version: 66.04
glider: 5
mission: 7
dive: 333
start: 10 20 109 0 37 3
data:
$ID,5
$MISSION,7
$DIVE,333
$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,0
$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,-106700.14
$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,21
$R_STBD_OVSHOOT,52
$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
$GPS1,002107,6250.989,-1233.015,30,1.2,30,-11.7
$_CALLS,3
$_XMS_NAKs,24
$_XMS_TOUTs,1
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-52.7
$GPS2,003614,6250.961,-1233.342,10,1.8,10,-11.7
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,EE
$TGT_LATLONG,6245.000,-1145.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.244,-0.027
$KALMAN_X,-31884.8,1361.5,1044.3,50698.3,-12743.1
$KALMAN_Y,45517.3,-328.8,-292.2,-114021.0,2529.0
$MHEAD_RNG_PITCHd_Wd,108.1,42454,-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,-60.92,0.000,2,0.000,0.000,420,2140,2829
$GC,83,-1.22,-146.6,3.3,-4.7,3,118,11.30,2.65,-17.25,0.000,4,0.157,0.072,2470,709,3430
$GC,374,-1.14,-146.6,49.2,-19.7,16,379,0.12,2.47,0.00,0.000,6,0.114,0.047,2494,2108,3430
$GC,702,-1.06,-146.6,92.4,-12.7,32,706,0.00,2.53,0.00,0.000,4,0.000,0.060,2495,716,3430
$GC,747,-1.03,-146.6,98.4,-13.4,34,752,0.12,2.50,0.00,0.000,6,0.098,0.048,2521,2125,3430
$GC,1069,-1.03,-146.6,132.5,-10.3,50,1073,0.00,2.58,0.00,0.000,4,0.000,0.061,2521,705,3430
$GC,1109,-1.03,-146.6,136.6,-10.3,52,1113,0.00,2.53,0.00,0.000,6,0.000,0.049,2521,2128,3430
$GC,1439,-1.03,-146.6,171.2,-10.4,71,1443,0.00,2.58,0.00,0.000,4,0.000,0.061,2521,708,3430
$GC,1495,-1.07,-146.6,177.2,-10.6,74,1502,0.00,2.50,0.00,0.000,6,0.000,0.050,2521,2116,3430
$GC,1814,-1.07,-146.6,208.5,-10.0,95,1819,0.00,2.55,0.00,0.000,4,0.000,0.060,2521,705,3430
$GC,1861,-1.11,-146.6,213.1,-10.1,98,1865,0.00,2.47,0.00,0.000,6,0.000,0.050,2521,2099,3430
$GC,2185,-1.11,-146.6,244.7,-9.6,119,2187,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2099,3430
$GC,2497,-1.11,-146.6,274.5,-9.6,139,2501,0.00,2.53,0.00,0.000,4,0.000,0.062,2521,708,3430
$GC,2565,-1.14,-146.6,281.3,-9.6,143,2570,0.12,2.45,0.00,0.000,6,0.057,0.051,2486,2087,3430
$GC,2886,-1.07,-146.6,319.6,-12.2,163,2888,0.12,0.00,0.00,0.000,6,0.093,0.000,2512,2088,3430
$GC,3197,-1.07,-146.6,352.6,-10.4,183,3200,0.00,2.50,0.00,0.000,4,0.000,0.062,2512,706,3430
$GC,3252,-1.07,-146.6,358.6,-10.3,186,3257,0.00,2.42,0.00,0.000,6,0.000,0.051,2512,2069,3430
$GC,3572,-1.07,-146.6,390.6,-10.0,206,3573,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2069,3430
$GC,3887,-1.07,-146.6,420.8,-9.4,226,3891,0.00,2.47,0.00,0.000,4,0.000,0.063,2512,706,3430
$GC,3921,-1.07,-146.6,424.6,-9.8,228,3925,0.00,2.40,0.00,0.000,6,0.000,0.051,2512,2054,3430
$GC,4240,-1.07,-146.6,456.1,-10.1,248,4241,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2054,3429
$GC,4552,-1.07,-146.6,490.3,-11.5,268,4556,0.00,2.45,0.00,0.000,4,0.000,0.065,2512,716,3429
$GC,4614,-1.07,-146.6,497.5,-12.1,272,4618,0.00,2.38,0.00,0.000,6,0.000,0.052,2512,2047,3429
$GC,4939,-1.07,-146.6,532.1,-9.9,293,4940,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2047,3429
$GC,5251,-1.07,-146.6,559.9,-7.8,313,5255,0.00,2.42,0.00,0.000,4,0.000,0.064,2513,717,3428
$GC,5280,-1.07,-146.6,562.2,-7.8,315,5284,0.00,2.33,0.00,0.000,6,0.000,0.052,2513,2022,3429
$GC,5605,-1.07,-146.6,589.7,-8.5,336,5610,0.00,2.75,0.00,0.000,4,0.000,0.070,2512,3534,3429
$GC,5789,-1.07,-146.6,607.2,-10.2,347,5793,0.00,2.67,0.00,0.000,6,0.000,0.060,2512,2055,3428
$GC,6109,-1.07,-146.6,638.7,-9.9,367,6113,0.00,2.42,0.00,0.000,4,0.000,0.070,2512,716,3428
$GC,6210,-1.11,-146.6,649.2,-10.2,373,6214,0.00,2.40,0.00,0.000,6,0.000,0.055,2512,2056,3428
$GC,6530,-1.11,-146.6,679.4,-8.7,393,6531,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2057,3427
$STATE,6635,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6635,begin apogee
$GC,6643,-0.33,0.0,690.0,9.1,400,6779,0.75,0.00,132.00,1.287,6,0.078,0.000,2673,1837,2832
$STATE,6779,end apogee,CONTROL_FINISHED_OK
$STATE,6779,begin climb
$GC,6783,1.22,146.6,693.9,0.0,409,6928,1.52,2.65,134.85,1.242,4,0.062,0.077,3005,444,2233
$GC,7021,1.11,146.6,684.0,9.7,424,7026,0.00,2.58,0.00,0.000,6,0.000,0.058,3005,1853,2233
$GC,7341,1.04,146.6,656.6,9.0,444,7346,0.17,2.60,0.00,0.000,4,0.094,0.072,2970,3262,2232
$GC,7391,1.04,146.6,652.2,8.2,447,7396,0.00,2.62,0.00,0.000,6,0.000,0.070,2970,1859,2231
$GC,7711,1.11,189.8,629.9,6.4,467,7754,0.00,0.00,38.53,1.236,6,0.000,0.000,2970,1859,2057
$GC,8068,1.30,276.2,609.5,4.9,490,8147,0.28,0.00,75.70,1.243,6,0.054,0.000,3033,1858,1705
$GC,8459,1.24,276.2,574.5,10.1,515,8463,0.00,2.62,0.00,0.000,4,0.000,0.072,3033,3255,1705
$GC,8542,1.24,276.2,565.8,10.3,520,8546,0.00,2.55,0.00,0.000,6,0.000,0.066,3033,1882,1705
$GC,8862,1.19,276.2,533.9,10.2,540,8863,0.15,0.00,0.00,0.000,6,0.095,0.000,3004,1881,1705
$GC,9174,1.19,276.2,506.5,8.6,560,9178,0.00,2.55,0.00,0.000,4,0.000,0.067,3004,3255,1705
$GC,9238,1.24,276.2,501.0,9.1,564,9242,0.00,2.50,0.00,0.000,6,0.000,0.062,3004,1885,1705
$GC,9563,1.24,276.2,472.2,9.2,585,9567,0.00,2.53,0.00,0.000,4,0.000,0.064,3004,3257,1704
$GC,9591,1.29,276.2,469.6,9.4,587,9596,0.00,2.47,0.00,0.000,6,0.000,0.060,3004,1895,1704
$GC,9916,1.29,276.2,438.7,9.8,608,9920,0.00,2.50,0.00,0.000,4,0.000,0.064,3004,3261,1705
$GC,9956,1.34,276.2,434.8,9.9,610,9963,0.15,2.45,0.00,0.000,6,0.058,0.058,3043,1911,1705
$GC,10275,1.27,276.2,399.1,11.0,631,10280,0.12,2.47,0.00,0.000,4,0.092,0.063,3018,3255,1706
$GC,10321,1.27,276.2,394.4,9.3,634,10325,0.00,2.40,0.00,0.000,6,0.000,0.057,3019,1927,1705
$GC,10646,1.27,276.2,363.3,9.5,655,10649,0.00,2.45,0.00,0.000,4,0.000,0.064,3019,3261,1706
$GC,10667,1.27,276.2,360.9,10.3,656,10671,0.00,2.40,0.00,0.000,6,0.000,0.055,3019,1931,1706
$GC,10987,1.27,276.2,331.2,9.7,676,10991,0.00,2.45,0.00,0.000,4,0.000,0.063,3019,3265,1706
$GC,11016,1.27,276.2,328.2,10.5,678,11020,0.00,2.35,0.00,0.000,6,0.000,0.055,3019,1950,1707
$GC,11340,1.27,276.2,296.0,10.1,699,11341,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,1950,1706
$GC,11653,1.27,276.2,265.4,9.9,719,11657,0.00,2.40,0.00,0.000,4,0.000,0.063,3019,3259,1707
$GC,11691,1.27,276.2,261.3,10.2,721,11697,0.00,2.35,0.00,0.000,6,0.000,0.054,3019,1951,1707
$GC,12011,1.27,276.2,230.8,9.2,742,12013,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,1950,1708
$GC,12323,1.27,276.2,203.6,8.4,762,12327,0.00,2.40,0.00,0.000,4,0.000,0.061,3019,3265,1708
$GC,12361,1.27,276.2,200.2,8.8,764,12365,0.00,2.33,0.00,0.000,6,0.000,0.052,3019,1966,1708
$GC,12686,1.27,276.2,173.3,8.7,785,12687,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,1966,1708
$GC,12999,1.27,276.2,144.0,9.4,804,13003,0.00,2.38,0.00,0.000,4,0.000,0.061,3019,3264,1708
$GC,13021,1.27,276.2,141.8,8.9,805,13025,0.00,2.30,0.00,0.000,6,0.000,0.050,3019,1974,1708
$GC,13343,1.27,276.2,112.0,9.4,821,13347,0.00,2.35,0.00,0.000,4,0.000,0.061,3019,3262,1709
$GC,13388,1.31,276.2,108.1,8.8,823,13392,0.00,2.28,0.00,0.000,6,0.000,0.049,3019,1984,1709
$GC,13710,1.31,276.2,80.6,9.7,839,13714,0.00,2.33,0.00,0.000,4,0.000,0.060,3019,3262,1709
$GC,13729,1.32,282.8,79.3,7.8,840,13743,0.00,2.28,8.05,0.748,6,0.000,0.047,3019,1975,1677
$GC,14062,1.46,372.1,56.1,4.8,856,14142,0.20,0.00,72.07,0.841,6,0.051,0.000,3071,1960,1314
$GC,14453,1.40,372.1,9.6,12.4,875,14455,0.12,0.00,0.00,0.000,6,0.096,0.000,3047,1949,1316
$STATE,14530,end climb,SURFACE_DEPTH_REACHED
$STATE,14531,begin surface coast
$FINISH,0.7,1.027250
$STATE,14554,end surface coast,CONTROL_FINISHED_OK
$STATE,14554,begin surface
$SM_CCo,14639,0.00,0.000,0,0,1315,371.87
$SM_GC,1.28,11.48,0.00,0.00,0.038,0.000,0.000,420,2151,1315,-10.60,0.57,371.87
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1837
$TCM_TEMP,17.30
$XPDR_PINGS,42
$ALTIM_BOTTOM_PING,621.4,77.9
$24V_AH,23.7,54.478
$10V_AH,10.1,24.537
$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,26.750,129.175,461.200,0.000,0.000,113.283,197.403,335.864,16.000,0.000,0.000,10.710,1553.521,10650.275,570.557,1802.441,962.923,33.355,1473.719,0.000,1766.018,0.000,39.190,0.000
$DEVICE_MAMPS,157.235,76.700,1287.026,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,602.854,643.525,493.349,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44267,880
$CAP_FILE_SIZE,124479,0
$CFSIZE,254472192,233918464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,201009,044206,6249.570,-1233.847,27,1.5,27,-11.7