1,346,7252,0.12,2.60,0.00,0.000,4,0.061,0.076,2462,3536,3427
$GC,7280,-1.19,-146.6,842.6,-9.9,347,7287,0.12,2.60,0.00,0.000,6,0.104,0.067,2487,2118,3426
$GC,7597,-1.52,-146.6,845.5,-0.1,363,7602,0.30,2.65,0.00,0.000,4,0.056,0.074,2406,3542,3425
$GC,7856,-1.78,-146.6,845.4,-0.8,374,7863,0.22,2.58,0.00,0.000,6,0.048,0.064,2347,2130,3425
$STATE,7942,end dive,NO_VERTICAL_VELOCITY
$STATE,7943,begin apogee
$GC,7950,-0.33,0.0,845.4,0.0,379,8087,1.48,0.00,132.75,1.400,6,0.060,0.000,2678,1843,2832
$STATE,8087,end apogee,CONTROL_FINISHED_OK
$STATE,8088,begin climb
$GC,8091,1.22,146.6,845.2,0.0,386,8238,1.50,2.70,133.65,1.358,4,0.054,0.065,3009,3251,2233
$GC,8334,1.11,146.6,831.9,9.7,397,8339,0.12,2.60,0.00,0.000,6,0.101,0.062,2988,1848,2232
$GC,8657,1.13,190.4,808.0,6.4,413,8702,0.00,2.65,40.30,1.307,4,0.000,0.074,2987,440,2054
$GC,8731,1.06,190.4,801.4,9.7,416,8737,0.00,2.58,0.00,0.000,6,0.000,0.054,2987,1854,2054
$GC,9048,1.06,211.1,775.6,7.2,432,9073,0.00,2.60,20.10,1.264,4,0.000,0.067,2987,3258,1970
$GC,9096,1.06,211.1,771.3,8.1,434,9100,0.00,2.62,0.00,0.000,6,0.000,0.064,2987,1854,1969
$GC,9411,1.06,211.1,740.0,11.0,449,9412,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,1853,1969
$GC,9721,1.06,211.1,696.7,13.9,464,9725,0.00,2.60,0.00,0.000,4,0.000,0.074,2987,433,1968
$GC,9789,1.00,211.1,686.0,15.8,467,9794,0.12,2.53,0.00,0.000,6,0.100,0.054,2964,1838,1968
$GC,10116,1.06,211.1,632.2,17.4,483,10121,0.00,2.58,0.00,0.000,4,0.000,0.065,2964,3262,1968
$GC,10173,1.12,211.1,622.2,17.0,485,10180,0.12,2.62,0.00,0.000,6,0.058,0.060,2997,1824,1968
$GC,10489,1.12,211.1,569.1,14.5,501,10491,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,1824,1968
$GC,10798,1.12,211.1,535.2,10.4,516,10803,0.00,2.62,0.00,0.000,4,0.000,0.062,2996,3257,1968
$GC,10861,1.12,211.1,528.5,10.6,519,10866,0.00,2.58,0.00,0.000,6,0.000,0.057,2997,1827,1968
$GC,11188,1.12,211.1,497.2,9.3,535,11192,0.00,2.60,0.00,0.000,4,0.000,0.061,2997,3258,1968
$GC,11238,1.12,211.1,492.3,9.9,537,11242,0.00,2.55,0.00,0.000,6,0.000,0.055,2996,1848,1968
$GC,11554,1.12,211.1,465.2,8.2,552,11558,0.00,2.55,0.00,0.000,4,0.000,0.061,2997,3257,1968
$GC,11593,1.12,211.1,461.8,8.9,554,11598,0.00,2.53,0.00,0.000,6,0.000,0.055,2996,1854,1968
$GC,11921,1.17,245.4,438.1,6.8,570,11956,0.00,2.62,30.08,1.096,4,0.000,0.060,2997,3264,1830
$GC,11980,1.20,263.7,434.0,7.3,572,12006,0.00,2.55,16.95,1.052,6,0.000,0.054,2996,1866,1756
$GC,12316,1.24,283.9,410.4,7.3,589,12337,0.00,0.00,18.67,1.044,6,0.000,0.000,2996,1866,1673
$GC,12645,1.24,283.9,384.8,8.3,605,12649,0.00,2.53,0.00,0.000,4,0.000,0.060,2997,3258,1673
$GC,12678,1.29,283.9,381.9,8.5,606,12684,0.15,2.50,0.00,0.000,6,0.051,0.054,3036,1873,1673
$GC,12995,1.23,283.9,343.5,13.1,621,12997,0.12,0.00,0.00,0.000,6,0.091,0.000,3012,1873,1673
$GC,13304,1.23,283.9,306.7,11.9,636,13305,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1873,1674
$GC,13613,1.23,283.9,268.8,12.4,651,13617,0.00,2.53,0.00,0.000,4,0.000,0.061,3012,3261,1674
$GC,13646,1.23,283.9,264.6,12.1,652,13652,0.00,2.47,0.00,0.000,6,0.000,0.051,3012,1877,1674
$GC,13962,1.23,283.9,228.3,11.3,668,13966,0.00,2.58,0.00,0.000,4,0.000,0.065,3012,440,1674
$GC,13990,1.19,283.9,224.9,11.9,669,13994,0.00,2.58,0.00,0.000,6,0.000,0.048,3012,1893,1674
$GC,14310,1.19,283.9,193.2,9.2,685,14312,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1909,1674
$GC,14620,1.21,295.2,168.8,7.6,700,14634,0.00,0.00,11.45,0.854,6,0.000,0.000,3012,1909,1627
$GC,14930,1.27,334.6,148.6,6.6,715,14969,0.00,0.00,33.08,0.901,6,0.000,0.000,3012,1909,1465
$GC,15281,1.27,334.6,110.8,12.9,732,15285,0.00,2.67,0.00,0.000,4,0.000,0.064,3012,435,1465
$GC,15321,1.27,334.6,105.1,14.4,734,15325,0.00,2.58,0.00,0.000,6,0.000,0.048,3011,1884,1465
$GC,15648,1.31,334.6,66.8,11.7,750,15652,0.00,2.65,0.00,0.000,4,0.000,0.064,3012,439,1465
$GC,15681,1.31,334.6,62.4,12.6,751,15688,0.00,2.53,0.00,0.000,6,0.000,0.047,3012,1872,1465
$GC,15999,1.34,334.6,29.5,9.4,767,16004,0.12,2.62,0.00,0.000,4,0.054,0.062,3047,433,1465
$GC,16089,1.27,334.6,18.1,10.9,771,16094,0.15,2.45,0.00,0.000,6,0.091,0.044,3019,1832,1465
$STATE,16222,end climb,SURFACE_DEPTH_REACHED
$STATE,16222,begin surface coast
$FINISH,0.5,1.026980
$STATE,16245,end surface coast,CONTROL_FINISHED_OK
$STATE,16245,begin surface
$SM_CCo,16329,0.00,0.000,0,0,1464,335.33
$SM_GC,1.34,11.23,0.00,0.00,0.035,0.000,0.000,420,2156,1464,-10.60,0.88,335.33
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1829
$TCM_TEMP,17.40
$XPDR_PINGS,42
$ALTIM_BOTTOM_PING,795.0,61.5
$24V_AH,23.8,24.518
$10V_AH,10.1,11.010
$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,27.275,149.525,437.025,0.000,0.000,37.760,26.657,151.021,17.750,0.000,0.000,15.649,1448.852,12379.896,561.412,1760.928,519.276,33.360,1478.712,0.000,1713.965,0.000,49.320,0.000
$DEVICE_MAMPS,161.837,75.933,1399.775,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,533.063,582.577,435.170,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41106,779
$CAP_FILE_SIZE,125422,0
$CFSIZE,254472192,244408320
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,200909,235206,6335.350,-1315.920,39,1.1,39,-12.4