version: 66.04
glider: 5
mission: 7
dive: 348
start: 10 22 109 9 10 3
data:
$ID,5
$MISSION,7
$DIVE,348
$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,-106974.88
$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,38
$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
$GPS1,090337,6251.749,-1219.619,31,1.2,31,-11.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-61.8
$GPS2,090914,6251.759,-1219.661,13,1.2,13,-11.6
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,EE
$TGT_LATLONG,6245.000,-1145.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.240,-0.051
$KALMAN_X,-79392.5,1420.7,1086.3,109438.0,-20194.2
$KALMAN_Y,43763.1,-579.6,462.3,-111297.1,-2064.2
$MHEAD_RNG_PITCHd_Wd,113.7,31947,-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,15,begin dive
$GC,18,-1.22,-146.6,0.0,0.0,0,81,0.00,0.00,-60.85,0.000,2,0.000,0.000,420,2139,2801
$GC,85,-1.22,-146.6,2.8,-3.5,3,122,11.23,2.65,-20.73,0.000,4,0.153,0.073,2474,710,3431
$GC,158,-1.15,-146.6,11.4,-12.7,6,162,0.00,2.50,0.00,0.000,6,0.000,0.047,2474,2120,3431
$GC,476,-1.05,-146.6,55.1,-14.1,21,478,0.20,0.00,0.00,0.000,6,0.094,0.000,2517,2120,3431
$GC,783,-1.05,-146.6,96.7,-13.4,36,787,0.00,2.55,0.00,0.000,4,0.000,0.060,2517,714,3431
$GC,850,-1.05,-146.6,105.6,-13.7,39,855,0.00,2.50,0.00,0.000,6,0.000,0.048,2517,2126,3431
$GC,1172,-1.05,-146.6,143.2,-11.4,55,1177,0.00,2.58,0.00,0.000,4,0.000,0.063,2517,708,3431
$GC,1263,-1.09,-146.6,154.0,-11.3,59,1269,0.00,2.47,0.00,0.000,6,0.000,0.048,2517,2111,3431
$GC,1582,-1.09,-146.6,188.3,-10.3,80,1586,0.00,2.55,0.00,0.000,4,0.000,0.062,2517,703,3431
$GC,1632,-1.12,-146.6,193.7,-10.2,83,1636,0.00,2.47,0.00,0.000,6,0.000,0.049,2517,2099,3432
$GC,1952,-1.12,-146.6,226.0,-10.0,103,1953,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2099,3432
$GC,2263,-1.12,-146.6,258.6,-10.6,123,2267,0.00,2.53,0.00,0.000,4,0.000,0.063,2517,706,3432
$GC,2303,-1.15,-146.6,262.8,-11.3,125,2308,0.12,2.45,0.00,0.000,6,0.058,0.050,2482,2088,3431
$GC,2625,-1.08,-146.6,300.6,-11.8,145,2627,0.12,0.00,0.00,0.000,6,0.098,0.000,2508,2087,3431
$GC,2934,-1.08,-146.6,334.2,-11.0,165,2938,0.00,2.50,0.00,0.000,4,0.000,0.063,2508,716,3432
$GC,2985,-1.08,-146.6,339.8,-10.7,168,2989,0.00,2.42,0.00,0.000,6,0.000,0.051,2508,2080,3432
$GC,3303,-1.08,-146.6,375.4,-11.2,188,3305,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2081,3431
$GC,3617,-1.08,-146.6,409.4,-10.9,208,3621,0.00,2.50,0.00,0.000,4,0.000,0.065,2508,711,3432
$GC,3684,-1.08,-146.6,417.3,-11.7,212,3688,0.00,2.42,0.00,0.000,6,0.000,0.051,2508,2076,3432
$GC,4003,-1.08,-146.6,452.0,-11.0,232,4007,0.00,2.67,0.00,0.000,4,0.000,0.072,2508,3540,3431
$GC,4032,-1.08,-146.6,455.1,-11.1,234,4036,0.00,2.67,0.00,0.000,6,0.000,0.064,2508,2066,3431
$GC,4356,-1.08,-146.6,489.8,-10.6,255,4357,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2065,3431
$GC,4669,-1.08,-146.6,521.7,-10.1,275,4673,0.00,2.72,0.00,0.000,4,0.000,0.070,2508,3535,3431
$GC,4752,-1.08,-146.6,530.5,-10.2,280,4757,0.00,2.65,0.00,0.000,6,0.000,0.059,2508,2069,3431
$GC,5071,-1.08,-146.6,563.5,-10.1,300,5075,0.00,2.45,0.00,0.000,4,0.000,0.067,2508,705,3430
$GC,5105,-1.08,-146.6,566.9,-10.2,302,5109,0.00,2.40,0.00,0.000,6,0.000,0.052,2508,2051,3430
$GC,5424,-1.08,-146.6,600.1,-10.3,322,5428,0.00,2.72,0.00,0.000,4,0.000,0.076,2508,3532,3431
$GC,5541,-1.08,-146.6,612.7,-11.2,329,5546,0.00,2.67,0.00,0.000,6,0.000,0.064,2508,2068,3430
$STATE,5685,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5685,begin apogee
$GC,5694,-0.33,0.0,627.5,10.6,338,5829,0.77,0.00,131.90,1.234,6,0.075,0.000,2675,1837,2831
$STATE,5830,end apogee,CONTROL_FINISHED_OK
$STATE,5830,begin climb
$GC,5833,1.22,146.6,632.4,0.0,347,5975,1.52,2.67,133.57,1.191,4,0.060,0.074,3007,451,2233
$GC,6125,1.10,146.6,615.9,8.2,364,6132,0.12,2.55,0.00,0.000,6,0.096,0.056,2985,1854,2233
$GC,6445,1.17,188.0,594.3,6.5,385,6492,0.00,2.67,37.85,1.169,4,0.000,0.070,2985,3252,2064
$GC,6545,1.19,202.2,587.1,7.5,391,6565,0.00,2.58,14.38,1.095,6,0.000,0.068,2985,1870,2006
$GC,6895,1.24,233.8,563.6,6.9,413,6931,0.12,2.67,28.70,1.167,4,0.062,0.071,3017,3252,1877
$GC,6960,1.24,233.8,557.9,9.1,417,6965,0.00,2.62,0.00,0.000,6,0.000,0.067,3017,1852,1876
$GC,7288,1.25,262.4,532.4,7.0,438,7320,0.00,2.70,26.38,1.154,4,0.000,0.070,3017,3261,1760
$GC,7360,1.25,262.4,526.5,8.0,442,7364,0.00,2.55,0.00,0.000,6,0.000,0.065,3017,1891,1760
$GC,7680,1.25,262.4,499.0,9.4,462,7684,0.00,2.55,0.00,0.000,4,0.000,0.068,3017,3260,1760
$GC,7702,1.25,262.4,496.8,8.9,463,7709,0.00,2.53,0.00,0.000,6,0.000,0.064,3017,1890,1760
$GC,8021,1.25,262.4,467.2,9.2,484,8026,0.00,2.55,0.00,0.000,4,0.000,0.067,3017,3263,1759
$GC,8094,1.25,262.4,460.6,8.7,488,8100,0.00,2.47,0.00,0.000,6,0.000,0.060,3017,1909,1759
$GC,8414,1.25,262.4,432.4,9.1,509,8418,0.00,2.47,0.00,0.000,4,0.000,0.065,3017,3258,1759
$GC,8459,1.25,262.4,428.1,8.6,512,8463,0.00,2.42,0.00,0.000,6,0.000,0.058,3017,1924,1759
$GC,8783,1.25,262.4,399.4,8.6,533,8787,0.00,2.45,0.00,0.000,4,0.000,0.064,3017,3255,1759
$GC,8817,1.25,262.4,396.3,8.7,535,8821,0.00,2.40,0.00,0.000,6,0.000,0.058,3017,1931,1759
$GC,9136,1.25,262.4,370.0,8.1,555,9140,0.00,2.42,0.00,0.000,4,0.000,0.064,3017,3261,1759
$GC,9157,1.25,262.4,368.1,8.4,556,9163,0.00,2.40,0.00,0.000,6,0.000,0.057,3017,1934,1760
$GC,9477,1.25,262.4,341.9,8.3,577,9481,0.00,2.42,0.00,0.000,4,0.000,0.063,3017,3259,1759
$GC,9505,1.25,262.4,339.3,8.6,579,9509,0.00,2.35,0.00,0.000,6,0.000,0.055,3017,1948,1760
$GC,9830,1.25,262.4,312.0,8.6,600,9831,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,1948,1760
$GC,10143,1.25,262.4,285.1,8.7,620,10147,0.00,2.40,0.00,0.000,4,0.000,0.062,3017,3259,1760
$GC,10176,1.25,262.4,282.1,9.1,622,10180,0.00,2.35,0.00,0.000,6,0.000,0.054,3017,1950,1760
$GC,10495,1.25,262.4,254.1,9.0,642,10496,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,1950,1761
$GC,10808,1.25,262.4,225.8,9.1,662,10812,0.00,2.40,0.00,0.000,4,0.000,0.061,3017,3265,1761
$GC,10841,1.25,262.4,222.4,9.6,664,10845,0.00,2.35,0.00,0.000,6,0.000,0.051,3017,1950,1761
$GC,11160,1.25,262.4,191.2,10.3,684,11165,0.00,2.38,0.00,0.000,4,0.000,0.060,3017,3254,1761
$GC,11183,1.25,262.4,188.5,10.2,685,11189,0.00,2.30,0.00,0.000,6,0.000,0.051,3017,1967,1761
$GC,11502,1.25,262.4,156.3,10.0,706,11503,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,1967,1762
$GC,11813,1.25,262.4,126.3,9.3,722,11814,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,1967,1762
$GC,12121,1.25,262.4,97.6,9.5,737,12122,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,1967,1762
$GC,12430,1.25,262.4,70.9,8.5,752,12434,0.00,2.35,0.00,0.000,4,0.000,0.058,3017,3262,1762
$GC,12482,1.28,262.4,66.4,8.4,754,12486,0.00,2.30,0.00,0.000,6,0.000,0.048,3017,1965,1763
$GC,12798,1.28,262.4,40.7,8.0,769,12799,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,1965,1763
$GC,13107,1.28,262.4,14.7,8.5,784,13109,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,1965,1763
$STATE,13229,end climb,SURFACE_DEPTH_REACHED
$STATE,13229,begin surface coast
$FINISH,1.2,1.027213
$STATE,13250,end surface coast,CONTROL_FINISHED_OK
$STATE,13250,begin surface
$SM_CCo,13274,19.55,0.762,0,0,1607,300.00
$SM_GC,0.90,0.00,0.00,19.55,0.000,0.000,0.762,422,2148,1607,-10.69,0.51,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1829
$TCM_TEMP,17.30
$XPDR_PINGS,62
$ALTIM_BOTTOM_PING,570.9,66.0
$24V_AH,23.7,56.797
$10V_AH,10.1,25.609
$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,25.450,126.075,372.775,19.550,0.000,37.764,32.859,139.999,20.500,0.000,0.000,13.065,1395.815,9607.988,497.170,1628.062,501.727,33.357,1325.898,0.000,1592.893,0.000,35.063,0.000
$DEVICE_MAMPS,153.400,75.933,1234.103,762.398,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,541.331,576.102,462.757,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41180,791
$CAP_FILE_SIZE,108240,0
$CFSIZE,254472192,233099264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,221009,125300,6251.783,-1215.554,42,1.8,42,-11.5