version: 66.04
glider: 5
mission: 7
dive: 272
start: 10 9 109 15 33 3
data:
$ID,5
$MISSION,7
$DIVE,272
$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,-105540.63
$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,35
$R_STBD_OVSHOOT,36
$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
$GPS1,151955,6404.272,-1300.303,41,1.5,41,-12.5
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-47.2
$GPS2,153214,6404.457,-1300.232,11,1.7,11,-12.5
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,P3
$TGT_LATLONG,6349.750,-1321.120
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.162,-0.184
$KALMAN_X,13935.4,-2315.9,-1243.2,-239604.9,22123.0
$KALMAN_Y,8694.7,-1850.6,-1451.9,268465.7,18875.7
$MHEAD_RNG_PITCHd_Wd,233.8,32139,-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,15,-1.22,-146.6,0.0,0.0,0,84,0.00,0.00,-66.35,0.000,2,0.000,0.000,424,2143,2662
$GC,88,-1.22,-146.6,2.7,-2.2,4,136,11.07,2.55,-30.58,0.000,4,0.148,0.071,2474,731,3428
$GC,338,-1.17,-146.6,30.3,-13.4,15,343,0.00,2.47,0.00,0.000,6,0.000,0.048,2474,2123,3429
$GC,656,-1.04,-146.6,81.7,-12.7,30,658,0.20,0.00,0.00,0.000,6,0.097,0.000,2516,2134,3428
$GC,965,-1.04,-146.6,120.5,-10.3,45,969,0.00,2.53,0.00,0.000,4,0.000,0.060,2516,732,3428
$GC,1021,-1.08,-146.6,126.4,-10.4,47,1025,0.00,2.50,0.00,0.000,6,0.000,0.051,2516,2138,3429
$GC,1344,-1.08,-146.6,162.9,-11.0,64,1348,0.00,2.55,0.00,0.000,4,0.000,0.060,2516,729,3429
$GC,1407,-1.12,-146.6,170.6,-11.9,68,1411,0.00,2.45,0.00,0.000,6,0.000,0.049,2516,2109,3429
$GC,1732,-1.12,-146.6,207.8,-11.1,89,1735,0.00,2.50,0.00,0.000,4,0.000,0.060,2516,722,3429
$GC,1767,-1.16,-146.6,212.2,-12.5,91,1772,0.12,2.42,0.00,0.000,6,0.058,0.051,2481,2088,3429
$GC,2094,-1.11,-146.6,254.5,-12.6,112,2096,0.12,0.00,0.00,0.000,6,0.097,0.000,2507,2089,3429
$GC,2403,-1.11,-146.6,290.9,-10.7,132,2405,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2089,3429
$GC,2716,-1.11,-146.6,321.7,-9.4,152,2717,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2089,3429
$GC,3030,-1.11,-146.6,353.4,-10.5,172,3035,0.00,2.62,0.00,0.000,4,0.000,0.069,2507,3534,3429
$GC,3052,-1.11,-146.6,356.1,-10.8,173,3059,0.00,2.62,0.00,0.000,6,0.000,0.058,2507,2082,3429
$GC,3372,-1.11,-146.6,388.8,-10.3,194,3376,0.00,2.70,0.00,0.000,4,0.000,0.070,2507,3535,3429
$GC,3410,-1.11,-146.6,393.6,-12.6,196,3416,0.00,2.62,0.00,0.000,6,0.000,0.060,2507,2087,3429
$GC,3729,-1.11,-146.6,428.4,-12.2,217,3731,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2074,3429
$GC,4042,-1.11,-146.6,462.7,-11.4,237,4047,0.00,2.70,0.00,0.000,4,0.000,0.072,2507,3537,3429
$GC,4088,-1.11,-146.6,467.8,-11.2,240,4093,0.00,2.62,0.00,0.000,6,0.000,0.061,2507,2094,3428
$GC,4415,-1.11,-146.6,503.1,-10.8,261,4419,0.00,2.47,0.00,0.000,4,0.000,0.070,2507,720,3428
$GC,4461,-1.15,-146.6,508.1,-10.1,264,4465,0.00,2.50,0.00,0.000,6,0.000,0.055,2507,2116,3428
$GC,4785,-1.15,-146.6,536.4,-8.0,285,4790,0.00,2.58,0.00,0.000,4,0.000,0.071,2507,716,3427
$GC,4854,-1.20,-146.6,542.6,-9.7,289,4858,0.10,2.47,0.00,0.000,6,0.065,0.056,2479,2096,3427
$STATE,5030,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5030,begin apogee
$GC,5037,-0.33,0.0,561.5,10.6,300,5169,0.90,0.00,128.45,1.213,6,0.081,0.000,2669,1827,2832
$STATE,5170,end apogee,CONTROL_FINISHED_OK
$STATE,5170,begin climb
$GC,5173,1.22,146.6,569.4,0.0,309,5313,1.52,2.65,128.38,1.170,4,0.056,0.074,3008,456,2233
$GC,5327,1.43,338.7,566.9,1.0,318,5508,0.22,2.55,167.57,1.139,6,0.051,0.056,3062,1866,1450
$GC,5817,1.35,338.7,510.8,14.0,350,5822,0.12,2.65,0.00,0.000,4,0.095,0.079,3039,455,1451
$GC,5856,1.30,338.7,504.9,14.3,352,5863,0.00,2.47,0.00,0.000,6,0.000,0.058,3038,1812,1451
$GC,6176,1.30,338.7,462.5,12.9,373,6180,0.00,2.65,0.00,0.000,4,0.000,0.070,3039,3259,1451
$GC,6209,1.30,338.7,457.8,13.1,375,6213,0.00,2.65,0.00,0.000,6,0.000,0.067,3039,1837,1451
$GC,6528,1.30,338.7,420.2,11.8,395,6532,0.00,2.65,0.00,0.000,4,0.000,0.069,3039,3257,1451
$GC,6590,1.30,338.7,412.7,11.8,399,6595,0.00,2.60,0.00,0.000,6,0.000,0.068,3039,1853,1451
$GC,6915,1.30,338.7,376.0,12.6,420,6919,0.00,2.60,0.00,0.000,4,0.000,0.067,3039,3255,1450
$GC,6943,1.30,338.7,372.2,13.5,422,6948,0.00,2.55,0.00,0.000,6,0.000,0.064,3039,1870,1450
$GC,7268,1.30,338.7,331.5,12.1,443,7272,0.00,2.55,0.00,0.000,4,0.000,0.067,3039,3258,1450
$GC,7353,1.30,338.7,321.7,10.6,448,7357,0.00,2.45,0.00,0.000,6,0.000,0.060,3039,1915,1450
$GC,7684,1.30,338.7,283.4,11.8,469,7685,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,1914,1449
$GC,7995,1.30,338.7,248.2,10.7,489,7999,0.00,2.47,0.00,0.000,4,0.000,0.063,3038,3263,1450
$GC,8019,1.30,338.7,245.6,11.5,490,8025,0.00,2.42,0.00,0.000,6,0.000,0.055,3039,1920,1450
$GC,8339,1.30,338.7,211.8,10.7,511,8340,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,1919,1450
$GC,8651,1.30,338.7,175.0,12.7,531,8652,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,1919,1450
$GC,8979,1.30,338.7,135.0,12.0,550,8980,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,1919,1450
$GC,9287,1.30,338.7,99.4,10.8,565,9291,0.00,2.45,0.00,0.000,4,0.000,0.061,3039,3265,1451
$GC,9342,1.30,338.7,93.4,11.5,567,9349,0.00,2.35,0.00,0.000,6,0.000,0.049,3039,1941,1451
$GC,9659,1.30,338.7,55.4,13.4,583,9663,0.00,2.67,0.00,0.000,4,0.000,0.061,3039,438,1451
$GC,9703,1.30,338.7,49.7,10.4,585,9708,0.00,2.67,0.00,0.000,6,0.000,0.048,3039,1956,1451
$GC,10025,1.34,338.7,8.2,8.3,601,10029,0.00,2.78,0.00,0.000,4,0.000,0.062,3039,430,1452
$GC,10047,1.27,338.7,5.9,10.3,602,10051,0.00,2.70,0.00,0.000,6,0.000,0.048,3039,1959,1452
$STATE,10097,end climb,SURFACE_DEPTH_REACHED
$STATE,10097,begin surface coast
$FINISH,0.5,1.014127
$STATE,10119,end surface coast,CONTROL_FINISHED_OK
$STATE,10119,begin surface
$SM_CCo,10204,0.00,0.000,0,0,1450,338.76
$SM_GC,1.40,11.38,0.00,0.00,0.038,0.000,0.000,426,2138,1450,-10.59,0.20,338.76
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1823
$TCM_TEMP,16.10
$XPDR_PINGS,25
$ALTIM_BOTTOM_PING,496.4,74.4
$24V_AH,23.8,44.882
$10V_AH,10.1,19.825
$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,25.775,98.200,424.400,0.000,0.000,113.290,90.711,282.715,10.500,0.000,0.000,11.457,1065.128,7361.297,506.085,1279.518,727.574,33.373,1182.088,0.000,1247.615,0.000,32.449,0.000
$DEVICE_MAMPS,148.031,79.001,1212.627,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,414.178,440.573,371.987,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31723,606
$CAP_FILE_SIZE,91714,0
$CFSIZE,254472192,237617152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,091009,182437,6402.778,-1302.090,53,1.2,53,-12.5