version: 66.04
glider: 5
mission: 7
dive: 257
start: 10 7 109 8 55 51
data:
$ID,5
$MISSION,7
$DIVE,257
$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,-105277.25
$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,22
$R_STBD_OVSHOOT,21
$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
$GPS1,084629,6359.948,-1245.828,43,1.3,43,-12.3
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-56.3
$GPS2,085502,6400.047,-1245.620,13,1.4,13,-12.3
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,P3
$TGT_LATLONG,6349.750,-1321.120
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.230,-0.085
$KALMAN_X,-29377.7,-684.8,427.2,-186804.3,11186.4
$KALMAN_Y,-21367.4,739.7,1030.3,285210.6,-3422.0
$MHEAD_RNG_PITCHd_Wd,262.1,34706,-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,14,begin dive
$GC,18,-1.22,-146.6,0.0,0.0,0,61,0.00,0.00,-41.28,0.000,2,0.000,0.000,417,2150,2425
$GC,65,-1.22,-146.6,2.2,-3.8,2,130,11.38,2.62,-47.97,0.000,4,0.161,0.077,2470,3546,3429
$GC,357,-1.15,-146.6,37.4,-14.7,15,362,0.12,2.55,0.00,0.000,6,0.095,0.048,2494,2113,3430
$GC,685,-1.11,-146.6,71.1,-9.2,31,686,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2098,3430
$GC,993,-1.11,-146.6,100.7,-9.5,46,995,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2097,3430
$GC,1305,-1.11,-146.6,136.9,-12.1,61,1309,0.00,2.47,0.00,0.000,4,0.000,0.058,2494,719,3430
$GC,1349,-1.11,-146.6,142.8,-12.1,63,1353,0.00,2.53,0.00,0.000,6,0.000,0.049,2494,2141,3430
$GC,1672,-1.11,-146.6,179.2,-11.1,83,1676,0.00,2.55,0.00,0.000,4,0.000,0.058,2494,723,3430
$GC,1712,-1.11,-146.6,184.0,-11.6,85,1718,0.00,2.50,0.00,0.000,6,0.000,0.050,2494,2132,3430
$GC,2034,-1.11,-146.6,220.6,-11.5,106,2038,0.00,2.55,0.00,0.000,4,0.000,0.060,2495,719,3430
$GC,2062,-1.11,-146.6,224.2,-11.7,108,2067,0.00,2.50,0.00,0.000,6,0.000,0.055,2495,2126,3430
$GC,2388,-1.11,-146.6,262.2,-11.7,129,2392,0.00,2.55,0.00,0.000,4,0.000,0.062,2495,719,3430
$GC,2420,-1.11,-146.6,266.5,-12.4,131,2425,0.00,2.50,0.00,0.000,6,0.000,0.051,2495,2127,3430
$GC,2742,-1.11,-146.6,305.2,-12.7,151,2743,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2126,3430
$GC,3052,-1.11,-146.6,343.4,-12.6,171,3056,0.00,2.55,0.00,0.000,4,0.000,0.064,2495,723,3430
$GC,3091,-1.11,-146.6,348.5,-12.4,173,3097,0.00,2.47,0.00,0.000,6,0.000,0.051,2495,2116,3430
$GC,3410,-1.11,-146.6,383.2,-9.8,194,3415,0.00,2.58,0.00,0.000,4,0.000,0.068,2495,3534,3430
$GC,3433,-1.08,-146.6,385.3,-9.0,195,3440,0.00,2.58,0.00,0.000,6,0.000,0.057,2494,2108,3430
$GC,3752,-1.08,-146.6,414.1,-9.2,216,3757,0.00,2.65,0.00,0.000,4,0.000,0.074,2494,3537,3430
$GC,3782,-1.08,-146.6,417.0,-10.4,218,3786,0.00,2.55,0.00,0.000,6,0.000,0.057,2494,2123,3430
$GC,4108,-1.08,-146.6,453.3,-12.3,239,4112,0.00,2.50,0.00,0.000,4,0.000,0.065,2495,721,3430
$GC,4198,-1.08,-146.6,465.2,-12.8,244,4204,0.00,2.50,0.00,0.000,6,0.000,0.051,2494,2131,3430
$GC,4517,-1.08,-146.6,501.6,-10.7,265,4521,0.00,2.58,0.00,0.000,4,0.000,0.067,2495,721,3430
$GC,4583,-1.08,-146.6,508.6,-10.2,269,4587,0.00,2.50,0.00,0.000,6,0.000,0.054,2495,2122,3430
$GC,4903,-1.08,-146.6,537.1,-8.4,289,4907,0.00,2.58,0.00,0.000,4,0.000,0.070,2494,718,3429
$GC,4941,-1.08,-146.6,540.7,-9.0,291,4947,0.00,2.45,0.00,0.000,6,0.000,0.055,2495,2088,3430
$GC,5260,-1.08,-146.6,568.6,-8.6,312,5265,0.00,2.67,0.00,0.000,4,0.000,0.077,2495,3540,3429
$GC,5299,-1.08,-146.6,572.3,-8.9,314,5305,0.00,2.67,0.00,0.000,6,0.000,0.066,2495,2082,3428
$STATE,5537,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5537,begin apogee
$GC,5544,-0.33,0.0,593.9,9.6,330,5677,0.82,0.00,129.35,1.230,6,0.082,0.000,2670,1839,2831
$STATE,5678,end apogee,CONTROL_FINISHED_OK
$STATE,5678,begin climb
$GC,5682,1.22,146.6,599.7,0.0,339,5822,1.55,2.70,128.12,1.192,4,0.065,0.081,3006,445,2233
$GC,5870,1.13,161.2,592.3,7.5,350,5892,0.00,2.58,14.38,1.078,6,0.000,0.061,3006,1861,2173
$GC,6209,1.20,232.5,572.5,5.4,372,6277,0.00,2.67,62.78,1.180,4,0.000,0.078,3007,3246,1883
$GC,6412,1.20,232.5,557.7,8.1,384,6418,0.00,2.60,0.00,0.000,6,0.000,0.074,3006,1871,1882
$GC,6731,1.27,279.2,535.9,6.3,405,6775,0.00,0.00,41.40,1.186,6,0.000,0.000,3006,1871,1692
$GC,7088,1.27,279.2,500.5,11.6,428,7092,0.00,2.60,0.00,0.000,4,0.000,0.076,3006,3244,1692
$GC,7136,1.31,279.2,495.2,11.7,431,7141,0.12,2.58,0.00,0.000,6,0.064,0.073,3037,1872,1692
$GC,7463,1.26,279.2,453.2,13.0,452,7467,0.00,2.67,0.00,0.000,4,0.000,0.081,3037,432,1691
$GC,7552,1.18,279.2,441.6,12.0,457,7559,0.20,2.58,0.00,0.000,6,0.097,0.060,3000,1845,1691
$GC,7872,1.22,279.2,412.5,9.6,478,7873,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,1860,1691
$GC,8185,1.25,279.2,382.3,9.5,498,8189,0.00,2.58,0.00,0.000,4,0.000,0.069,3000,3260,1690
$GC,8207,1.31,279.2,380.0,10.1,499,8214,0.15,2.58,0.00,0.000,6,0.060,0.062,3036,1857,1690
$GC,8528,1.27,279.2,345.2,11.1,520,8530,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,1857,1690
$GC,8839,1.23,279.2,310.4,11.3,540,8844,0.12,2.58,0.00,0.000,4,0.093,0.064,3013,3258,1690
$GC,8867,1.23,279.2,307.1,11.5,542,8872,0.00,2.53,0.00,0.000,6,0.000,0.058,3013,1864,1691
$GC,9192,1.23,279.2,270.3,12.9,563,9193,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,1864,1691
$GC,9505,1.23,279.2,236.1,9.9,583,9509,0.00,2.55,0.00,0.000,4,0.000,0.061,3013,3261,1691
$GC,9544,1.28,279.2,232.3,9.1,585,9550,0.00,2.50,0.00,0.000,6,0.000,0.054,3013,1873,1691
$GC,9864,1.28,279.2,201.2,9.1,606,9865,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,1873,1691
$GC,10175,1.28,279.2,172.7,8.7,626,10180,0.00,2.53,0.00,0.000,4,0.000,0.060,3013,3261,1692
$GC,10222,1.34,291.9,169.0,7.5,629,10239,0.12,2.45,12.12,0.858,6,0.059,0.051,3047,1889,1641
$GC,10553,1.30,291.9,135.8,10.6,648,10558,0.00,2.62,0.00,0.000,4,0.000,0.066,3046,432,1641
$GC,10576,1.23,291.9,132.4,12.8,649,10581,0.17,2.60,0.00,0.000,6,0.088,0.048,3013,1895,1641
$GC,10898,1.23,291.9,96.9,11.7,665,10902,0.00,2.67,0.00,0.000,4,0.000,0.065,3012,436,1641
$GC,10943,1.23,291.9,90.8,14.0,667,10947,0.00,2.55,0.00,0.000,6,0.000,0.048,3012,1869,1642
$GC,11264,1.23,291.9,59.0,8.1,683,11268,0.00,2.62,0.00,0.000,4,0.000,0.064,3012,433,1642
$GC,11304,1.23,291.9,54.5,12.4,685,11308,0.00,2.55,0.00,0.000,6,0.000,0.048,3012,1875,1642
$GC,11632,1.34,335.6,27.4,6.4,701,11675,0.12,2.72,36.85,0.809,4,0.056,0.064,3046,446,1461
$GC,11710,1.27,335.6,17.6,14.1,704,11717,0.12,2.53,0.00,0.000,6,0.091,0.048,3023,1858,1462
$STATE,11858,end climb,SURFACE_DEPTH_REACHED
$STATE,11858,begin surface coast
$FINISH,0.7,1.014870
$STATE,11881,end surface coast,CONTROL_FINISHED_OK
$STATE,11881,begin surface
$SM_CCo,11966,0.00,0.000,0,0,1460,336.06
$SM_GC,1.28,11.30,0.00,0.00,0.035,0.000,0.000,419,2131,1460,-10.60,0.00,336.06
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1830
$TCM_TEMP,17.30
$XPDR_PINGS,41
$ALTIM_BOTTOM_PING,521.1,82.3
$24V_AH,23.8,42.451
$10V_AH,10.1,18.778
$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,26.325,124.125,425.000,0.000,0.000,75.527,52.396,194.554,14.750,0.000,0.000,13.604,1263.044,8573.737,534.236,1506.561,598.083,33.368,1317.194,0.000,1471.312,0.000,32.864,0.000
$DEVICE_MAMPS,161.070,81.302,1230.268,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,487.702,518.562,435.113,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38007,713
$CAP_FILE_SIZE,104695,0
$CFSIZE,254472192,238428160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,071009,121634,6402.295,-1240.945,40,2.0,40,-12.3