version: 66.04
glider: 5
mission: 7
dive: 213
start: 10 3 109 12 39 44
data:
$ID,5
$MISSION,7
$DIVE,213
$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,-104337.98
$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,26
$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
$GPS1,123337,6359.961,-1317.473,52,1.1,52,-12.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-55.1
$GPS2,123857,6359.897,-1317.338,10,2.3,29,-12.6
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,P3
$TGT_LATLONG,6349.750,-1321.120
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.189,-0.157
$KALMAN_X,-33392.4,-2289.0,-1225.2,-207371.2,30655.3
$KALMAN_Y,-18117.5,1186.1,-634.4,282954.7,9519.0
$MHEAD_RNG_PITCHd_Wd,242.8,19044,-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,13,begin dive
$GC,16,-1.22,-146.6,0.0,0.0,0,79,0.00,0.00,-60.78,0.000,2,0.000,0.000,421,2147,2820
$GC,82,-1.22,-146.6,3.2,-4.3,3,118,11.40,2.58,-17.52,0.000,4,0.172,0.075,2470,3533,3430
$GC,372,-1.12,-146.6,39.4,-11.9,16,377,0.15,2.53,0.00,0.000,6,0.102,0.048,2501,2112,3431
$GC,700,-1.12,-146.6,76.0,-13.0,32,701,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2088,3431
$GC,1009,-1.12,-146.6,116.1,-12.3,47,1014,0.00,2.60,0.00,0.000,4,0.000,0.064,2502,3540,3431
$GC,1031,-1.12,-146.6,119.3,-12.4,48,1036,0.00,2.53,0.00,0.000,6,0.000,0.050,2501,2123,3431
$GC,1354,-1.12,-146.6,160.7,-12.9,65,1358,0.00,2.50,0.00,0.000,4,0.000,0.061,2501,716,3432
$GC,1393,-1.12,-146.6,166.0,-12.9,67,1399,0.00,2.47,0.00,0.000,6,0.000,0.048,2501,2115,3432
$GC,1714,-1.12,-146.6,206.8,-12.7,88,1718,0.00,2.53,0.00,0.000,4,0.000,0.061,2502,720,3432
$GC,1742,-1.12,-146.6,210.4,-12.4,90,1746,0.00,2.45,0.00,0.000,6,0.000,0.050,2501,2109,3432
$GC,2073,-1.12,-146.6,251.0,-11.9,111,2075,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2108,3432
$GC,2385,-1.12,-146.6,288.0,-11.7,131,2386,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2108,3432
$GC,2700,-1.12,-146.6,324.6,-12.3,151,2704,0.00,2.53,0.00,0.000,4,0.000,0.064,2502,717,3432
$GC,2728,-1.12,-146.6,328.8,-13.9,153,2732,0.00,2.47,0.00,0.000,6,0.000,0.051,2502,2116,3432
$GC,3058,-1.12,-146.6,368.1,-11.0,174,3063,0.00,2.58,0.00,0.000,4,0.000,0.067,2502,3535,3432
$GC,3115,-1.12,-146.6,373.8,-9.7,177,3121,0.00,2.60,0.00,0.000,6,0.000,0.056,2501,2092,3432
$GC,3434,-1.12,-146.6,403.3,-8.9,198,3439,0.00,2.67,0.00,0.000,4,0.000,0.067,2501,3541,3432
$GC,3480,-1.12,-146.6,407.7,-9.6,201,3484,0.00,2.58,0.00,0.000,6,0.000,0.057,2502,2111,3432
$GC,3804,-1.12,-146.6,434.9,-8.8,222,3809,0.00,2.62,0.00,0.000,4,0.000,0.069,2501,3531,3432
$GC,3895,-1.12,-146.6,445.1,-11.7,227,3901,0.00,2.53,0.00,0.000,6,0.000,0.057,2501,2129,3432
$GC,4214,-1.12,-146.6,482.4,-8.6,248,4219,0.00,2.60,0.00,0.000,4,0.000,0.069,2502,3534,3432
$GC,4270,-1.12,-146.6,487.8,-9.8,251,4276,0.00,2.53,0.00,0.000,6,0.000,0.060,2501,2140,3432
$GC,4589,-1.12,-146.6,522.6,-10.5,272,4593,0.00,2.60,0.00,0.000,4,0.000,0.073,2501,3533,3431
$GC,4668,-1.12,-146.6,530.4,-9.8,277,4673,0.00,2.53,0.00,0.000,6,0.000,0.061,2502,2144,3432
$GC,4996,-1.12,-146.6,558.5,-6.9,298,5000,0.00,2.60,0.00,0.000,4,0.000,0.075,2502,3531,3431
$GC,5035,-1.12,-146.6,563.4,-12.2,300,5042,0.00,2.50,0.00,0.000,6,0.000,0.062,2502,2155,3431
$GC,5357,-1.15,-146.6,599.4,-15.1,321,5361,0.00,2.62,0.00,0.000,4,0.000,0.078,2501,722,3429
$GC,5480,-1.15,-146.6,614.6,-13.8,328,5486,0.00,2.60,0.00,0.000,6,0.000,0.060,2501,2160,3429
$GC,5799,-1.15,-146.6,653.5,-11.9,349,5803,0.00,2.67,0.00,0.000,4,0.000,0.076,2501,722,3427
$STATE,5880,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5880,begin apogee
$GC,5889,-0.33,0.0,657.8,9.2,354,6023,0.75,0.00,130.23,1.294,6,0.084,0.000,2665,1871,2831
$STATE,6024,end apogee,CONTROL_FINISHED_OK
$STATE,6024,begin climb
$GC,6027,1.22,146.6,672.1,0.0,363,6169,1.58,2.75,131.80,1.249,4,0.072,0.083,3004,449,2232
$GC,6369,1.54,394.6,665.3,-1.0,383,6599,0.35,2.58,219.60,1.226,6,0.055,0.061,3084,1877,1222
$GC,6927,1.42,394.6,588.9,19.5,419,6932,0.17,2.70,0.00,0.000,4,0.100,0.081,3047,443,1223
$GC,6973,1.36,394.6,581.2,13.0,422,6978,0.00,2.55,0.00,0.000,6,0.000,0.063,3047,1830,1224
$GC,7299,1.33,394.6,537.0,14.9,443,7303,0.00,2.60,0.00,0.000,4,0.000,0.070,3047,3258,1223
$GC,7382,1.33,394.6,527.8,15.0,448,7387,0.00,2.55,0.00,0.000,6,0.000,0.068,3047,1888,1223
$GC,7701,1.33,394.6,484.2,13.2,468,7706,0.00,2.58,0.00,0.000,4,0.000,0.071,3047,3263,1223
$GC,7735,1.33,394.6,479.5,13.4,470,7739,0.00,2.58,0.00,0.000,6,0.000,0.067,3047,1876,1222
$GC,8054,1.29,394.6,433.7,14.2,490,8058,0.00,2.58,0.00,0.000,4,0.000,0.069,3047,3261,1222
$GC,8082,1.29,394.6,429.9,13.4,492,8087,0.00,2.50,0.00,0.000,6,0.000,0.067,3046,1911,1222
$GC,8407,1.29,394.6,389.9,10.7,513,8409,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,1911,1222
$GC,8719,1.29,394.6,356.0,11.0,533,8724,0.00,2.50,0.00,0.000,4,0.000,0.067,3047,3262,1222
$GC,8748,1.29,394.6,352.7,11.8,535,8752,0.00,2.45,0.00,0.000,6,0.000,0.059,3047,1917,1222
$GC,9074,1.29,394.6,316.6,10.9,556,9075,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,1917,1222
$GC,9386,1.29,394.6,278.3,13.2,576,9390,0.00,2.67,0.00,0.000,4,0.000,0.070,3047,438,1223
$GC,9415,1.26,394.6,274.2,14.6,578,9420,0.15,2.67,0.00,0.000,6,0.091,0.052,3017,1937,1223
$GC,9742,1.31,394.6,233.9,12.5,599,9746,0.00,2.78,0.00,0.000,4,0.000,0.071,3017,434,1223
$GC,9781,1.34,394.6,228.5,13.4,601,9787,0.00,2.65,0.00,0.000,6,0.000,0.051,3016,1920,1223
$GC,10101,1.39,394.6,190.1,12.2,622,10106,0.15,2.75,0.00,0.000,4,0.054,0.068,3056,432,1224
$GC,10140,1.33,394.6,184.1,15.5,624,10147,0.12,2.62,0.00,0.000,6,0.094,0.050,3032,1907,1224
$GC,10478,1.33,394.6,140.9,12.7,645,10482,0.00,2.72,0.00,0.000,4,0.000,0.070,3032,432,1224
$GC,10505,1.33,394.6,136.7,13.3,646,10509,0.00,2.60,0.00,0.000,6,0.000,0.050,3032,1894,1224
$GC,10821,1.33,394.6,94.4,14.7,661,10826,0.00,2.70,0.00,0.000,4,0.000,0.068,3032,429,1224
$GC,10849,1.33,394.6,90.3,15.0,662,10854,0.00,2.58,0.00,0.000,6,0.000,0.049,3032,1881,1225
$GC,11167,1.33,394.6,51.1,12.2,677,11172,0.00,2.65,0.00,0.000,4,0.000,0.067,3032,437,1225
$GC,11208,1.33,394.6,46.1,12.4,679,11212,0.00,2.55,0.00,0.000,6,0.000,0.049,3032,1879,1225
$GC,11536,1.41,394.6,8.3,9.8,695,11540,0.00,2.65,0.00,0.000,4,0.000,0.067,3032,437,1226
$GC,11563,1.45,394.6,5.0,11.9,696,11568,0.12,2.53,0.00,0.000,6,0.058,0.050,3067,1860,1226
$STATE,11589,end climb,SURFACE_DEPTH_REACHED
$STATE,11589,begin surface coast
$FINISH,0.5,1.027116
$STATE,11610,end surface coast,CONTROL_FINISHED_OK
$STATE,11610,begin surface
$SM_CCo,11694,0.00,0.000,0,0,1225,393.71
$SM_GC,1.42,11.43,0.00,0.00,0.036,0.000,0.000,420,2143,1225,-10.59,0.37,393.71
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1835
$TCM_TEMP,17.40
$XPDR_PINGS,29
$ALTIM_BOTTOM_PING,596.9,70.7
$24V_AH,23.8,36.991
$10V_AH,10.1,16.752
$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,26.375,134.575,481.625,0.000,0.000,37.758,26.177,125.864,12.500,0.000,0.000,30.770,1253.277,8188.422,546.406,1575.327,449.998,33.350,1376.266,0.000,1518.115,0.000,36.317,0.000
$DEVICE_MAMPS,171.808,82.836,1293.929,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,477.660,508.563,401.096,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34837,698
$CAP_FILE_SIZE,102662,0
$CFSIZE,254472192,239980544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,031009,155555,6357.362,-1323.689,40,1.9,40,-12.6