version: 66.04
glider: 5
mission: 5
dive: 339
start: 1 19 109 0 48 9
data:
$ID,5
$MISSION,5
$DIVE,339
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,50
$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,550
$T_MISSION,580
$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,1001
$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,2
$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,52
$TGT_DEFAULT_LON,-7
$TGT_AUTO_DEFAULT,0
$SM_CC,250
$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,-93995.195
$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,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,159
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,2000
$C_ROLL_CLIMB,2125
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,360
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,390
$VBD_MAX,3851
$C_VBD,2832
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0016
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$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,-23.610077
$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,125
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,6
$XPDR_INHIBIT,90
$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,0.0043761111
$SEABIRD_T_H,0.00064345129
$SEABIRD_T_I,2.5632376e-05
$SEABIRD_T_J,2.7382036e-06
$SEABIRD_C_G,-10.188265
$SEABIRD_C_H,1.1432956
$SEABIRD_C_I,-0.00020702372
$SEABIRD_C_J,0.00012956691
$GPS1,003930,6057.179,-518.884,43,1.8,43,-7.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-55.7
$GPS2,004750,6057.245,-518.790,13,1.8,13,-7.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,SSEC_NW
$TGT_LATLONG,6058.000,-547.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.132,-0.177
$KALMAN_X,220775.9,-921.1,-1644.0,-80717.6,25183.1
$KALMAN_Y,135954.9,-405.3,-1430.2,-453990.2,21805.5
$MHEAD_RNG_PITCHd_Wd,280.3,25394,-11.0,-6.000
$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,-0.97,-146.6,0.0,0.0,0,118,0.00,0.00,-97.03,0.000,6,0.000,0.000,420,1961,3428
$GC,122,-0.97,-146.6,5.8,-5.4,5,138,11.07,2.47,0.00,0.000,4,0.138,0.061,2524,608,3430
$GC,281,-0.88,-146.6,35.9,-12.3,11,286,0.12,2.50,0.00,0.000,6,0.095,0.053,2551,2005,3430
$GC,606,-0.83,-146.6,61.1,-6.8,27,607,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2011,3431
$GC,912,-0.83,-146.6,82.1,-6.2,42,913,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2011,3431
$GC,1222,-0.78,-146.6,101.7,-7.3,57,1224,0.12,0.00,0.00,0.000,6,0.091,0.000,2577,2011,3431
$GC,1532,-0.82,-146.6,119.1,-6.7,72,1533,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2011,3431
$GC,1842,-0.82,-146.6,138.4,-5.5,87,1843,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2011,3431
$GC,2149,-0.82,-146.6,155.4,-5.3,102,2150,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2025,3431
$GC,2459,-0.82,-146.6,173.9,-6.2,117,2460,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2025,3431
$GC,2768,-0.86,-146.6,193.3,-6.6,132,2772,0.00,2.58,0.00,0.000,4,0.000,0.067,2577,607,3431
$GC,2801,-0.91,-146.6,195.6,-7.2,133,2808,0.15,2.47,0.00,0.000,6,0.055,0.054,2537,1996,3431
$GC,3118,-0.84,-146.6,219.6,-7.6,149,3123,0.12,2.53,0.00,0.000,4,0.092,0.064,2563,3403,3431
$GC,3173,-0.84,-146.6,223.8,-7.3,151,3180,0.00,2.47,0.00,0.000,6,0.000,0.051,2563,2019,3431
$GC,3489,-0.84,-146.6,246.1,-7.0,167,3493,0.00,2.58,0.00,0.000,4,0.000,0.067,2563,585,3431
$GC,3522,-0.84,-146.6,248.7,-7.6,168,3528,0.00,2.53,0.00,0.000,6,0.000,0.054,2563,2003,3431
$GC,3838,-0.84,-146.6,272.5,-7.9,184,3839,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2005,3431
$GC,4147,-0.84,-146.6,294.2,-7.0,199,4149,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2006,3431
$GC,4458,-0.84,-146.6,314.0,-5.9,214,4459,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2006,3431
$GC,4766,-0.84,-146.6,334.2,-6.3,229,4767,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2006,3431
$GC,5076,-0.84,-146.6,351.9,-4.9,244,5077,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2006,3431
$GC,5385,-0.84,-146.6,368.3,-5.8,259,5386,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2006,3431
$GC,5694,-0.84,-146.6,389.9,-7.6,274,5695,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2005,3431
$GC,6004,-0.84,-146.6,413.9,-7.3,289,6005,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2005,3431
$GC,6312,-0.84,-146.6,435.0,-6.5,304,6313,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2005,3431
$GC,6621,-0.84,-146.6,455.8,-6.7,319,6626,0.00,2.62,0.00,0.000,4,0.000,0.075,2564,586,3430
$GC,6648,-0.84,-146.6,457.8,-7.4,320,6653,0.00,2.55,0.00,0.000,6,0.000,0.058,2563,2006,3430
$GC,6965,-0.84,-146.6,477.7,-5.7,335,6969,0.00,2.55,0.00,0.000,4,0.000,0.074,2563,3404,3430
$GC,7016,-0.91,-146.6,481.1,-6.6,337,7021,0.00,2.58,0.00,0.000,6,0.000,0.063,2563,1995,3430
$GC,7338,-0.95,-146.6,498.6,-5.1,353,7343,0.12,2.62,0.00,0.000,4,0.065,0.076,2530,3404,3429
$GC,7379,-0.90,-146.6,501.5,-7.9,355,7383,0.00,2.58,0.00,0.000,6,0.000,0.067,2530,1997,3429
$GC,7706,-0.90,-146.6,525.1,-7.3,371,7710,0.00,2.62,0.00,0.000,4,0.000,0.080,2530,3404,3428
$GC,7785,-1.25,-146.6,528.1,0.2,374,7792,0.25,2.58,0.00,0.000,6,0.065,0.074,2470,2018,3428
$STATE,8077,end dive,NO_VERTICAL_VELOCITY
$STATE,8077,begin apogee
$GC,8084,-0.33,0.0,528.1,0.0,389,8215,0.93,0.00,126.93,1.237,6,0.067,0.000,2672,2135,2832
$STATE,8215,end apogee,CONTROL_FINISHED_OK
$STATE,8216,begin climb
$GC,8219,0.97,146.6,527.9,0.0,395,8356,1.30,2.80,127.05,1.194,4,0.065,0.081,2954,718,2234
$GC,8388,0.75,146.6,522.1,6.6,403,8393,0.22,2.60,0.00,0.000,6,0.087,0.065,2910,2116,2234
$GC,8716,0.79,172.0,505.3,5.3,419,8740,0.00,0.00,22.85,1.147,6,0.000,0.000,2910,2119,2130
$GC,9044,0.82,191.1,487.5,5.5,435,9069,0.00,2.80,17.95,1.145,4,0.000,0.082,2910,708,2052
$GC,9121,0.82,191.1,483.0,6.1,438,9126,0.00,2.65,0.00,0.000,6,0.000,0.068,2910,2129,2052
$GC,9438,0.86,216.0,466.6,5.3,453,9468,0.10,2.83,22.25,1.170,4,0.067,0.084,2937,713,1951
$GC,9497,0.78,216.0,462.5,7.1,455,9504,0.12,2.62,0.00,0.000,6,0.098,0.068,2913,2119,1951
$GC,9814,0.81,232.4,443.8,5.6,471,9832,0.00,0.00,15.32,1.141,6,0.000,0.000,2913,2134,1884
$GC,10143,0.81,236.8,425.0,5.9,487,10154,0.00,2.70,5.75,0.948,4,0.000,0.079,2913,718,1865
$GC,10267,0.81,236.8,417.0,6.4,492,10274,0.00,2.55,0.00,0.000,6,0.000,0.064,2913,2101,1865
$GC,10584,0.86,236.8,397.5,6.7,508,10588,0.00,2.62,0.00,0.000,4,0.000,0.078,2912,719,1865
$GC,10628,0.86,236.8,394.4,7.1,510,10632,0.00,2.50,0.00,0.000,6,0.000,0.062,2913,2084,1865
$GC,10950,0.86,236.8,374.3,6.2,526,10954,0.00,2.60,0.00,0.000,4,0.000,0.077,2912,708,1865
$GC,10999,0.86,236.8,370.6,7.0,528,11003,0.00,2.47,0.00,0.000,6,0.000,0.061,2913,2061,1864
$GC,11315,0.90,236.8,351.0,6.2,543,11320,0.12,2.55,0.00,0.000,4,0.061,0.075,2947,711,1865
$GC,11344,0.84,236.8,348.9,7.8,544,11348,0.00,2.45,0.00,0.000,6,0.000,0.060,2947,2057,1864
$GC,11660,0.79,236.8,326.3,7.0,559,11662,0.15,0.00,0.00,0.000,6,0.092,0.000,2916,2070,1865
$GC,11969,0.83,257.3,308.5,5.4,574,11994,0.00,2.60,18.45,1.045,4,0.000,0.073,2916,718,1783
$GC,12029,0.83,257.3,304.8,6.6,576,12035,0.00,2.42,0.00,0.000,6,0.000,0.057,2916,2049,1783
$GC,12346,0.93,286.4,287.8,5.2,592,12378,0.12,2.60,25.62,1.041,4,0.057,0.072,2952,721,1664
$GC,12397,0.88,286.4,284.4,7.3,594,12401,0.00,2.42,0.00,0.000,6,0.000,0.055,2952,2046,1663
$GC,12713,0.88,286.4,261.4,7.2,609,12714,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2060,1664
$GC,13022,0.88,286.4,239.2,7.0,624,13025,0.00,2.50,0.00,0.000,4,0.000,0.071,2952,709,1665
$GC,13056,0.83,286.4,236.7,7.4,625,13061,0.12,2.40,0.00,0.000,6,0.086,0.055,2927,2038,1665
$GC,13372,0.88,286.4,217.8,6.1,640,13376,0.00,2.47,0.00,0.000,4,0.000,0.072,2927,717,1666
$GC,13406,0.92,286.4,215.4,6.8,641,13410,0.00,2.38,0.00,0.000,6,0.000,0.054,2927,2036,1666
$GC,13729,0.99,301.1,195.4,5.6,657,13751,0.15,2.53,14.23,0.923,4,0.053,0.069,2971,714,1604
$GC,13791,0.90,301.1,189.7,9.7,659,13797,0.15,2.38,0.00,0.000,6,0.082,0.054,2941,2024,1603
$GC,14107,0.90,301.1,166.3,8.1,675,14111,0.00,2.45,0.00,0.000,4,0.000,0.069,2940,708,1603
$GC,14134,0.90,301.1,163.9,8.5,676,14138,0.00,2.33,0.00,0.000,6,0.000,0.054,2940,2004,1603
$GC,14462,0.90,301.1,138.3,8.1,692,14463,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2025,1603
$GC,14772,1.01,368.6,118.5,4.1,707,14836,0.12,2.47,55.00,0.913,4,0.055,0.067,2976,716,1329
$GC,14860,0.97,368.6,111.6,9.9,711,14865,0.00,2.33,0.00,0.000,6,0.000,0.052,2976,1999,1328
$GC,15188,0.91,368.6,78.0,10.6,727,15190,0.17,0.00,0.00,0.000,6,0.076,0.000,2941,2020,1328
$GC,15498,1.00,368.6,54.5,6.5,742,15499,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2020,1329
$GC,15807,1.09,368.6,28.3,8.8,757,15811,0.17,2.40,0.00,0.000,4,0.048,0.067,2994,709,1329
$GC,15863,1.00,368.6,23.1,7.7,759,15870,0.17,2.30,0.00,0.000,6,0.081,0.052,2959,1993,1329
$STATE,16156,end climb,SURFACE_DEPTH_REACHED
$STATE,16156,begin surface coast
$FINISH,0.1,1.027187
$STATE,16198,end surface coast,CONTROL_FINISHED_OK
$STATE,16201,begin surface
$SM_CCo,16283,0.00,0.000,0,0,1329,368.93
$SM_GC,0.89,11.18,0.00,0.00,0.042,0.000,0.000,424,2016,1329,-10.58,0.45,368.93
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1820
$TCM_TEMP,16.80
$XPDR_PINGS,44
$ALTIM_BOTTOM_PING,450.3,93.6
$24V_AH,23.7,59.182
$10V_AH,10.1,29.260
$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,27.300,116.750,451.400,0.000,0.000,75.508,70.542,155.466,14.750,0.000,0.000,13.519,1415.245,12563.195,586.990,1610.505,601.777,0.000,1413.037,0.000,1580.617,0.000,26.627,0.000
$DEVICE_MAMPS,138.060,83.603,1237.171,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,571.230,521.810,525.486,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37995,776
$CAP_FILE_SIZE,118242,0
$CFSIZE,254472192,231325696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,31,0,0
$GPS,190109,052057,6058.008,-521.310,29,2.3,48,-7.1