version: 66.04
glider: 5
mission: 7
dive: 162
start: 9 25 109 19 40 26
data:
$ID,5
$MISSION,7
$DIVE,162
$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,-103261.77
$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,26
$R_STBD_OVSHOOT,28
$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
$GPS1,193306,6351.561,-1317.365,32,1.3,32,-12.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-55.9
$GPS2,193937,6351.595,-1317.205,16,1.3,16,-12.5
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,LW
$TGT_LATLONG,6400.000,-1330.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.208,0.130
$KALMAN_X,-46251.3,-820.4,-783.4,-196357.4,8166.0
$KALMAN_Y,-12112.7,-767.7,-647.9,263529.7,3356.2
$MHEAD_RNG_PITCHd_Wd,314.6,18713,-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,-146.6,0.0,0.0,0,59,0.00,0.00,-41.40,0.000,2,0.000,0.000,416,2147,2473
$GC,63,-1.22,-146.6,2.4,-4.9,2,117,11.18,0.00,-39.80,0.000,6,0.151,0.000,2470,2146,3430
$GC,416,-1.13,-146.6,41.0,-12.4,19,421,0.12,2.53,0.00,0.000,4,0.109,0.064,2495,3539,3430
$GC,435,-1.06,-146.6,43.7,-12.9,20,439,0.00,2.50,0.00,0.000,6,0.000,0.047,2495,2129,3430
$GC,762,-1.02,-146.6,79.9,-9.9,36,767,0.12,2.50,0.00,0.000,4,0.098,0.057,2521,717,3430
$GC,848,-1.08,-146.6,88.6,-9.7,40,852,0.00,2.45,0.00,0.000,6,0.000,0.047,2521,2105,3430
$GC,1177,-1.12,-146.6,119.5,-9.7,56,1178,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2105,3430
$GC,1485,-1.15,-146.6,149.7,-9.5,71,1487,0.12,0.00,0.00,0.000,6,0.055,0.000,2484,2105,3430
$GC,1802,-1.11,-146.6,188.4,-12.9,91,1806,0.00,2.53,0.00,0.000,4,0.000,0.061,2484,709,3430
$GC,1858,-1.11,-146.6,195.9,-13.3,94,1864,0.00,2.47,0.00,0.000,6,0.000,0.049,2484,2107,3430
$GC,2177,-1.08,-146.6,237.4,-12.8,115,2179,0.12,0.00,0.00,0.000,6,0.092,0.000,2511,2108,3430
$GC,2490,-1.08,-146.6,274.2,-11.9,135,2494,0.00,2.53,0.00,0.000,4,0.000,0.062,2511,713,3430
$GC,2518,-1.11,-146.6,278.0,-12.8,137,2523,0.00,2.47,0.00,0.000,6,0.000,0.050,2511,2109,3430
$GC,2843,-1.11,-146.6,316.4,-11.6,158,2844,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2109,3430
$GC,3156,-1.11,-146.6,351.0,-10.7,178,3157,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2109,3430
$GC,3468,-1.11,-146.6,384.4,-10.7,198,3472,0.00,2.53,0.00,0.000,4,0.000,0.061,2511,710,3430
$GC,3514,-1.16,-146.6,389.6,-11.4,201,3518,0.00,2.45,0.00,0.000,6,0.000,0.051,2511,2090,3430
$GC,3838,-1.16,-146.6,424.8,-10.8,222,3839,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2091,3430
$GC,4150,-1.16,-146.6,459.7,-11.1,242,4155,0.00,2.50,0.00,0.000,4,0.000,0.062,2511,709,3430
$GC,4173,-1.20,-146.6,462.4,-11.3,243,4180,0.12,2.45,0.00,0.000,6,0.058,0.051,2474,2089,3430
$GC,4495,-1.16,-146.6,502.4,-12.3,264,4496,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2089,3430
$GC,4805,-1.11,-146.6,539.5,-12.3,284,4810,0.12,2.47,0.00,0.000,4,0.094,0.061,2499,720,3429
$GC,4868,-1.15,-146.6,546.9,-12.1,288,4872,0.00,2.42,0.00,0.000,6,0.000,0.051,2499,2089,3429
$GC,5192,-1.15,-146.6,584.7,-11.9,309,5193,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2089,3429
$GC,5506,-1.15,-146.6,617.4,-10.3,329,5507,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2089,3429
$GC,5816,-1.15,-146.6,649.8,-10.2,349,5818,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2089,3428
$GC,6129,-1.15,-146.6,679.9,-9.0,369,6133,0.00,2.50,0.00,0.000,4,0.000,0.064,2499,710,3428
$GC,6167,-1.15,-146.6,683.4,-9.7,371,6173,0.00,2.45,0.00,0.000,6,0.000,0.052,2499,2089,3428
$GC,6487,-1.15,-146.6,712.6,-8.3,392,6491,0.00,2.62,0.00,0.000,4,0.000,0.070,2499,3533,3428
$GC,6605,-1.15,-146.6,722.0,-7.6,399,6609,0.00,2.58,0.00,0.000,6,0.000,0.058,2499,2104,3428
$GC,6924,-1.15,-146.6,744.3,-7.3,419,6928,0.00,2.47,0.00,0.000,4,0.000,0.067,2499,721,3427
$GC,6955,-1.18,-146.6,746.5,-7.4,421,6959,0.00,2.50,0.00,0.000,6,0.000,0.054,2499,2120,3428
$GC,7282,-1.18,-146.6,770.1,-7.6,442,7286,0.00,2.58,0.00,0.000,4,0.000,0.067,2499,715,3427
$GC,7315,-1.22,-146.6,773.3,-8.6,444,7320,0.00,2.50,0.00,0.000,6,0.000,0.055,2499,2115,3428
$GC,7635,-1.22,-146.6,800.1,-8.9,464,7636,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2116,3426
$GC,7948,-1.22,-146.6,828.2,-9.1,484,7952,0.00,2.55,0.00,0.000,4,0.000,0.071,2499,722,3426
$GC,8021,-1.26,-146.6,835.3,-10.1,488,8028,0.15,2.50,0.00,0.000,6,0.060,0.058,2459,2114,3425
$STATE,8291,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8291,begin apogee
$GC,8298,-0.33,0.0,864.8,10.9,506,8435,1.00,0.00,133.27,1.417,6,0.082,0.000,2673,1846,2831
$STATE,8436,end apogee,CONTROL_FINISHED_OK
$STATE,8436,begin climb
$GC,8440,1.22,146.6,869.4,0.0,515,8582,1.52,2.72,133.75,1.371,4,0.061,0.067,3005,3254,2234
$GC,8620,1.13,146.6,862.1,8.2,526,8624,0.00,2.62,0.00,0.000,6,0.000,0.066,3005,1850,2233
$GC,8947,1.05,148.5,835.6,7.9,547,8952,0.17,2.60,0.00,0.000,4,0.098,0.076,2971,439,2233
$GC,9010,1.01,159.0,830.6,7.6,551,9028,0.00,2.55,12.48,1.223,6,0.000,0.057,2971,1858,2182
$GC,9342,1.07,196.2,809.2,6.7,572,9378,0.00,0.00,33.95,1.337,6,0.000,0.000,2971,1860,2031
$GC,9682,1.11,221.2,785.7,7.1,594,9711,0.00,0.00,22.95,1.310,6,0.000,0.000,2970,1859,1930
$GC,10025,1.14,242.1,761.2,7.2,616,10048,0.10,0.00,19.98,1.295,6,0.063,0.000,2998,1859,1844
$GC,10351,1.14,242.1,732.6,9.5,637,10356,0.00,2.65,0.00,0.000,4,0.000,0.077,2997,431,1844
$GC,10408,1.08,242.1,726.4,11.4,640,10414,0.00,2.53,0.00,0.000,6,0.000,0.058,2998,1826,1844
$GC,10728,1.08,242.7,697.4,8.0,661,10729,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,1840,1844
$GC,11039,1.08,242.7,670.4,9.1,681,11043,0.00,2.60,0.00,0.000,4,0.000,0.069,2997,3255,1844
$GC,11112,1.08,242.7,663.8,8.8,685,11118,0.00,2.62,0.00,0.000,6,0.000,0.063,2998,1826,1844
$GC,11431,1.08,242.7,634.4,9.2,706,11435,0.00,2.65,0.00,0.000,4,0.000,0.065,2997,3262,1843
$GC,11481,1.08,242.7,629.5,9.4,709,11485,0.00,2.60,0.00,0.000,6,0.000,0.060,2998,1838,1843
$GC,11800,1.08,242.7,599.1,9.7,729,11804,0.00,2.62,0.00,0.000,4,0.000,0.064,2998,3265,1843
$GC,11846,1.12,242.7,594.4,10.3,732,11850,0.00,2.53,0.00,0.000,6,0.000,0.059,2998,1860,1843
$GC,12170,1.12,242.7,561.1,10.3,753,12171,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,1860,1843
$GC,12482,1.12,242.7,530.2,9.4,773,12483,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,1860,1843
$GC,12796,1.12,242.7,501.9,8.8,793,12800,0.00,2.55,0.00,0.000,4,0.000,0.062,2998,3257,1844
$GC,12829,1.12,242.7,498.7,8.8,795,12834,0.00,2.50,0.00,0.000,6,0.000,0.056,2997,1871,1843
$GC,13148,1.12,242.7,470.6,9.1,815,13149,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,1871,1844
$GC,13461,1.12,242.7,443.0,8.5,835,13465,0.00,2.53,0.00,0.000,4,0.000,0.061,2998,3257,1844
$GC,13512,1.15,242.7,438.4,8.6,838,13516,0.00,2.47,0.00,0.000,6,0.000,0.055,2998,1880,1844
$GC,13831,1.15,242.7,411.1,8.7,858,13832,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,1880,1844
$GC,14143,1.15,242.7,384.0,8.7,878,14147,0.00,2.53,0.00,0.000,4,0.000,0.061,2997,3265,1845
$GC,14200,1.19,242.7,379.0,9.1,881,14206,0.00,2.47,0.00,0.000,6,0.000,0.054,2998,1885,1845
$GC,14519,1.20,250.3,353.3,7.7,902,14533,0.00,0.00,9.00,0.930,6,0.000,0.000,2998,1885,1809
$GC,14847,1.22,258.7,328.2,7.7,923,14863,0.00,2.55,8.68,0.916,4,0.000,0.060,2998,3257,1776
$GC,14892,1.29,275.6,324.5,7.4,925,14915,0.15,2.45,15.12,0.980,6,0.050,0.052,3038,1897,1707
$GC,15230,1.24,275.6,291.5,9.8,947,15234,0.00,2.62,0.00,0.000,4,0.000,0.064,3037,432,1707
$GC,15277,1.16,275.6,286.3,11.0,950,15282,0.22,2.62,0.00,0.000,6,0.084,0.048,2994,1909,1707
$GC,15605,1.19,276.8,260.4,8.0,971,15607,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,1924,1706
$GC,15915,1.24,276.8,234.4,8.3,991,15919,0.00,2.70,0.00,0.000,4,0.000,0.064,2993,433,1707
$GC,15953,1.24,276.8,230.6,9.6,993,15959,0.00,2.60,0.00,0.000,6,0.000,0.048,2993,1901,1707
$GC,16273,1.28,276.8,202.6,8.6,1014,16275,0.15,0.00,0.00,0.000,6,0.051,0.000,3034,1913,1707
$GC,16585,1.24,276.8,168.5,12.3,1034,16586,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,1913,1708
$GC,16907,1.20,276.8,128.7,12.6,1052,16912,0.15,2.67,0.00,0.000,4,0.085,0.063,3003,436,1708
$GC,16952,1.20,276.8,122.9,11.8,1054,16956,0.00,2.58,0.00,0.000,6,0.000,0.048,3003,1894,1708
$GC,17273,1.20,276.8,86.4,11.5,1070,17274,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,1908,1708
$GC,17584,1.23,276.8,52.9,10.0,1085,17589,0.00,2.65,0.00,0.000,4,0.000,0.062,3003,437,1708
$GC,17635,1.23,276.8,47.6,11.7,1087,17639,0.00,2.55,0.00,0.000,6,0.000,0.047,3003,1884,1708
$GC,17953,1.30,276.8,13.3,9.5,1102,17958,0.12,2.42,0.00,0.000,4,0.053,0.058,3039,3255,1708
$GC,18009,1.25,276.8,7.9,15.3,1104,18016,0.12,2.45,0.00,0.000,6,0.081,0.054,3012,1890,1708
$STATE,18075,end climb,SURFACE_DEPTH_REACHED
$STATE,18075,begin surface coast
$FINISH,0.6,1.013738
$STATE,18097,end surface coast,CONTROL_FINISHED_OK
$STATE,18097,begin surface
$SM_CCo,18121,12.70,0.749,0,0,1608,300.00
$SM_GC,1.62,0.00,0.00,12.70,0.000,0.000,0.749,419,2146,1608,-10.70,0.48,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1829
$TCM_TEMP,17.30
$XPDR_PINGS,58
$ALTIM_BOTTOM_PING,821.2,53.5
$24V_AH,23.7,29.253
$10V_AH,10.1,13.224
$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,26.950,138.225,389.175,12.700,0.000,37.761,35.862,179.764,22.000,0.000,0.000,16.481,1917.746,13350.497,546.577,2106.120,598.329,33.363,1581.765,0.000,2059.444,0.000,50.872,0.000
$DEVICE_MAMPS,151.099,77.467,1417.416,749.359,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,760.188,815.119,569.024,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56877,1109
$CAP_FILE_SIZE,143487,0
$CFSIZE,254472192,242642944
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,260909,004401,6353.340,-1321.715,40,1.8,40,-12.6