version: 66.04
glider: 5
mission: 7
dive: 350
start: 10 22 109 16 49 15
data:
$ID,5
$MISSION,7
$DIVE,350
$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,-107001.72
$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,18
$R_STBD_OVSHOOT,37
$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
$GPS1,164236,6250.314,-1213.510,35,1.4,35,-11.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-65.4
$GPS2,164826,6250.301,-1213.559,13,1.4,13,-11.5
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,EE
$TGT_LATLONG,6245.000,-1145.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.239,-0.056
$KALMAN_X,-82098.2,1874.2,588.2,117230.8,-15868.0
$KALMAN_Y,44012.7,772.7,-533.1,-114592.3,-617.2
$MHEAD_RNG_PITCHd_Wd,114.6,26132,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-1.22,-146.6,0.0,0.0,0,61,0.00,0.00,-41.33,0.000,2,0.000,0.000,418,2116,2421
$GC,65,-1.22,-146.6,2.1,-4.7,2,133,11.05,2.55,-50.90,0.000,4,0.149,0.070,2472,703,3429
$GC,198,-1.14,-146.6,11.0,-13.3,8,203,0.12,2.53,0.00,0.000,6,0.103,0.047,2497,2125,3430
$GC,520,-1.09,-146.6,49.1,-11.5,24,524,0.00,2.58,0.00,0.000,4,0.000,0.061,2497,706,3430
$GC,554,-1.05,-146.6,53.0,-11.3,25,560,0.00,2.50,0.00,0.000,6,0.000,0.048,2497,2125,3430
$GC,872,-1.00,-146.6,87.4,-10.9,41,874,0.15,0.00,0.00,0.000,6,0.089,0.000,2530,2124,3430
$GC,1179,-1.00,-146.6,114.9,-8.4,56,1184,0.00,2.58,0.00,0.000,4,0.000,0.061,2530,705,3430
$GC,1214,-1.04,-146.6,118.0,-9.0,57,1220,0.00,2.50,0.00,0.000,6,0.000,0.048,2530,2118,3430
$GC,1531,-1.04,-146.6,145.5,-9.3,73,1535,0.00,2.58,0.00,0.000,4,0.000,0.065,2529,3538,3430
$GC,1571,-1.04,-146.6,149.5,-9.6,75,1576,0.00,2.55,0.00,0.000,6,0.000,0.051,2530,2110,3430
$GC,1902,-1.04,-146.6,180.9,-9.5,96,1906,0.00,2.47,0.00,0.000,4,0.000,0.061,2529,721,3430
$GC,1952,-1.10,-146.6,186.0,-9.9,99,1957,0.12,2.47,0.00,0.000,6,0.059,0.048,2495,2120,3430
$GC,2277,-1.05,-146.6,221.6,-11.3,119,2282,0.10,2.55,0.00,0.000,4,0.096,0.061,2516,711,3430
$GC,2310,-1.05,-146.6,225.9,-10.5,121,2314,0.00,2.47,0.00,0.000,6,0.000,0.048,2516,2113,3430
$GC,2629,-1.05,-146.6,258.8,-10.2,141,2634,0.00,2.53,0.00,0.000,4,0.000,0.062,2516,718,3430
$GC,2663,-1.05,-146.6,262.5,-10.7,143,2668,0.00,2.45,0.00,0.000,6,0.000,0.049,2516,2100,3431
$GC,2985,-1.05,-146.6,295.1,-10.2,163,2989,0.00,2.53,0.00,0.000,4,0.000,0.064,2516,715,3430
$GC,3013,-1.05,-146.6,298.4,-10.8,165,3017,0.00,2.42,0.00,0.000,6,0.000,0.051,2516,2080,3430
$GC,3344,-1.05,-146.6,332.0,-10.2,186,3348,0.00,2.47,0.00,0.000,4,0.000,0.064,2516,721,3430
$GC,3382,-1.05,-146.6,336.1,-10.4,188,3388,0.00,2.40,0.00,0.000,6,0.000,0.051,2516,2072,3430
$GC,3702,-1.05,-146.6,366.6,-9.4,209,3703,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2072,3430
$GC,4014,-1.05,-146.6,396.9,-9.4,229,4018,0.00,2.45,0.00,0.000,4,0.000,0.063,2516,721,3430
$GC,4053,-1.08,-146.6,400.6,-9.7,231,4059,0.00,2.40,0.00,0.000,6,0.000,0.051,2516,2072,3430
$GC,4372,-1.08,-146.6,429.6,-8.8,252,4374,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2073,3430
$GC,4684,-1.08,-146.6,456.6,-8.6,272,4688,0.00,2.67,0.00,0.000,4,0.000,0.070,2516,3542,3430
$GC,4712,-1.08,-146.6,459.1,-9.1,274,4717,0.00,2.72,0.00,0.000,6,0.000,0.059,2516,2039,3430
$GC,5037,-1.08,-146.6,486.8,-8.4,295,5041,0.00,2.35,0.00,0.000,4,0.000,0.065,2516,721,3429
$GC,5093,-1.12,-146.6,491.8,-8.8,298,5099,0.00,2.35,0.00,0.000,6,0.000,0.051,2516,2046,3430
$GC,5412,-1.12,-146.6,523.3,-10.4,319,5413,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2046,3429
$GC,5724,-1.12,-146.6,554.8,-9.9,339,5728,0.00,2.72,0.00,0.000,4,0.000,0.071,2516,3541,3429
$GC,5803,-1.16,-146.6,562.8,-10.2,344,5808,0.10,2.75,0.00,0.000,6,0.061,0.060,2485,2023,3429
$GC,6135,-1.12,-146.6,596.3,-10.4,365,6139,0.00,2.35,0.00,0.000,4,0.000,0.070,2484,717,3429
$GC,6185,-1.12,-146.6,602.5,-10.8,368,6190,0.00,2.35,0.00,0.000,6,0.000,0.054,2484,2033,3429
$GC,6506,-1.08,-146.6,637.7,-11.7,388,6510,0.12,2.45,0.00,0.000,4,0.098,0.074,2511,718,3429
$GC,6552,-1.15,-146.6,641.8,-8.0,391,6556,0.00,2.33,0.00,0.000,6,0.000,0.058,2510,2005,3428
$STATE,6692,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6692,begin apogee
$GC,6700,-0.33,0.0,655.0,9.4,400,6837,0.75,0.00,133.62,1.261,6,0.076,0.000,2671,1834,2831
$STATE,6838,end apogee,CONTROL_FINISHED_OK
$STATE,6838,begin climb
$GC,6841,1.22,146.6,659.8,0.0,409,6988,1.52,2.67,135.80,1.214,4,0.060,0.077,3005,456,2233
$GC,7124,1.12,146.6,645.6,8.4,426,7128,0.00,2.55,0.00,0.000,6,0.000,0.058,3006,1854,2233
$GC,7444,1.07,152.7,622.7,7.8,446,7458,0.15,0.00,7.07,0.985,6,0.091,0.000,2977,1869,2208
$GC,7771,1.12,185.5,600.2,6.8,467,7807,0.00,2.72,30.55,1.195,4,0.000,0.079,2977,450,2074
$GC,7841,1.12,185.5,594.6,8.7,471,7847,0.00,2.55,0.00,0.000,6,0.000,0.059,2977,1841,2074
$GC,8160,1.17,218.4,572.0,6.8,492,8193,0.10,0.00,30.25,1.196,6,0.067,0.000,3003,1854,1940
$GC,8503,1.17,218.4,543.8,8.3,514,8507,0.00,2.62,0.00,0.000,4,0.000,0.078,3003,451,1939
$GC,8514,1.17,218.4,542.6,8.4,515,8519,0.00,2.53,0.00,0.000,6,0.000,0.059,3003,1837,1939
$GC,8841,1.18,222.3,515.6,7.9,536,8850,0.00,2.62,4.80,0.859,4,0.000,0.069,3003,3258,1924
$GC,8919,1.23,252.0,509.5,6.9,540,8952,0.00,2.58,27.58,1.169,6,0.000,0.065,3003,1862,1804
$GC,9268,1.26,273.7,485.5,7.2,562,9294,0.00,2.65,20.75,1.131,4,0.000,0.066,3003,3255,1714
$GC,9363,1.30,273.7,477.3,8.5,567,9368,0.12,2.58,0.00,0.000,6,0.060,0.062,3035,1860,1714
$GC,9691,1.24,273.7,442.8,10.7,588,9695,0.00,2.60,0.00,0.000,4,0.000,0.064,3035,3264,1714
$GC,9713,1.19,273.7,440.0,11.1,589,9719,0.17,2.53,0.00,0.000,6,0.091,0.061,3002,1885,1714
$GC,10032,1.19,273.7,412.2,8.3,610,10036,0.00,2.53,0.00,0.000,4,0.000,0.063,3002,3257,1714
$GC,10077,1.24,273.7,408.1,8.2,612,10083,0.00,2.45,0.00,0.000,6,0.000,0.058,3002,1906,1714
$GC,10396,1.24,273.7,380.6,8.8,633,10401,0.00,2.50,0.00,0.000,4,0.000,0.063,3002,3265,1715
$GC,10421,1.28,273.7,378.5,8.8,634,10427,0.10,2.45,0.00,0.000,6,0.061,0.057,3029,1914,1715
$GC,10741,1.25,273.7,345.5,10.4,655,10745,0.00,2.47,0.00,0.000,4,0.000,0.062,3029,3262,1715
$GC,10762,1.25,273.7,342.9,11.2,656,10768,0.00,2.42,0.00,0.000,6,0.000,0.054,3029,1918,1715
$GC,11082,1.21,273.7,312.1,9.8,677,11086,0.00,2.45,0.00,0.000,4,0.000,0.061,3029,3258,1715
$GC,11099,1.21,273.7,310.5,9.5,678,11103,0.00,2.38,0.00,0.000,6,0.000,0.054,3029,1938,1715
$GC,11418,1.18,273.7,279.1,10.1,698,11423,0.15,2.42,0.00,0.000,4,0.088,0.061,3000,3264,1716
$GC,11434,1.18,273.7,277.4,9.6,699,11438,0.00,2.40,0.00,0.000,6,0.000,0.053,3000,1930,1716
$GC,11760,1.22,273.7,250.8,8.5,720,11764,0.00,2.42,0.00,0.000,4,0.000,0.061,3000,3260,1716
$GC,11783,1.28,277.8,248.8,7.9,721,11793,0.12,2.35,5.45,0.758,6,0.056,0.053,3033,1950,1698
$GC,12118,1.24,277.8,214.8,10.7,743,12119,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,1950,1698
$GC,12425,1.21,277.8,179.8,11.3,763,12430,0.12,2.38,0.00,0.000,4,0.091,0.059,3008,3262,1698
$GC,12455,1.24,277.8,176.7,10.7,765,12459,0.00,2.35,0.00,0.000,6,0.000,0.051,3008,1946,1698
$GC,12774,1.24,277.8,144.4,10.6,785,12775,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,1945,1698
$GC,13083,1.27,277.8,111.9,10.8,800,13085,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,1945,1699
$GC,13393,1.31,277.8,81.8,9.4,815,13395,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,1945,1699
$GC,13702,1.34,277.8,54.0,8.7,830,13707,0.12,2.38,0.00,0.000,4,0.054,0.058,3044,3258,1700
$GC,13720,1.34,277.8,52.4,8.7,831,13724,0.00,2.30,0.00,0.000,6,0.000,0.049,3043,1963,1699
$GC,14049,1.30,277.8,17.8,10.5,847,14050,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,1963,1700
$STATE,14188,end climb,SURFACE_DEPTH_REACHED
$STATE,14188,begin surface coast
$FINISH,0.5,1.027220
$STATE,14212,end surface coast,CONTROL_FINISHED_OK
$STATE,14212,begin surface
$SM_CCo,14235,12.10,0.737,0,0,1608,300.00
$SM_GC,1.53,0.00,0.00,12.10,0.000,0.000,0.737,421,2143,1608,-10.69,0.34,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1830
$TCM_TEMP,17.30
$XPDR_PINGS,55
$ALTIM_BOTTOM_PING,596.3,68.7
$24V_AH,23.7,57.092
$10V_AH,10.1,25.757
$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,26.575,145.500,395.875,12.100,0.000,37.760,33.356,152.016,19.000,0.000,0.000,13.629,1515.003,10289.612,527.684,1721.582,543.123,33.351,1416.911,0.000,1681.839,0.000,39.673,0.000
$DEVICE_MAMPS,148.798,79.001,1260.948,737.087,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,585.211,624.388,497.222,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44321,855
$CAP_FILE_SIZE,122586,0
$CFSIZE,254472192,232984576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,221009,204816,6248.957,-1212.978,53,1.9,53,-11.5