version: 66.04
glider: 5
mission: 7
dive: 273
start: 10 9 109 18 31 7
data:
$ID,5
$MISSION,7
$DIVE,273
$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,-105564.61
$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,20
$R_STBD_OVSHOOT,25
$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
$GPS1,182437,6402.778,-1302.090,53,1.2,53,-12.5
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-49.2
$GPS2,183019,6402.793,-1302.169,23,1.3,23,-12.5
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,P3
$TGT_LATLONG,6349.750,-1321.120
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.166,-0.181
$KALMAN_X,13264.7,-1239.1,-1806.2,-241127.9,22155.6
$KALMAN_Y,7669.1,-1866.0,-1094.6,266086.5,18099.9
$MHEAD_RNG_PITCHd_Wd,235.1,28690,-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,17,-1.22,-146.6,0.0,0.0,0,61,0.00,0.00,-41.65,0.000,2,0.000,0.000,425,2149,2289
$GC,65,-1.22,-146.6,2.3,-4.7,2,130,11.10,2.62,-47.60,0.000,4,0.151,0.065,2469,709,3430
$GC,343,-1.15,-146.6,37.1,-13.2,14,349,0.12,2.53,0.00,0.000,6,0.108,0.048,2493,2133,3430
$GC,661,-1.07,-146.6,78.8,-16.0,29,662,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2136,3430
$GC,969,-1.03,-146.6,118.5,-12.9,44,974,0.12,2.58,0.00,0.000,4,0.101,0.059,2520,708,3430
$GC,1010,-1.08,-146.6,123.2,-11.4,46,1015,0.00,2.53,0.00,0.000,6,0.000,0.050,2520,2131,3430
$GC,1338,-1.08,-146.6,156.7,-10.1,63,1340,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2130,3430
$GC,1650,-1.08,-146.6,190.2,-10.3,83,1654,0.00,2.58,0.00,0.000,4,0.000,0.062,2520,712,3430
$GC,1718,-1.14,-146.6,197.1,-10.5,87,1723,0.12,2.47,0.00,0.000,6,0.057,0.051,2486,2104,3430
$GC,2040,-1.09,-146.6,233.2,-12.2,107,2044,0.00,2.53,0.00,0.000,4,0.000,0.063,2486,714,3430
$GC,2062,-1.06,-146.6,236.3,-11.7,108,2067,0.12,2.47,0.00,0.000,6,0.094,0.051,2512,2102,3430
$GC,2386,-1.06,-146.6,271.3,-10.3,128,2387,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2102,3431
$GC,2693,-1.06,-146.6,302.5,-10.3,148,2697,0.00,2.53,0.00,0.000,4,0.000,0.063,2512,713,3430
$GC,2732,-1.09,-146.6,306.6,-10.8,150,2738,0.00,2.45,0.00,0.000,6,0.000,0.051,2512,2086,3431
$GC,3052,-1.09,-146.6,338.8,-10.0,171,3056,0.00,2.62,0.00,0.000,4,0.000,0.067,2512,3536,3430
$GC,3102,-1.09,-146.6,344.1,-10.4,174,3106,0.00,2.62,0.00,0.000,6,0.000,0.055,2512,2075,3430
$GC,3421,-1.09,-146.6,377.2,-10.4,194,3426,0.00,2.70,0.00,0.000,4,0.000,0.068,2512,3537,3430
$GC,3455,-1.09,-146.6,380.8,-10.2,196,3459,0.00,2.62,0.00,0.000,6,0.000,0.057,2512,2081,3430
$GC,3774,-1.09,-146.6,409.9,-8.4,216,3775,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2058,3431
$GC,4087,-1.09,-146.6,438.1,-9.5,236,4092,0.00,2.70,0.00,0.000,4,0.000,0.070,2512,3540,3431
$GC,4149,-1.09,-146.6,444.1,-10.2,240,4154,0.00,2.65,0.00,0.000,6,0.000,0.058,2512,2079,3431
$GC,4475,-1.09,-146.6,479.2,-10.9,261,4480,0.00,2.70,0.00,0.000,4,0.000,0.071,2512,3534,3431
$GC,4531,-1.09,-146.6,485.4,-11.1,264,4537,0.00,2.62,0.00,0.000,6,0.000,0.059,2512,2084,3430
$GC,4851,-1.09,-146.6,515.3,-8.2,285,4856,0.00,2.45,0.00,0.000,4,0.000,0.067,2512,718,3430
$GC,4908,-1.14,-146.6,520.5,-9.6,288,4914,0.00,2.42,0.00,0.000,6,0.000,0.054,2512,2074,3430
$GC,5227,-1.14,-146.6,547.8,-8.9,309,5231,0.00,2.50,0.00,0.000,4,0.000,0.071,2512,719,3429
$GC,5279,-1.19,-146.6,553.3,-10.9,312,5284,0.12,2.40,0.00,0.000,6,0.065,0.056,2477,2055,3429
$GC,5607,-1.15,-146.6,591.0,-10.9,333,5611,0.00,2.47,0.00,0.000,4,0.000,0.074,2477,723,3428
$GC,5640,-1.15,-146.6,595.9,-13.6,335,5644,0.00,2.38,0.00,0.000,6,0.000,0.058,2477,2036,3429
$STATE,5784,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5784,begin apogee
$GC,5792,-0.33,0.0,613.6,10.7,344,5928,0.90,0.00,131.95,1.239,6,0.084,0.000,2669,1831,2831
$STATE,5929,end apogee,CONTROL_FINISHED_OK
$STATE,5929,begin climb
$GC,5932,1.22,146.6,618.3,0.0,353,6076,1.55,2.72,129.00,1.203,4,0.061,0.069,3009,3258,2233
$GC,6162,1.22,146.6,606.3,8.7,367,6166,0.00,2.60,0.00,0.000,6,0.000,0.065,3008,1860,2232
$GC,6489,1.21,193.6,585.3,6.3,388,6537,0.00,2.70,41.72,1.177,4,0.000,0.077,3009,432,2041
$GC,6590,1.12,193.6,576.8,8.9,394,6594,0.00,2.58,0.00,0.000,6,0.000,0.058,3009,1844,2040
$GC,6914,1.07,193.6,550.6,9.4,415,6916,0.17,0.00,0.00,0.000,6,0.093,0.000,2976,1860,2040
$GC,7227,1.14,211.0,526.2,7.4,435,7246,0.00,0.00,16.55,1.136,6,0.000,0.000,2976,1860,1970
$GC,7554,1.19,212.6,500.5,7.9,456,7559,0.12,2.65,0.00,0.000,4,0.059,0.077,3008,440,1969
$GC,7611,1.13,212.6,494.9,10.5,459,7617,0.00,2.58,0.00,0.000,6,0.000,0.059,3008,1856,1969
$GC,7930,1.13,212.6,465.8,8.4,480,7934,0.00,2.55,0.00,0.000,4,0.000,0.068,3008,3257,1968
$GC,7958,1.13,212.6,463.3,8.4,482,7963,0.00,2.60,0.00,0.000,6,0.000,0.064,3008,1848,1968
$GC,8284,1.14,216.5,439.0,7.9,503,8295,0.00,2.62,5.97,0.920,4,0.000,0.066,3008,3255,1948
$GC,8351,1.14,216.5,432.8,9.5,506,8355,0.00,2.55,0.00,0.000,6,0.000,0.061,3008,1868,1947
$GC,8671,1.15,225.4,405.7,7.7,526,8687,0.00,2.67,8.75,0.999,4,0.000,0.073,3008,430,1912
$GC,8711,1.12,225.4,402.3,8.6,528,8715,0.00,2.62,0.00,0.000,6,0.000,0.055,3008,1876,1912
$GC,9030,1.12,225.4,376.2,8.6,548,9034,0.00,2.50,0.00,0.000,4,0.000,0.066,3008,3258,1912
$GC,9102,1.12,225.4,369.7,8.9,552,9108,0.00,2.53,0.00,0.000,6,0.000,0.058,3008,1871,1912
$GC,9422,1.12,225.4,343.6,8.1,573,9426,0.00,2.60,0.00,0.000,4,0.000,0.069,3008,434,1912
$GC,9478,1.09,225.4,338.8,9.2,576,9484,0.15,2.58,0.00,0.000,6,0.087,0.053,2979,1874,1912
$GC,9800,1.22,265.4,317.6,6.5,597,9841,0.15,0.00,35.30,1.048,6,0.054,0.000,3018,1890,1749
$GC,10154,1.22,265.4,282.8,10.4,620,10155,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,1890,1749
$GC,10467,1.22,265.4,249.9,10.5,640,10471,0.00,2.65,0.00,0.000,4,0.000,0.067,3018,435,1749
$GC,10522,1.22,265.4,243.6,11.1,643,10528,0.00,2.53,0.00,0.000,6,0.000,0.050,3018,1855,1749
$GC,10841,1.22,265.4,210.1,10.2,664,10842,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,1869,1750
$GC,11154,1.22,265.4,180.6,9.5,684,11155,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,1869,1750
$GC,11466,1.22,265.4,150.1,8.8,704,11467,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,1869,1750
$GC,11791,1.22,265.4,120.6,10.9,720,11795,0.00,2.60,0.00,0.000,4,0.000,0.065,3018,434,1751
$GC,11813,1.22,265.4,117.8,11.9,721,11817,0.00,2.50,0.00,0.000,6,0.000,0.049,3018,1846,1751
$GC,12135,1.22,265.4,86.0,10.4,737,12140,0.00,2.50,0.00,0.000,4,0.000,0.058,3018,3254,1751
$GC,12164,1.25,265.4,82.8,10.9,738,12168,0.00,2.55,0.00,0.000,6,0.000,0.053,3018,1834,1751
$GC,12481,1.34,323.5,57.3,5.9,753,12536,0.00,2.62,48.03,0.845,4,0.000,0.064,3018,437,1512
$GC,12555,1.47,402.8,53.4,5.1,756,12630,0.22,2.53,64.28,0.827,6,0.047,0.048,3076,1859,1187
$STATE,12915,end climb,SURFACE_DEPTH_REACHED
$STATE,12915,begin surface coast
$FINISH,0.4,1.022568
$STATE,12937,end surface coast,CONTROL_FINISHED_OK
$STATE,12937,begin surface
$SM_CCo,13021,0.00,0.000,0,0,1190,402.54
$SM_GC,1.15,11.55,0.00,0.00,0.035,0.000,0.000,419,2142,1190,-10.60,0.34,402.54
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1820
$TCM_TEMP,16.20
$XPDR_PINGS,27
$ALTIM_BOTTOM_PING,570.9,51.1
$24V_AH,23.8,45.046
$10V_AH,10.1,19.896
$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,26.550,124.100,481.550,0.000,0.000,37.763,31.886,148.007,11.750,0.000,0.000,23.346,1362.714,9300.257,567.557,1637.912,493.106,33.362,1416.470,0.000,1587.964,0.000,35.013,0.000
$DEVICE_MAMPS,151.099,77.467,1239.472,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,530.489,562.185,443.998,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41108,775
$CAP_FILE_SIZE,108846,0
$CFSIZE,254472192,237543424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,091009,220937,6401.517,-1304.938,52,1.5,52,-12.5