version: 66.04
glider: 5
mission: 7
dive: 157
start: 9 24 109 19 43 54
data:
$ID,5
$MISSION,7
$DIVE,157
$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,-103148.29
$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,29
$R_STBD_OVSHOOT,24
$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
$GPS1,192907,6355.886,-1303.809,42,1.0,42,-12.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-61.8
$GPS2,194306,6355.881,-1303.402,22,1.9,33,-12.4
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,KW
$TGT_LATLONG,6350.000,-1310.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.203,-0.137
$KALMAN_X,-51001.7,-2233.9,-2157.7,-176602.9,19635.2
$KALMAN_Y,-13690.3,-337.7,-879.9,272856.0,6309.7
$MHEAD_RNG_PITCHd_Wd,248.4,12151,-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,-146.6,0.0,0.0,0,58,0.00,0.00,-40.85,0.000,2,0.000,0.000,414,2144,2486
$GC,62,-1.22,-146.6,2.4,-4.2,2,118,10.98,2.60,-37.25,0.000,4,0.149,0.077,2470,3541,3430
$GC,130,-1.06,-146.6,6.7,-9.0,5,136,0.20,2.53,0.00,0.000,6,0.102,0.045,2512,2116,3430
$GC,452,-1.06,-146.6,46.6,-13.7,21,457,0.00,2.60,0.00,0.000,4,0.000,0.061,2512,3535,3430
$GC,538,-1.06,-146.6,56.9,-11.1,25,542,0.00,2.45,0.00,0.000,6,0.000,0.046,2512,2152,3430
$GC,865,-1.06,-146.6,91.8,-8.6,41,869,0.00,2.55,0.00,0.000,4,0.000,0.063,2512,3541,3430
$GC,916,-1.06,-146.6,96.7,-9.9,43,920,0.00,2.47,0.00,0.000,6,0.000,0.047,2512,2145,3430
$GC,1232,-1.06,-146.6,129.3,-10.6,58,1236,0.00,2.53,0.00,0.000,4,0.000,0.058,2512,717,3431
$GC,1254,-1.06,-146.6,131.8,-10.9,59,1258,0.00,2.55,0.00,0.000,6,0.000,0.048,2512,2160,3431
$GC,1571,-1.06,-146.6,165.0,-9.8,77,1575,0.00,2.60,0.00,0.000,4,0.000,0.058,2512,715,3431
$GC,1634,-1.10,-146.6,171.1,-10.1,81,1639,0.00,2.53,0.00,0.000,6,0.000,0.048,2512,2143,3430
$GC,1959,-1.10,-146.6,202.5,-9.5,102,1963,0.00,2.58,0.00,0.000,4,0.000,0.058,2513,712,3431
$GC,2009,-1.13,-146.6,207.4,-10.1,105,2013,0.00,2.50,0.00,0.000,6,0.000,0.048,2512,2126,3431
$GC,2328,-1.13,-146.6,237.3,-8.7,125,2333,0.00,2.55,0.00,0.000,4,0.000,0.061,2512,715,3431
$GC,2357,-1.13,-146.6,240.0,-9.3,127,2361,0.00,2.50,0.00,0.000,6,0.000,0.049,2512,2126,3431
$GC,2681,-1.13,-146.6,271.6,-9.5,148,2682,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2124,3430
$GC,2994,-1.13,-146.6,300.9,-9.4,168,2998,0.00,2.55,0.00,0.000,4,0.000,0.062,2512,716,3430
$GC,3033,-1.18,-146.6,304.8,-10.3,170,3040,0.10,2.50,0.00,0.000,6,0.061,0.051,2482,2125,3430
$GC,3355,-1.14,-146.6,339.2,-11.0,191,3356,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2124,3430
$GC,3666,-1.09,-146.6,374.1,-11.5,211,3671,0.12,2.55,0.00,0.000,4,0.096,0.061,2509,718,3430
$GC,3700,-1.09,-146.6,378.3,-11.5,213,3704,0.00,2.47,0.00,0.000,6,0.000,0.051,2509,2114,3430
$GC,4019,-1.09,-146.6,413.8,-11.1,233,4023,0.00,2.53,0.00,0.000,4,0.000,0.061,2509,714,3429
$GC,4047,-1.09,-146.6,417.2,-11.7,235,4052,0.00,2.47,0.00,0.000,6,0.000,0.050,2509,2108,3429
$GC,4373,-1.09,-146.6,453.6,-11.1,256,4377,0.00,2.58,0.00,0.000,4,0.000,0.068,2509,3538,3429
$GC,4394,-1.09,-146.6,456.2,-11.6,257,4400,0.00,2.60,0.00,0.000,6,0.000,0.056,2509,2092,3429
$GC,4713,-1.09,-146.6,491.4,-10.8,278,4718,0.00,2.65,0.00,0.000,4,0.000,0.068,2509,3538,3428
$GC,4742,-1.09,-146.6,494.6,-11.6,280,4750,0.00,2.60,0.00,0.000,6,0.000,0.055,2509,2093,3428
$GC,5075,-1.09,-146.6,529.0,-10.6,301,5077,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2077,3428
$GC,5388,-1.09,-146.6,559.2,-8.9,321,5392,0.00,2.67,0.00,0.000,4,0.000,0.068,2509,3541,3428
$GC,5438,-1.09,-146.6,563.7,-8.9,324,5442,0.00,2.58,0.00,0.000,6,0.000,0.055,2509,2105,3428
$GC,5757,-1.09,-146.6,591.0,-8.3,344,5761,0.00,2.62,0.00,0.000,4,0.000,0.069,2509,3533,3427
$GC,5796,-1.09,-146.6,593.6,-6.6,346,5802,0.00,2.55,0.00,0.000,6,0.000,0.057,2509,2116,3427
$GC,6115,-1.09,-146.6,610.4,-4.2,367,6117,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2103,3427
$GC,6428,-1.09,-146.6,628.7,-6.9,387,6432,0.00,2.62,0.00,0.000,4,0.000,0.070,2509,3534,3427
$GC,6618,-1.12,-146.6,647.3,-10.0,398,6624,0.00,2.50,0.00,0.000,6,0.000,0.057,2509,2144,3427
$GC,6937,-1.12,-146.6,678.1,-9.1,419,6941,0.00,2.55,0.00,0.000,4,0.000,0.069,2509,725,3427
$GC,7017,-1.17,-146.6,685.7,-9.9,424,7021,0.00,2.53,0.00,0.000,6,0.000,0.054,2509,2147,3427
$GC,7343,-1.17,-146.6,714.6,-8.4,445,7347,0.00,2.62,0.00,0.000,4,0.000,0.072,2509,720,3427
$GC,7416,-1.23,-146.6,720.7,-6.4,449,7423,0.12,2.50,0.00,0.000,6,0.062,0.055,2474,2122,3426
$STATE,7576,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7576,begin apogee
$GC,7584,-0.33,0.0,737.5,9.6,460,7718,0.93,0.00,130.30,1.320,6,0.079,0.000,2673,1840,2831
$STATE,7718,end apogee,CONTROL_FINISHED_OK
$STATE,7718,begin climb
$GC,7721,1.22,146.6,740.8,0.0,469,7861,1.52,2.62,130.57,1.277,4,0.058,0.072,3008,443,2233
$GC,7930,1.07,146.6,727.0,8.6,482,7935,0.15,2.58,0.00,0.000,6,0.098,0.054,2981,1862,2233
$GC,8255,1.07,146.6,701.2,8.5,503,8259,0.00,2.67,0.00,0.000,4,0.000,0.074,2981,437,2233
$GC,8301,0.99,146.6,697.0,9.6,506,8305,0.00,2.55,0.00,0.000,6,0.000,0.056,2981,1844,2232
$GC,8625,0.99,146.6,667.7,8.8,527,8629,0.00,2.62,0.00,0.000,4,0.000,0.076,2981,446,2231
$GC,8659,0.92,146.6,664.5,9.7,529,8664,0.17,2.53,0.00,0.000,6,0.096,0.056,2946,1844,2232
$GC,8981,1.09,219.5,644.7,5.4,549,9048,0.15,0.00,64.32,1.246,6,0.054,0.000,2985,1858,1936
$GC,9368,1.25,320.6,619.8,4.3,574,9463,0.15,2.75,88.62,1.230,4,0.055,0.074,3023,446,1524
$GC,9494,1.17,320.6,610.5,10.3,581,9501,0.12,2.55,0.00,0.000,6,0.097,0.056,3001,1840,1524
$GC,9813,1.17,320.6,577.1,11.3,602,9818,0.00,2.58,0.00,0.000,4,0.000,0.067,3000,3254,1524
$GC,9877,1.24,320.6,569.9,12.1,606,9882,0.00,2.60,0.00,0.000,6,0.000,0.064,3001,1846,1524
$GC,10202,1.24,320.6,529.8,12.7,627,10207,0.00,2.60,0.00,0.000,4,0.000,0.064,3001,3255,1524
$GC,10225,1.27,320.6,526.8,13.9,628,10231,0.00,2.58,0.00,0.000,6,0.000,0.061,3001,1851,1524
$GC,10544,1.27,320.6,487.2,12.3,649,10548,0.00,2.60,0.00,0.000,4,0.000,0.063,3001,3264,1524
$GC,10573,1.31,320.6,483.9,11.2,651,10579,0.15,2.55,0.00,0.000,6,0.054,0.059,3039,1860,1525
$GC,10900,1.24,320.6,438.6,13.9,672,10905,0.12,2.55,0.00,0.000,4,0.097,0.067,3015,438,1525
$GC,10929,1.18,320.6,434.2,14.4,674,10934,0.00,2.58,0.00,0.000,6,0.000,0.051,3015,1883,1525
$GC,11254,1.18,320.6,394.3,12.3,695,11259,0.00,2.65,0.00,0.000,4,0.000,0.067,3014,440,1525
$GC,11277,1.15,320.6,391.3,13.0,696,11283,0.00,2.53,0.00,0.000,6,0.000,0.050,3015,1860,1525
$GC,11596,1.15,320.6,352.6,11.8,717,11601,0.00,2.50,0.00,0.000,4,0.000,0.061,3015,3261,1526
$GC,11618,1.15,320.6,349.8,12.3,718,11624,0.00,2.55,0.00,0.000,6,0.000,0.055,3015,1850,1526
$GC,11937,1.15,320.6,313.9,11.2,739,11942,0.00,2.58,0.00,0.000,4,0.000,0.061,3015,3261,1526
$GC,11960,1.15,320.6,311.3,11.0,740,11966,0.00,2.53,0.00,0.000,6,0.000,0.055,3015,1860,1526
$GC,12279,1.15,320.6,276.3,11.3,761,12281,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,1860,1526
$GC,12591,1.15,320.6,242.1,11.1,781,12595,0.00,2.55,0.00,0.000,4,0.000,0.060,3014,3263,1526
$GC,12620,1.15,320.6,238.9,11.2,783,12624,0.00,2.50,0.00,0.000,6,0.000,0.053,3015,1869,1526
$GC,12944,1.15,320.6,202.6,11.1,804,12948,0.00,2.58,0.00,0.000,4,0.000,0.065,3015,430,1526
$GC,12965,1.15,320.6,199.9,11.2,805,12972,0.00,2.58,0.00,0.000,6,0.000,0.048,3015,1887,1526
$GC,13285,1.15,320.6,166.8,10.0,826,13289,0.00,2.65,0.00,0.000,4,0.000,0.064,3015,437,1527
$GC,13313,1.15,320.6,164.0,9.8,828,13318,0.00,2.53,0.00,0.000,6,0.000,0.048,3015,1868,1527
$GC,13631,1.15,320.6,134.6,9.2,846,13636,0.00,2.47,0.00,0.000,4,0.000,0.058,3015,3264,1527
$GC,13660,1.18,320.6,131.9,9.5,847,13664,0.00,2.50,0.00,0.000,6,0.000,0.051,3015,1860,1527
$GC,13978,1.18,320.6,102.4,9.4,862,13982,0.00,2.53,0.00,0.000,4,0.000,0.058,3015,3258,1527
$GC,14022,1.23,320.6,97.9,9.3,864,14026,0.00,2.45,0.00,0.000,6,0.000,0.050,3015,1880,1527
$GC,14345,1.23,320.6,63.8,11.3,880,14349,0.00,2.58,0.00,0.000,4,0.000,0.064,3015,439,1528
$GC,14384,1.23,320.6,59.1,12.6,882,14389,0.00,2.53,0.00,0.000,6,0.000,0.047,3015,1873,1528
$GC,14712,1.23,320.6,25.6,10.0,898,14716,0.00,2.45,0.00,0.000,4,0.000,0.056,3015,3264,1528
$GC,14753,1.29,320.6,21.3,10.6,900,14757,0.00,2.45,0.00,0.000,6,0.000,0.048,3015,1877,1528
$STATE,14919,end climb,SURFACE_DEPTH_REACHED
$STATE,14920,begin surface coast
$FINISH,1.1,1.026972
$STATE,14940,end surface coast,CONTROL_FINISHED_OK
$STATE,14940,begin surface
$SM_CCo,15024,0.00,0.000,0,0,1527,320.12
$SM_GC,1.24,11.20,0.00,0.00,0.035,0.000,0.000,423,2168,1527,-10.59,1.10,320.12
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1839
$TCM_TEMP,17.50
$XPDR_PINGS,48
$ALTIM_BOTTOM_PING,695.5,50.8
$24V_AH,23.8,28.394
$10V_AH,10.1,12.772
$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,26.200,179.900,413.825,0.000,0.000,113.283,91.747,354.752,18.250,0.000,0.000,33.247,1615.861,10914.062,541.996,1890.340,893.717,33.362,1512.475,0.000,1826.270,0.000,44.822,0.000
$DEVICE_MAMPS,148.798,76.700,1320.007,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,621.805,663.751,503.912,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47424,909
$CAP_FILE_SIZE,138692,0
$CFSIZE,254472192,242999296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,240909,235541,6355.419,-1305.859,43,1.5,46,-12.5