version: 66.04
glider: 5
mission: 7
dive: 342
start: 10 21 109 11 44 27
data:
$ID,5
$MISSION,7
$DIVE,342
$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,-106868.23
$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,23
$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
$GPS1,113806,6254.431,-1227.570,47,2.2,66,-11.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-58.6
$GPS2,114338,6254.474,-1227.577,15,1.1,15,-11.7
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,EE
$TGT_LATLONG,6245.000,-1145.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.224,0.100
$KALMAN_X,-66030.4,1580.5,1614.0,88811.2,-24246.5
$KALMAN_Y,49057.5,-516.0,-165.3,-111000.2,6819.8
$MHEAD_RNG_PITCHd_Wd,77.7,40142,-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,-61.15,0.000,2,0.000,0.000,417,2153,2720
$GC,83,-1.22,-146.6,2.6,-3.0,3,127,11.30,2.65,-26.38,0.000,4,0.154,0.073,2472,717,3430
$GC,209,-1.15,-146.6,16.5,-12.7,9,214,0.10,2.53,0.00,0.000,6,0.115,0.048,2490,2138,3430
$GC,539,-1.08,-146.6,58.2,-12.5,25,540,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2138,3430
$GC,846,-1.01,-146.6,94.2,-11.7,40,851,0.15,2.58,0.00,0.000,4,0.097,0.058,2522,715,3430
$GC,880,-1.05,-146.6,97.9,-10.3,41,887,0.00,2.53,0.00,0.000,6,0.000,0.048,2523,2140,3430
$GC,1197,-1.05,-146.6,131.0,-10.7,57,1201,0.00,2.58,0.00,0.000,4,0.000,0.059,2523,713,3431
$GC,1224,-1.05,-146.6,134.3,-11.6,58,1229,0.00,2.50,0.00,0.000,6,0.000,0.048,2522,2123,3431
$GC,1548,-1.05,-146.6,174.4,-13.6,76,1549,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2122,3431
$GC,1860,-1.05,-146.6,218.8,-14.5,96,1861,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2122,3431
$GC,2173,-1.05,-146.6,265.2,-15.2,116,2177,0.00,2.58,0.00,0.000,4,0.000,0.064,2523,705,3431
$GC,2212,-1.10,-146.6,271.7,-16.7,118,2218,0.00,2.50,0.00,0.000,6,0.000,0.050,2522,2114,3431
$GC,2531,-1.10,-146.6,324.9,-16.9,139,2535,0.00,2.55,0.00,0.000,4,0.000,0.062,2523,708,3431
$GC,2578,-1.14,-146.6,332.7,-17.2,142,2583,0.12,2.47,0.00,0.000,6,0.061,0.051,2489,2099,3431
$GC,2905,-1.09,-146.6,394.6,-18.6,163,2906,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2099,3431
$GC,3215,-1.04,-146.6,450.5,-18.0,183,3220,0.12,2.53,0.00,0.000,4,0.096,0.063,2516,712,3431
$GC,3271,-1.08,-146.6,459.9,-15.4,186,3278,0.00,2.45,0.00,0.000,6,0.000,0.051,2515,2089,3431
$GC,3591,-1.08,-146.6,511.2,-16.4,207,3595,0.00,2.65,0.00,0.000,4,0.000,0.071,2515,3536,3431
$GC,3663,-1.08,-146.6,522.9,-15.5,211,3669,0.00,2.62,0.00,0.000,6,0.000,0.059,2515,2088,3431
$GC,3982,-1.08,-146.6,563.5,-11.6,232,3986,0.00,2.70,0.00,0.000,4,0.000,0.073,2515,3536,3431
$GC,4032,-1.08,-146.6,569.4,-11.3,235,4037,0.00,2.60,0.00,0.000,6,0.000,0.061,2515,2106,3431
$STATE,4161,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4161,begin apogee
$GC,4169,-0.33,0.0,582.9,9.8,243,4303,0.73,0.00,130.98,1.194,6,0.071,0.000,2672,1845,2831
$STATE,4304,end apogee,CONTROL_FINISHED_OK
$STATE,4304,begin climb
$GC,4307,1.22,146.6,588.4,0.0,252,4448,1.55,2.67,129.20,1.155,4,0.061,0.074,3009,443,2233
$GC,4521,1.12,146.6,577.1,9.9,265,4525,0.00,2.55,0.00,0.000,6,0.000,0.054,3009,1850,2233
$GC,4846,1.05,146.6,546.8,10.1,286,4851,0.17,2.58,0.00,0.000,4,0.094,0.069,2973,3255,2231
$GC,4868,1.05,146.6,544.7,8.6,287,4874,0.00,2.60,0.00,0.000,6,0.000,0.068,2973,1861,2232
$GC,5187,1.10,175.5,519.7,7.0,308,5220,0.00,2.67,26.27,1.123,4,0.000,0.069,2973,3258,2115
$GC,5266,1.24,234.7,514.5,5.9,312,5325,0.20,2.60,52.58,1.140,6,0.052,0.066,3021,1864,1874
$GC,5645,1.19,234.7,480.9,9.6,337,5649,0.00,2.62,0.00,0.000,4,0.000,0.070,3020,3262,1873
$GC,5692,1.19,234.7,476.3,10.6,340,5697,0.00,2.58,0.00,0.000,6,0.000,0.066,3021,1872,1873
$GC,6018,1.15,234.7,443.0,9.6,361,6020,0.15,0.00,0.00,0.000,6,0.091,0.000,2993,1872,1872
$GC,6331,1.19,260.3,418.6,7.1,381,6362,0.00,2.62,22.95,1.082,4,0.000,0.064,2993,3248,1769
$GC,6415,1.28,279.9,412.9,7.3,386,6441,0.15,2.53,18.20,1.056,6,0.057,0.060,3030,1873,1690
$GC,6765,1.27,306.7,387.3,7.0,408,6797,0.00,2.60,24.42,1.058,4,0.000,0.064,3030,3256,1580
$GC,6816,1.24,306.7,383.0,9.0,411,6820,0.00,2.53,0.00,0.000,6,0.000,0.058,3030,1882,1580
$GC,7140,1.20,306.7,355.9,8.6,432,7145,0.12,2.55,0.00,0.000,4,0.093,0.062,3006,3264,1581
$GC,7180,1.25,306.7,352.6,8.1,434,7186,0.00,2.47,0.00,0.000,6,0.000,0.057,3006,1903,1581
$GC,7500,1.26,311.2,328.1,7.8,455,7507,0.00,0.00,5.88,0.822,6,0.000,0.000,3007,1903,1562
$GC,7812,1.26,311.2,300.4,9.6,475,7816,0.00,2.50,0.00,0.000,4,0.000,0.063,3006,3261,1562
$GC,7851,1.33,311.2,296.3,10.5,477,7857,0.12,2.45,0.00,0.000,6,0.055,0.055,3041,1908,1562
$GC,8170,1.27,311.2,255.4,13.8,498,8171,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,1908,1562
$GC,8483,1.22,311.2,210.3,14.5,518,8488,0.15,2.47,0.00,0.000,4,0.091,0.061,3010,3259,1563
$GC,8539,1.28,311.2,202.7,12.3,521,8545,0.00,2.42,0.00,0.000,6,0.000,0.052,3010,1911,1562
$GC,8859,1.28,311.2,167.0,10.4,542,8860,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1911,1562
$GC,9175,1.28,311.2,134.2,11.3,560,9179,0.00,2.45,0.00,0.000,4,0.000,0.059,3010,3257,1562
$GC,9215,1.35,311.2,129.2,12.6,562,9220,0.12,2.38,0.00,0.000,6,0.057,0.051,3045,1920,1562
$GC,9543,1.30,311.2,86.3,13.0,578,9548,0.00,2.65,0.00,0.000,4,0.000,0.064,3045,442,1563
$GC,9584,1.23,311.2,80.9,13.4,580,9590,0.17,2.65,0.00,0.000,6,0.086,0.048,3010,1942,1562
$GC,9912,1.28,311.2,47.6,10.1,596,9916,0.00,2.35,0.00,0.000,4,0.000,0.059,3010,3263,1563
$GC,9932,1.34,311.2,45.9,9.2,597,9936,0.12,2.40,0.00,0.000,6,0.056,0.049,3045,1914,1563
$GC,10260,1.31,311.2,5.3,12.9,613,10264,0.00,2.45,0.00,0.000,4,0.000,0.058,3045,3265,1563
$GC,10270,1.31,311.2,3.5,13.0,613,10276,0.00,2.38,0.00,0.000,6,0.000,0.053,3045,1934,1564
$STATE,10295,end climb,SURFACE_DEPTH_REACHED
$STATE,10295,begin surface coast
$FINISH,0.5,1.027234
$STATE,10317,end surface coast,CONTROL_FINISHED_OK
$STATE,10317,begin surface
$SM_CCo,10402,0.00,0.000,0,0,1563,311.04
$SM_GC,1.30,11.40,0.00,0.00,0.038,0.000,0.000,424,2148,1563,-10.58,0.37,311.04
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1838
$TCM_TEMP,16.40
$XPDR_PINGS,53
$ALTIM_BOTTOM_PING,520.3,71.9
$24V_AH,23.8,55.912
$10V_AH,10.1,25.187
$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,26.975,107.550,410.475,0.000,0.000,37.760,35.032,135.625,17.750,0.000,0.000,15.692,1097.190,7391.446,505.843,1286.875,449.791,33.357,1192.430,0.000,1255.422,0.000,31.896,0.000
$DEVICE_MAMPS,154.167,73.632,1194.219,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,419.902,452.362,388.823,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31687,616
$CAP_FILE_SIZE,92148,0
$CFSIZE,254472192,233439232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,211009,143926,6254.904,-1225.557,40,2.5,59,-11.7