version: 66.04
glider: 5
mission: 7
dive: 335
start: 10 20 109 9 13 9
data:
$ID,5
$MISSION,7
$DIVE,335
$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,-106749.32
$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,29
$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
$GPS1,090600,6250.216,-1233.685,39,2.0,39,-11.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-54.6
$GPS2,091219,6250.251,-1233.739,15,1.9,32,-11.7
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,EE
$TGT_LATLONG,6245.000,-1145.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.176,0.170
$KALMAN_X,-42257.8,701.6,1256.0,61221.4,-16728.8
$KALMAN_Y,42597.5,-292.2,375.1,-113119.1,-1239.6
$MHEAD_RNG_PITCHd_Wd,57.7,42459,-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,-61.17,0.000,2,0.000,0.000,418,2142,2808
$GC,83,-1.22,-146.6,2.9,-3.7,3,120,11.27,2.60,-20.80,0.000,4,0.156,0.076,2474,3538,3430
$GC,128,-1.10,-146.6,7.2,-8.7,5,133,0.15,2.55,0.00,0.000,6,0.099,0.049,2506,2114,3430
$GC,449,-1.10,-146.6,43.1,-10.0,21,454,0.00,2.60,0.00,0.000,4,0.000,0.063,2506,3528,3430
$GC,478,-1.04,-146.6,46.2,-10.7,22,482,0.00,2.47,0.00,0.000,6,0.000,0.049,2506,2142,3430
$GC,797,-0.99,-146.6,81.0,-14.3,37,801,0.10,2.53,0.00,0.000,4,0.100,0.059,2528,720,3430
$GC,819,-0.99,-146.6,85.0,-15.4,38,823,0.00,2.53,0.00,0.000,6,0.000,0.047,2528,2148,3430
$GC,1141,-0.99,-146.6,120.8,-11.6,54,1145,0.00,2.60,0.00,0.000,4,0.000,0.060,2528,711,3430
$GC,1198,-1.03,-146.6,127.0,-10.8,56,1204,0.00,2.50,0.00,0.000,6,0.000,0.048,2528,2123,3430
$GC,1525,-1.03,-146.6,160.4,-10.2,74,1529,0.00,2.55,0.00,0.000,4,0.000,0.060,2528,716,3430
$GC,1564,-1.07,-146.6,164.4,-10.1,76,1570,0.00,2.47,0.00,0.000,6,0.000,0.049,2528,2110,3430
$GC,1884,-1.07,-146.6,195.2,-9.1,97,1886,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2111,3430
$GC,2195,-1.07,-146.6,223.4,-9.0,117,2199,0.00,2.53,0.00,0.000,4,0.000,0.061,2528,714,3430
$GC,2241,-1.13,-146.6,227.5,-9.5,120,2246,0.15,2.47,0.00,0.000,6,0.055,0.050,2487,2109,3430
$GC,2569,-1.05,-146.6,262.9,-11.1,141,2571,0.12,0.00,0.00,0.000,6,0.094,0.000,2512,2110,3430
$GC,2879,-1.05,-146.6,293.2,-9.4,161,2883,0.00,2.53,0.00,0.000,4,0.000,0.061,2513,715,3430
$GC,2929,-1.05,-146.6,298.1,-9.3,164,2933,0.00,2.45,0.00,0.000,6,0.000,0.051,2513,2094,3430
$GC,3253,-1.05,-146.6,326.8,-8.8,185,3258,0.00,2.50,0.00,0.000,4,0.000,0.061,2512,714,3430
$GC,3287,-1.05,-146.6,329.8,-8.5,187,3292,0.00,2.45,0.00,0.000,6,0.000,0.051,2513,2090,3430
$GC,3606,-1.05,-146.6,357.3,-9.0,207,3611,0.00,2.50,0.00,0.000,4,0.000,0.062,2513,715,3430
$GC,3652,-1.05,-146.6,361.4,-9.4,210,3656,0.00,2.42,0.00,0.000,6,0.000,0.051,2512,2078,3430
$GC,3977,-1.05,-146.6,390.4,-9.3,231,3982,0.00,2.47,0.00,0.000,4,0.000,0.064,2512,718,3430
$GC,4016,-1.05,-146.6,394.3,-9.6,233,4022,0.00,2.40,0.00,0.000,6,0.000,0.051,2513,2065,3430
$GC,4336,-1.05,-146.6,424.1,-9.7,254,4337,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2066,3430
$GC,4648,-1.05,-146.6,455.2,-10.0,274,4652,0.00,2.45,0.00,0.000,4,0.000,0.064,2512,718,3429
$GC,4693,-1.08,-146.6,459.8,-10.0,276,4699,0.00,2.40,0.00,0.000,6,0.000,0.052,2512,2066,3430
$GC,5012,-1.08,-146.6,492.5,-10.8,297,5017,0.00,2.45,0.00,0.000,4,0.000,0.064,2513,723,3429
$GC,5046,-1.08,-146.6,496.4,-11.1,299,5050,0.00,2.38,0.00,0.000,6,0.000,0.051,2512,2055,3429
$GC,5365,-1.08,-146.6,532.2,-11.4,319,5369,0.00,2.45,0.00,0.000,4,0.000,0.067,2513,717,3429
$GC,5400,-1.08,-146.6,536.2,-11.8,321,5404,0.00,2.35,0.00,0.000,6,0.000,0.053,2512,2039,3429
$GC,5730,-1.08,-146.6,572.7,-10.7,342,5731,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2039,3428
$GC,6042,-1.08,-146.6,608.6,-11.1,362,6047,0.00,2.42,0.00,0.000,4,0.000,0.067,2513,717,3429
$GC,6133,-1.14,-146.6,617.3,-10.4,367,6140,0.00,2.35,0.00,0.000,6,0.000,0.054,2513,2029,3429
$GC,6456,-1.14,-146.6,646.0,-8.8,388,6461,0.00,2.78,0.00,0.000,4,0.000,0.077,2513,3537,3428
$GC,6524,-1.14,-146.6,651.2,-8.0,392,6529,0.00,2.78,0.00,0.000,6,0.000,0.067,2512,2019,3428
$GC,6843,-1.14,-146.6,679.0,-10.1,412,6844,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2000,3428
$STATE,6856,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6856,begin apogee
$GC,6863,-0.33,0.0,680.4,10.3,413,6997,0.75,0.00,130.57,1.290,6,0.077,0.000,2674,1843,2831
$STATE,6998,end apogee,CONTROL_FINISHED_OK
$STATE,6998,begin climb
$GC,7002,1.22,146.6,686.7,0.0,422,7142,1.55,2.72,131.32,1.245,4,0.065,0.071,3007,3262,2233
$GC,7256,1.17,146.7,676.3,8.0,437,7262,0.00,2.62,0.00,0.000,6,0.000,0.067,3008,1849,2232
$GC,7575,1.11,154.7,650.8,7.7,458,7592,0.00,2.70,8.43,1.042,4,0.000,0.071,3007,3257,2200
$GC,7637,1.07,171.9,645.8,7.4,461,7660,0.15,2.60,16.70,1.160,6,0.100,0.067,2980,1865,2130
$GC,7975,1.14,210.2,618.7,6.6,483,8019,0.00,2.70,34.50,1.219,4,0.000,0.072,2980,3254,1974
$GC,8038,1.20,228.9,614.1,7.3,487,8062,0.12,2.62,17.62,1.161,6,0.064,0.069,3012,1861,1897
$GC,8387,1.17,228.9,581.0,10.9,509,8388,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1861,1897
$GC,8694,1.17,228.9,546.4,10.8,529,8695,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1861,1896
$GC,9007,1.17,228.9,516.5,9.3,549,9012,0.00,2.60,0.00,0.000,4,0.000,0.070,3012,3253,1895
$GC,9114,1.17,228.9,506.5,9.3,555,9120,0.00,2.58,0.00,0.000,6,0.000,0.064,3012,1855,1895
$GC,9433,1.17,228.9,479.2,8.9,576,9438,0.00,2.60,0.00,0.000,4,0.000,0.067,3012,3264,1895
$GC,9484,1.17,228.9,474.4,8.8,579,9488,0.00,2.55,0.00,0.000,6,0.000,0.061,3012,1875,1894
$GC,9802,1.17,228.9,447.2,8.7,599,9804,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1875,1894
$GC,10115,1.17,228.9,419.0,9.0,619,10119,0.00,2.55,0.00,0.000,4,0.000,0.065,3012,3257,1895
$GC,10194,1.17,228.9,412.0,9.3,624,10199,0.00,2.47,0.00,0.000,6,0.000,0.058,3012,1886,1895
$GC,10519,1.18,235.2,386.2,7.8,645,10536,0.00,2.55,6.78,0.902,4,0.000,0.063,3012,3254,1872
$GC,10571,1.22,260.0,382.5,7.1,648,10603,0.00,2.47,22.67,1.060,6,0.000,0.058,3012,1896,1770
$GC,10920,1.27,289.3,357.8,6.9,670,10952,0.00,2.58,25.88,1.043,4,0.000,0.062,3012,3262,1651
$GC,10982,1.35,314.8,353.1,7.1,673,11013,0.12,2.47,23.08,1.022,6,0.056,0.057,3046,1911,1547
$GC,11334,1.29,314.8,319.4,10.2,696,11336,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,1911,1548
$GC,11646,1.23,314.8,285.1,10.8,716,11651,0.17,2.47,0.00,0.000,4,0.089,0.061,3009,3259,1548
$GC,11675,1.27,314.8,282.3,9.7,718,11679,0.00,2.42,0.00,0.000,6,0.000,0.055,3009,1913,1549
$GC,11999,1.27,314.8,253.3,9.1,739,12003,0.00,2.47,0.00,0.000,4,0.000,0.061,3009,3262,1549
$GC,12022,1.32,314.8,251.0,9.3,740,12027,0.10,2.42,0.00,0.000,6,0.061,0.053,3038,1915,1549
$GC,12344,1.28,314.8,215.0,11.9,760,12348,0.00,2.45,0.00,0.000,4,0.000,0.061,3038,3255,1549
$GC,12366,1.28,314.8,212.0,11.3,761,12372,0.00,2.38,0.00,0.000,6,0.000,0.053,3038,1931,1549
$GC,12685,1.25,314.8,176.2,11.7,782,12687,0.12,0.00,0.00,0.000,6,0.092,0.000,3013,1930,1550
$GC,12998,1.25,314.8,142.0,11.0,801,13002,0.00,2.42,0.00,0.000,4,0.000,0.060,3013,3260,1550
$GC,13043,1.32,314.8,136.9,10.5,803,13047,0.00,2.38,0.00,0.000,6,0.000,0.051,3013,1931,1550
$GC,13366,1.35,314.8,104.5,9.3,819,13371,0.12,2.67,0.00,0.000,4,0.059,0.063,3047,438,1550
$GC,13399,1.28,314.8,100.7,12.1,820,13406,0.12,2.65,0.00,0.000,6,0.093,0.048,3022,1934,1550
$GC,13718,1.28,314.8,73.7,8.5,836,13719,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,1951,1551
$GC,14025,1.28,314.8,46.8,8.8,851,14026,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,1953,1551
$GC,14334,1.35,358.2,18.9,6.4,866,14378,0.00,2.80,36.62,0.811,4,0.000,0.063,3022,439,1368
$GC,14418,1.35,358.2,12.5,9.3,869,14424,0.00,2.67,0.00,0.000,6,0.000,0.048,3022,1936,1368
$STATE,14525,end climb,SURFACE_DEPTH_REACHED
$STATE,14525,begin surface coast
$FINISH,0.6,1.027295
$STATE,14547,end surface coast,CONTROL_FINISHED_OK
$STATE,14547,begin surface
$SM_CCo,14631,0.00,0.000,0,0,1368,358.87
$SM_GC,1.33,11.32,0.00,0.00,0.036,0.000,0.000,418,2138,1368,-10.61,0.65,358.87
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1821
$TCM_TEMP,17.20
$XPDR_PINGS,44
$ALTIM_BOTTOM_PING,646.0,43.3
$24V_AH,23.7,54.802
$10V_AH,10.1,24.698
$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,26.475,147.150,454.175,0.000,0.000,37.760,31.129,156.614,16.750,0.000,0.000,32.334,1536.329,10549.644,574.714,1793.148,550.429,33.352,1493.557,0.000,1732.998,0.000,42.026,0.000
$DEVICE_MAMPS,155.701,76.700,1290.094,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,599.106,640.147,502.064,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44251,876
$CAP_FILE_SIZE,122399,0
$CFSIZE,254472192,233795584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,201009,131806,6252.590,-1231.567,29,1.6,29,-11.7