version: 66.04
glider: 5
mission: 7
dive: 186
start: 9 29 109 15 28 46
data:
$ID,5
$MISSION,7
$DIVE,186
$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,-103755.84
$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,20
$R_STBD_OVSHOOT,22
$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
$GPS1,152207,6358.938,-1311.410,36,1.0,36,-12.5
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-57.9
$GPS2,152755,6358.947,-1311.356,15,1.4,15,-12.5
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,KW
$TGT_LATLONG,6350.000,-1310.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.117,-0.216
$KALMAN_X,-57662.0,-1236.5,757.7,-180951.2,-8515.3
$KALMAN_Y,-7554.4,2603.4,-786.6,269342.9,1306.6
$MHEAD_RNG_PITCHd_Wd,164.0,16606,-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,-41.38,0.000,2,0.000,0.000,421,2146,2407
$GC,63,-1.22,-146.6,2.2,-2.7,2,128,11.43,2.60,-47.33,0.000,4,0.162,0.077,2472,3536,3429
$GC,354,-1.14,-146.6,34.4,-13.4,15,359,0.12,2.53,0.00,0.000,6,0.101,0.048,2498,2121,3429
$GC,682,-1.14,-146.6,71.7,-10.5,31,686,0.00,2.50,0.00,0.000,4,0.000,0.060,2498,714,3429
$GC,768,-1.14,-146.6,81.2,-11.1,35,773,0.00,2.50,0.00,0.000,6,0.000,0.049,2498,2121,3430
$GC,1096,-1.14,-146.6,119.6,-11.8,51,1104,0.00,2.55,0.00,0.000,4,0.000,0.061,2498,714,3430
$GC,1132,-1.14,-146.6,124.1,-11.8,52,1136,0.00,2.47,0.00,0.000,6,0.000,0.049,2498,2110,3430
$GC,1454,-1.14,-146.6,158.6,-10.6,69,1455,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2110,3430
$GC,1766,-1.14,-146.6,190.4,-9.9,89,1770,0.00,2.53,0.00,0.000,4,0.000,0.061,2498,717,3430
$GC,1795,-1.14,-146.6,193.3,-10.0,91,1799,0.00,2.42,0.00,0.000,6,0.000,0.050,2498,2081,3430
$GC,2120,-1.14,-146.6,225.9,-10.1,112,2124,0.00,2.62,0.00,0.000,4,0.000,0.067,2498,3534,3430
$GC,2182,-1.14,-146.6,232.3,-9.9,116,2187,0.00,2.60,0.00,0.000,6,0.000,0.054,2498,2085,3430
$GC,2507,-1.14,-146.6,266.6,-11.5,137,2509,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2083,3430
$GC,2819,-1.14,-146.6,303.3,-12.3,157,2824,0.00,2.67,0.00,0.000,4,0.000,0.067,2498,3534,3430
$GC,2859,-1.14,-146.6,308.4,-12.4,159,2865,0.00,2.60,0.00,0.000,6,0.000,0.055,2498,2087,3430
$GC,3178,-1.14,-146.6,347.4,-12.1,180,3179,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2087,3430
$GC,3490,-1.14,-146.6,381.7,-10.4,200,3491,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2078,3430
$GC,3803,-1.14,-146.6,412.2,-9.4,220,3804,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2066,3430
$GC,4115,-1.14,-146.6,439.1,-8.8,240,4119,0.00,2.67,0.00,0.000,4,0.000,0.068,2498,3535,3430
$GC,4136,-1.14,-146.6,441.1,-9.2,241,4142,0.00,2.60,0.00,0.000,6,0.000,0.056,2498,2091,3430
$GC,4458,-1.14,-146.6,470.3,-8.8,262,4462,0.00,2.45,0.00,0.000,4,0.000,0.064,2498,716,3430
$GC,4496,-1.14,-146.6,474.1,-9.2,264,4503,0.00,2.47,0.00,0.000,6,0.000,0.051,2498,2112,3430
$GC,4816,-1.14,-146.6,505.8,-10.0,285,4817,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2112,3430
$GC,5128,-1.14,-146.6,535.5,-10.3,305,5132,0.00,2.60,0.00,0.000,4,0.000,0.070,2498,3540,3430
$GC,5200,-1.14,-146.6,543.9,-11.1,309,5206,0.00,2.60,0.00,0.000,6,0.000,0.057,2498,2098,3430
$GC,5519,-1.14,-146.6,576.4,-10.1,330,5524,0.00,2.67,0.00,0.000,4,0.000,0.071,2498,3539,3430
$GC,5582,-1.14,-146.6,582.8,-10.3,334,5586,0.00,2.55,0.00,0.000,6,0.000,0.058,2498,2124,3429
$GC,5906,-1.14,-146.6,615.2,-9.7,355,5911,0.00,2.62,0.00,0.000,4,0.000,0.071,2498,3535,3429
$GC,6007,-1.14,-146.6,624.7,-8.8,361,6011,0.00,2.53,0.00,0.000,6,0.000,0.059,2498,2141,3429
$GC,6326,-1.14,-146.6,654.5,-8.8,381,6330,0.00,2.60,0.00,0.000,4,0.000,0.073,2498,3535,3429
$GC,6422,-1.14,-146.6,663.7,-9.1,387,6427,0.00,2.50,0.00,0.000,6,0.000,0.061,2498,2155,3429
$STATE,6728,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6728,begin apogee
$GC,6736,-0.33,0.0,697.3,12.0,407,6873,0.80,0.00,133.12,1.288,6,0.077,0.000,2670,1840,2831
$STATE,6873,end apogee,CONTROL_FINISHED_OK
$STATE,6873,begin climb
$GC,6877,1.22,146.6,705.0,0.0,416,7021,1.55,2.72,134.73,1.244,4,0.058,0.068,3008,3257,2233
$GC,7279,1.13,146.6,679.3,9.4,440,7283,0.00,2.62,0.00,0.000,6,0.000,0.067,3009,1846,2233
$GC,7599,1.13,195.9,656.5,6.2,460,7649,0.00,2.70,44.33,1.233,4,0.000,0.069,3008,3248,2032
$GC,7791,1.09,195.9,641.0,8.2,471,7798,0.15,2.60,0.00,0.000,6,0.097,0.067,2980,1852,2031
$GC,8111,1.10,204.6,618.1,7.7,492,8127,0.00,2.65,9.23,1.091,4,0.000,0.070,2981,3255,1996
$GC,8201,1.13,224.1,611.0,7.3,497,8228,0.00,2.55,18.08,1.185,6,0.000,0.066,2980,1879,1916
$GC,8543,1.17,247.0,586.0,7.2,519,8569,0.00,2.62,21.40,1.191,4,0.000,0.067,2981,3258,1823
$GC,8668,1.30,295.3,577.2,6.2,525,8721,0.22,2.47,42.80,1.213,6,0.053,0.063,3034,1914,1627
$GC,9034,1.25,295.3,538.6,11.6,549,9038,0.00,2.50,0.00,0.000,4,0.000,0.066,3035,3261,1627
$GC,9067,1.25,295.3,534.7,11.0,551,9071,0.00,2.50,0.00,0.000,6,0.000,0.063,3035,1905,1628
$GC,9387,1.20,295.3,497.2,12.0,571,9392,0.15,2.70,0.00,0.000,4,0.091,0.073,3006,433,1628
$GC,9404,1.16,295.3,495.0,12.0,572,9408,0.00,2.67,0.00,0.000,6,0.000,0.054,3006,1919,1628
$GC,9723,1.16,295.3,464.7,9.2,592,9727,0.00,2.75,0.00,0.000,4,0.000,0.071,3006,442,1628
$GC,9778,1.16,295.3,459.0,10.3,595,9785,0.00,2.60,0.00,0.000,6,0.000,0.051,3005,1894,1628
$GC,10098,1.16,295.3,427.9,10.4,616,10102,0.00,2.70,0.00,0.000,4,0.000,0.071,3006,442,1628
$GC,10131,1.16,295.3,424.1,11.1,618,10135,0.00,2.58,0.00,0.000,6,0.000,0.051,3006,1882,1628
$GC,10450,1.16,295.3,391.6,10.3,638,10454,0.00,2.67,0.00,0.000,4,0.000,0.068,3005,433,1629
$GC,10466,1.16,295.3,389.6,10.7,639,10471,0.00,2.58,0.00,0.000,6,0.000,0.051,3006,1878,1629
$GC,10785,1.16,295.3,353.0,12.0,659,10786,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1893,1629
$GC,11099,1.16,295.3,315.4,12.4,679,11103,0.00,2.65,0.00,0.000,4,0.000,0.067,3005,436,1629
$GC,11115,1.16,295.3,313.2,12.1,680,11120,0.00,2.55,0.00,0.000,6,0.000,0.049,3006,1874,1629
$GC,11434,1.16,295.3,277.5,10.3,700,11439,0.00,2.65,0.00,0.000,4,0.000,0.067,3005,431,1629
$GC,11456,1.16,295.3,274.8,12.0,701,11462,0.00,2.55,0.00,0.000,6,0.000,0.050,3006,1867,1630
$GC,11776,1.16,295.3,242.1,10.7,722,11780,0.00,2.62,0.00,0.000,4,0.000,0.067,3005,437,1630
$GC,11797,1.16,295.3,239.4,11.1,723,11803,0.00,2.53,0.00,0.000,6,0.000,0.049,3005,1861,1630
$GC,12116,1.16,295.3,206.1,10.6,744,12121,0.00,2.60,0.00,0.000,4,0.000,0.065,3005,440,1630
$GC,12134,1.16,295.3,204.2,10.6,745,12138,0.00,2.50,0.00,0.000,6,0.000,0.048,3005,1852,1630
$GC,12452,1.16,295.3,172.5,9.7,765,12454,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1868,1631
$GC,12775,1.16,295.3,138.6,10.2,784,12779,0.00,2.60,0.00,0.000,4,0.000,0.065,3005,430,1631
$GC,12802,1.16,295.3,135.6,10.1,785,12807,0.00,2.50,0.00,0.000,6,0.000,0.049,3006,1844,1631
$GC,13120,1.16,295.3,106.0,9.5,800,13125,0.00,2.58,0.00,0.000,4,0.000,0.066,3006,437,1631
$GC,13138,1.16,295.3,104.1,9.5,801,13142,0.00,2.45,0.00,0.000,6,0.000,0.049,3005,1826,1631
$GC,13472,1.19,295.3,71.6,9.6,817,13476,0.00,2.55,0.00,0.000,4,0.000,0.058,3006,3264,1631
$GC,13500,1.25,295.3,68.7,10.4,818,13504,0.00,2.58,0.00,0.000,6,0.000,0.051,3006,1822,1631
$GC,13818,1.30,295.3,39.5,8.4,833,13822,0.00,2.60,0.00,0.000,4,0.000,0.058,3006,3262,1631
$GC,13897,1.39,296.8,32.3,7.9,836,13908,0.17,2.47,4.40,0.589,6,0.050,0.050,3053,1863,1619
$STATE,14150,end climb,SURFACE_DEPTH_REACHED
$STATE,14150,begin surface coast
$FINISH,0.7,1.027215
$STATE,14174,end surface coast,CONTROL_FINISHED_OK
$STATE,14175,begin surface
$SM_CCo,14198,1.98,0.123,0,0,1608,300.00
$SM_GC,2.08,0.00,0.00,1.98,0.000,0.000,0.123,418,2424,1608,-10.70,0.76,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1818
$TCM_TEMP,17.20
$XPDR_PINGS,65
$ALTIM_BOTTOM_PING,620.5,84.9
$24V_AH,23.8,32.904
$10V_AH,10.1,14.961
$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,25.950,150.675,408.075,1.975,0.000,37.761,26.944,166.231,21.750,0.000,0.000,15.000,1512.184,10138.408,524.619,1848.740,528.206,33.356,1471.301,0.000,1804.220,0.000,38.283,0.000
$DEVICE_MAMPS,161.837,77.467,1287.793,123.487,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,581.527,619.437,479.637,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44403,850
$CAP_FILE_SIZE,120027,0
$CFSIZE,254472192,241344512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,290909,192637,6357.714,-1308.567,30,1.1,30,-12.5