version: 66.04
glider: 5
mission: 7
dive: 274
start: 10 9 109 22 16 16
data:
$ID,5
$MISSION,7
$DIVE,274
$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,-105581.55
$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,31
$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
$GPS1,220937,6401.517,-1304.938,52,1.5,52,-12.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-47.3
$GPS2,221525,6401.604,-1304.954,11,1.7,16,-12.5
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,P3
$TGT_LATLONG,6349.750,-1321.120
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.236,-0.067
$KALMAN_X,11165.3,-1181.6,-816.1,-242543.5,12496.5
$KALMAN_Y,6972.1,-1664.4,-434.6,263699.2,11904.2
$MHEAD_RNG_PITCHd_Wd,266.6,25619,-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,16,-1.22,-146.6,0.0,0.0,0,79,0.00,0.00,-60.95,0.000,2,0.000,0.000,418,2125,2404
$GC,83,-1.22,-146.6,2.0,-2.1,3,139,11.40,2.58,-37.40,0.000,4,0.165,0.069,2469,716,3429
$GC,196,-1.13,-146.6,13.3,-10.1,8,201,0.15,2.50,0.00,0.000,6,0.107,0.047,2498,2126,3429
$GC,518,-1.09,-146.6,52.3,-10.2,24,522,0.00,2.58,0.00,0.000,4,0.000,0.059,2498,704,3429
$GC,551,-1.09,-146.6,55.7,-9.6,25,558,0.00,2.55,0.00,0.000,6,0.000,0.050,2498,2137,3429
$GC,870,-1.06,-146.6,87.5,-9.2,41,874,0.00,2.58,0.00,0.000,4,0.000,0.058,2498,709,3429
$GC,914,-1.06,-146.6,92.6,-10.9,43,918,0.00,2.53,0.00,0.000,6,0.000,0.048,2499,2132,3430
$GC,1236,-1.06,-146.6,123.5,-9.7,59,1241,0.00,2.58,0.00,0.000,4,0.000,0.058,2498,706,3430
$GC,1277,-1.06,-146.6,127.5,-9.3,61,1281,0.00,2.53,0.00,0.000,6,0.000,0.049,2498,2130,3429
$GC,1594,-1.06,-146.6,161.5,-10.5,78,1598,0.00,2.58,0.00,0.000,4,0.000,0.061,2498,707,3430
$GC,1624,-1.06,-146.6,164.7,-11.5,80,1628,0.00,2.50,0.00,0.000,6,0.000,0.050,2498,2117,3430
$GC,1948,-1.06,-146.6,198.3,-10.6,101,1952,0.00,2.55,0.00,0.000,4,0.000,0.060,2499,706,3430
$GC,1964,-1.06,-146.6,200.3,-10.8,102,1969,0.00,2.50,0.00,0.000,6,0.000,0.050,2498,2113,3430
$GC,2283,-1.06,-146.6,234.4,-11.0,122,2287,0.00,2.53,0.00,0.000,4,0.000,0.061,2498,716,3430
$GC,2333,-1.06,-146.6,240.3,-11.2,125,2337,0.00,2.45,0.00,0.000,6,0.000,0.051,2499,2092,3430
$GC,2652,-1.06,-146.6,274.5,-10.4,145,2653,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2090,3430
$GC,2965,-1.06,-146.6,307.2,-10.4,165,2969,0.00,2.50,0.00,0.000,4,0.000,0.061,2498,712,3430
$GC,3004,-1.06,-146.6,311.5,-10.5,167,3010,0.00,2.45,0.00,0.000,6,0.000,0.051,2499,2090,3430
$GC,3323,-1.06,-146.6,344.6,-10.5,188,3328,0.00,2.50,0.00,0.000,4,0.000,0.061,2498,709,3430
$GC,3345,-1.06,-146.6,347.1,-10.9,189,3349,0.00,2.45,0.00,0.000,6,0.000,0.051,2499,2083,3430
$GC,3664,-1.06,-146.6,378.7,-10.1,209,3668,0.00,2.50,0.00,0.000,4,0.000,0.063,2498,709,3430
$GC,3699,-1.06,-146.6,382.2,-10.4,211,3703,0.00,2.42,0.00,0.000,6,0.000,0.052,2499,2071,3430
$GC,4029,-1.06,-146.6,415.2,-10.0,232,4033,0.00,2.47,0.00,0.000,4,0.000,0.064,2498,712,3429
$GC,4067,-1.06,-146.6,418.9,-9.6,234,4073,0.00,2.40,0.00,0.000,6,0.000,0.053,2499,2054,3429
$GC,4387,-1.06,-146.6,447.4,-9.4,255,4391,0.00,2.70,0.00,0.000,4,0.000,0.071,2499,3537,3429
$GC,4415,-1.06,-146.6,450.1,-9.1,257,4419,0.00,2.70,0.00,0.000,6,0.000,0.061,2498,2049,3429
$GC,4739,-1.06,-146.6,479.6,-8.7,278,4743,0.00,2.78,0.00,0.000,4,0.000,0.071,2498,3541,3429
$GC,4761,-1.06,-146.6,481.5,-8.6,279,4767,0.00,2.70,0.00,0.000,6,0.000,0.060,2498,2050,3429
$GC,5080,-1.06,-146.6,510.7,-10.1,300,5084,0.00,2.40,0.00,0.000,4,0.000,0.067,2498,716,3428
$GC,5130,-1.06,-146.6,517.0,-13.2,303,5134,0.00,2.40,0.00,0.000,6,0.000,0.051,2498,2067,3428
$GC,5452,-1.06,-146.6,550.3,-9.3,323,5456,0.00,2.67,0.00,0.000,4,0.000,0.073,2498,3533,3427
$GC,5480,-1.06,-146.6,553.6,-10.4,325,5484,0.00,2.70,0.00,0.000,6,0.000,0.061,2498,2048,3427
$GC,5805,-1.06,-146.6,583.3,-9.5,346,5806,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2035,3427
$STATE,5958,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5958,begin apogee
$GC,5965,-0.33,0.0,598.5,9.4,356,6097,0.82,0.00,128.18,1.230,6,0.084,0.000,2674,1842,2832
$STATE,6098,end apogee,CONTROL_FINISHED_OK
$STATE,6098,begin climb
$GC,6101,1.22,146.6,603.0,0.0,365,6245,1.52,2.72,128.82,1.183,4,0.064,0.067,3006,3259,2232
$GC,6274,1.28,217.2,596.6,5.4,375,6343,0.00,2.62,62.30,1.151,6,0.000,0.064,3006,1848,1945
$GC,6655,1.28,217.2,565.4,8.5,400,6659,0.00,2.62,0.00,0.000,4,0.000,0.068,3006,3254,1944
$GC,6683,1.28,217.2,562.9,8.8,402,6687,0.00,2.58,0.00,0.000,6,0.000,0.065,3006,1860,1943
$GC,7007,1.28,217.2,537.2,8.6,423,7011,0.00,2.60,0.00,0.000,4,0.000,0.069,3006,3255,1943
$GC,7053,1.28,217.2,533.0,9.6,426,7058,0.00,2.53,0.00,0.000,6,0.000,0.063,3006,1876,1943
$GC,7378,1.31,234.7,506.0,7.4,447,7400,0.12,2.70,16.15,1.093,4,0.061,0.072,3039,433,1874
$GC,7495,1.19,234.7,494.7,11.5,454,7500,0.17,2.58,0.00,0.000,6,0.094,0.055,3006,1858,1874
$GC,7819,1.19,234.7,467.7,8.5,475,7820,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1871,1873
$GC,8131,1.19,234.7,441.9,8.5,495,8132,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1874,1873
$GC,8444,1.19,234.7,414.5,9.1,515,8448,0.00,2.62,0.00,0.000,4,0.000,0.071,3006,442,1873
$GC,8528,1.19,234.7,405.8,10.7,520,8532,0.00,2.53,0.00,0.000,6,0.000,0.054,3006,1849,1873
$GC,8847,1.19,234.7,373.9,10.5,540,8851,0.00,2.55,0.00,0.000,4,0.000,0.065,3006,3261,1872
$GC,8893,1.23,234.7,369.0,10.9,543,8897,0.00,2.58,0.00,0.000,6,0.000,0.060,3006,1848,1872
$GC,9217,1.23,234.7,337.4,9.4,564,9221,0.00,2.60,0.00,0.000,4,0.000,0.064,3006,3260,1872
$GC,9262,1.23,234.7,333.0,9.6,567,9267,0.00,2.53,0.00,0.000,6,0.000,0.057,3006,1865,1872
$GC,9587,1.23,234.7,304.2,8.1,588,9591,0.00,2.58,0.00,0.000,4,0.000,0.069,3006,438,1872
$GC,9666,1.23,234.7,296.9,10.0,593,9671,0.00,2.53,0.00,0.000,6,0.000,0.051,3006,1859,1872
$GC,9991,1.23,234.7,268.9,8.4,614,9993,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1873,1872
$GC,10303,1.23,234.7,241.6,9.1,634,10307,0.00,2.60,0.00,0.000,4,0.000,0.066,3006,441,1872
$GC,10342,1.23,234.7,237.6,10.2,636,10348,0.00,2.50,0.00,0.000,6,0.000,0.050,3006,1850,1872
$GC,10661,1.23,234.7,208.1,9.0,657,10665,0.00,2.50,0.00,0.000,4,0.000,0.061,3006,3254,1873
$GC,10707,1.27,234.7,204.0,9.5,660,10711,0.00,2.53,0.00,0.000,6,0.000,0.052,3006,1844,1873
$GC,11032,1.29,245.8,177.0,7.6,681,11046,0.00,0.00,10.75,0.851,6,0.000,0.000,3006,1844,1827
$GC,11358,1.29,245.8,150.5,8.5,702,11363,0.00,2.58,0.00,0.000,4,0.000,0.059,3006,3260,1828
$GC,11387,1.33,245.8,148.2,8.5,704,11392,0.12,2.53,0.00,0.000,6,0.056,0.051,3039,1850,1828
$GC,11705,1.28,245.8,117.7,9.8,719,11707,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,1850,1828
$GC,12012,1.24,245.8,84.5,11.4,734,12017,0.12,2.55,0.00,0.000,4,0.091,0.058,3015,3257,1828
$GC,12046,1.24,245.8,80.5,10.4,735,12052,0.00,2.50,0.00,0.000,6,0.000,0.050,3015,1853,1828
$GC,12364,1.24,245.8,49.5,9.1,751,12368,0.00,2.53,0.00,0.000,4,0.000,0.064,3015,438,1828
$GC,12419,1.24,245.8,43.1,9.9,753,12426,0.00,2.50,0.00,0.000,6,0.000,0.048,3015,1858,1829
$GC,12736,1.46,379.7,13.6,3.1,769,12847,0.20,0.00,107.65,0.809,6,0.051,0.000,3067,1876,1282
$STATE,12877,end climb,SURFACE_DEPTH_REACHED
$STATE,12877,begin surface coast
$FINISH,0.4,1.027289
$STATE,12903,end surface coast,CONTROL_FINISHED_OK
$STATE,12903,begin surface
$SM_CCo,12987,0.00,0.000,0,0,1281,379.97
$SM_GC,1.28,11.62,0.00,0.00,0.038,0.000,0.000,418,2140,1281,-10.61,0.25,379.97
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1802
$TCM_TEMP,17.20
$XPDR_PINGS,43
$ALTIM_BOTTOM_PING,546.0,61.3
$24V_AH,23.8,45.200
$10V_AH,10.1,19.968
$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,26.275,143.775,453.850,0.000,0.000,37.762,25.273,158.445,15.500,0.000,0.000,16.313,1370.126,9294.157,558.843,1602.269,507.854,33.385,1406.973,0.000,1561.241,0.000,33.468,0.000
$DEVICE_MAMPS,164.905,72.865,1230.268,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,531.741,572.416,467.816,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41083,777
$CAP_FILE_SIZE,110099,0
$CFSIZE,254472192,237490176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,101009,015400,6402.439,-1305.092,40,2.0,40,-12.5