version: 66.04
glider: 5
mission: 7
dive: 275
start: 10 10 109 2 3 33
data:
$ID,5
$MISSION,7
$DIVE,275
$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,-105596.73
$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,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
$GPS1,015400,6402.439,-1305.092,40,2.0,40,-12.5
$_CALLS,1
$_XMS_NAKs,44
$_XMS_TOUTs,2
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-52.5
$GPS2,020244,6402.601,-1305.084,14,1.9,14,-12.5
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,P3
$TGT_LATLONG,6349.750,-1321.120
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.152,-0.193
$KALMAN_X,15873.5,-1702.1,-158.3,-247545.9,15007.3
$KALMAN_Y,9278.1,-1169.8,-781.8,263070.9,13214.8
$MHEAD_RNG_PITCHd_Wd,230.7,27166,-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,-146.6,0.0,0.0,0,101,0.00,0.00,-81.03,0.000,2,0.000,0.000,419,2125,2904
$GC,105,-1.22,-146.6,3.2,-3.2,4,140,11.32,2.55,-15.62,0.000,4,0.159,0.067,2472,717,3429
$GC,275,-1.17,-146.6,25.3,-13.6,11,281,0.00,2.53,0.00,0.000,6,0.000,0.049,2472,2136,3429
$GC,593,-1.08,-146.6,64.2,-13.4,27,598,0.17,2.58,0.00,0.000,4,0.105,0.057,2512,712,3429
$GC,688,-1.08,-146.6,76.4,-10.9,31,693,0.00,2.50,0.00,0.000,6,0.000,0.048,2512,2120,3429
$GC,1006,-1.08,-146.6,108.9,-10.5,46,1007,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2120,3429
$GC,1314,-1.08,-146.6,140.4,-10.0,61,1318,0.00,2.55,0.00,0.000,4,0.000,0.058,2512,707,3430
$GC,1347,-1.08,-146.6,144.0,-10.3,62,1354,0.00,2.50,0.00,0.000,6,0.000,0.049,2512,2114,3430
$GC,1666,-1.08,-146.6,177.7,-11.0,82,1667,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2114,3430
$GC,1978,-1.08,-146.6,211.0,-10.5,102,1982,0.00,2.53,0.00,0.000,4,0.000,0.060,2512,717,3430
$GC,2017,-1.12,-146.6,215.3,-11.2,104,2023,0.00,2.47,0.00,0.000,6,0.000,0.050,2512,2110,3430
$GC,2336,-1.12,-146.6,248.7,-10.2,125,2338,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2110,3430
$GC,2649,-1.12,-146.6,279.1,-9.8,145,2650,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2110,3430
$GC,2961,-1.12,-146.6,309.7,-9.9,165,2965,0.00,2.53,0.00,0.000,4,0.000,0.061,2512,714,3430
$GC,2983,-1.12,-146.6,312.1,-10.6,166,2989,0.00,2.47,0.00,0.000,6,0.000,0.051,2512,2104,3430
$GC,3304,-1.12,-146.6,345.3,-10.8,187,3309,0.00,2.62,0.00,0.000,4,0.000,0.071,2512,3542,3430
$GC,3344,-1.12,-146.6,350.2,-11.3,189,3350,0.00,2.60,0.00,0.000,6,0.000,0.057,2512,2101,3430
$GC,3663,-1.12,-146.6,384.3,-10.8,210,3667,0.00,2.47,0.00,0.000,4,0.000,0.064,2512,716,3430
$GC,3697,-1.16,-146.6,388.1,-11.0,212,3701,0.00,2.47,0.00,0.000,6,0.000,0.051,2512,2105,3430
$GC,4016,-1.16,-146.6,422.4,-9.7,232,4020,0.00,2.60,0.00,0.000,4,0.000,0.071,2512,3534,3430
$GC,4049,-1.16,-146.6,426.3,-11.5,234,4053,0.00,2.60,0.00,0.000,6,0.000,0.060,2512,2103,3429
$GC,4368,-1.16,-146.6,459.2,-10.1,254,4373,0.00,2.65,0.00,0.000,4,0.000,0.071,2512,3540,3430
$GC,4402,-1.16,-146.6,462.9,-10.5,256,4406,0.00,2.62,0.00,0.000,6,0.000,0.059,2512,2090,3429
$GC,4722,-1.16,-146.6,493.0,-9.7,276,4726,0.00,2.70,0.00,0.000,4,0.000,0.072,2512,3539,3429
$GC,4794,-1.16,-146.6,500.6,-9.8,280,4800,0.00,2.60,0.00,0.000,6,0.000,0.059,2512,2103,3428
$GC,5113,-1.20,-146.6,530.9,-9.4,301,5119,0.12,2.67,0.00,0.000,4,0.061,0.072,2477,3538,3428
$GC,5153,-1.14,-146.6,535.2,-11.4,303,5160,0.00,2.60,0.00,0.000,6,0.000,0.063,2477,2104,3428
$GC,5472,-1.14,-146.6,572.2,-11.6,324,5473,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2091,3428
$STATE,5657,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5657,begin apogee
$GC,5665,-0.33,0.0,591.7,9.6,336,5798,0.90,0.00,129.10,1.223,6,0.081,0.000,2668,1842,2831
$STATE,5799,end apogee,CONTROL_FINISHED_OK
$STATE,5799,begin climb
$GC,5802,1.22,146.6,597.6,0.0,345,5942,1.55,2.70,128.55,1.181,4,0.062,0.064,3006,3254,2233
$GC,5951,1.12,146.6,592.9,9.7,354,5955,0.00,2.65,0.00,0.000,6,0.000,0.067,3006,1847,2233
$GC,6271,1.19,221.7,571.7,5.3,374,6345,0.00,2.70,65.90,1.160,4,0.000,0.067,3006,3250,1927
$GC,6357,1.19,225.1,565.4,7.9,379,6367,0.00,2.62,4.95,0.811,6,0.000,0.066,3006,1853,1913
$GC,6690,1.19,225.1,535.5,8.7,401,6691,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1853,1912
$GC,6999,1.19,225.1,506.8,9.6,421,7003,0.00,2.60,0.00,0.000,4,0.000,0.069,3006,3255,1911
$GC,7100,1.19,225.1,497.3,9.6,427,7104,0.00,2.58,0.00,0.000,6,0.000,0.064,3006,1855,1911
$GC,7419,1.19,225.1,470.5,8.6,447,7423,0.00,2.62,0.00,0.000,4,0.000,0.068,3006,3264,1910
$GC,7526,1.26,269.6,462.2,6.4,453,7571,0.00,2.53,38.75,1.134,6,0.000,0.062,3006,1886,1731
$GC,7894,1.28,281.7,437.2,7.6,477,7911,0.00,2.62,11.90,1.040,4,0.000,0.065,3006,3257,1682
$GC,7935,1.33,281.7,433.5,8.9,479,7940,0.12,2.53,0.00,0.000,6,0.058,0.061,3039,1893,1682
$GC,8256,1.29,281.7,401.3,9.9,499,8261,0.00,2.65,0.00,0.000,4,0.000,0.071,3039,439,1682
$GC,8358,1.22,281.7,389.2,12.6,505,8363,0.15,2.58,0.00,0.000,6,0.096,0.052,3010,1874,1682
$GC,8679,1.22,281.7,362.1,8.2,525,8683,0.00,2.50,0.00,0.000,4,0.000,0.064,3010,3261,1682
$GC,8718,1.26,281.7,358.5,8.3,527,8724,0.00,2.53,0.00,0.000,6,0.000,0.058,3010,1873,1682
$GC,9038,1.26,281.7,332.2,8.5,548,9039,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1873,1682
$GC,9349,1.26,281.7,303.9,9.4,568,9353,0.00,2.53,0.00,0.000,4,0.000,0.062,3010,3255,1682
$GC,9378,1.31,281.7,301.1,9.6,570,9383,0.00,2.50,0.00,0.000,6,0.000,0.055,3010,1870,1682
$GC,9704,1.31,281.7,271.4,8.4,591,9708,0.00,2.58,0.00,0.000,4,0.000,0.067,3011,438,1682
$GC,9725,1.31,281.7,269.3,9.1,592,9732,0.00,2.58,0.00,0.000,6,0.000,0.050,3011,1887,1682
$GC,10045,1.32,290.5,243.1,7.7,613,10059,0.10,0.00,9.35,0.877,6,0.059,0.000,3038,1900,1645
$GC,10372,1.32,290.5,212.0,10.0,634,10377,0.00,2.67,0.00,0.000,4,0.000,0.067,3039,433,1646
$GC,10412,1.27,290.5,207.6,11.5,636,10418,0.00,2.55,0.00,0.000,6,0.000,0.049,3038,1869,1646
$GC,10731,1.27,290.5,175.4,10.0,657,10735,0.00,2.47,0.00,0.000,4,0.000,0.061,3039,3258,1646
$GC,10752,1.27,290.5,173.0,10.8,658,10758,0.00,2.50,0.00,0.000,6,0.000,0.051,3039,1862,1646
$GC,11081,1.27,290.5,138.7,10.3,678,11086,0.00,2.53,0.00,0.000,4,0.000,0.058,3039,3255,1646
$GC,11115,1.27,290.5,135.0,10.1,679,11121,0.00,2.45,0.00,0.000,6,0.000,0.050,3038,1880,1646
$GC,11432,1.27,290.5,99.3,12.8,695,11436,0.00,2.58,0.00,0.000,4,0.000,0.065,3039,445,1646
$GC,11476,1.23,290.5,93.3,13.2,697,11481,0.15,2.53,0.00,0.000,6,0.087,0.048,3010,1873,1646
$GC,11799,1.29,294.1,63.5,7.9,713,11809,0.00,2.62,5.03,0.651,4,0.000,0.061,3010,439,1631
$GC,11861,1.56,465.6,61.7,1.8,716,12009,0.32,2.53,137.62,0.834,6,0.044,0.048,3091,1876,931
$STATE,12254,end climb,SURFACE_DEPTH_REACHED
$STATE,12255,begin surface coast
$FINISH,0.6,1.027268
$STATE,12275,end surface coast,CONTROL_FINISHED_OK
$STATE,12275,begin surface
$SM_CCo,12359,0.00,0.000,0,0,933,465.58
$SM_GC,1.11,11.62,0.00,0.00,0.035,0.000,0.000,420,2149,933,-10.60,0.54,465.58
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1811
$TCM_TEMP,17.30
$XPDR_PINGS,42
$ALTIM_BOTTOM_PING,545.5,55.5
$24V_AH,23.8,45.387
$10V_AH,10.1,20.040
$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,26.550,129.300,531.150,0.000,0.000,37.759,31.009,326.623,15.250,0.000,0.000,14.561,1291.386,8737.353,637.358,1541.276,671.789,33.370,1453.658,0.000,1503.267,0.000,33.440,0.000
$DEVICE_MAMPS,158.769,72.098,1222.598,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,501.938,537.223,429.922,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37882,736
$CAP_FILE_SIZE,109175,0
$CFSIZE,254472192,237432832
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,101009,053054,6400.997,-1305.550,28,1.3,45,-12.5