version: 66.04
glider: 5
mission: 7
dive: 278
start: 10 10 109 13 57 11
data:
$ID,5
$MISSION,7
$DIVE,278
$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,-105667.02
$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,23
$R_STBD_OVSHOOT,53
$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
$GPS1,135025,6358.688,-1308.283,40,1.2,40,-12.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-62.8
$GPS2,135620,6358.741,-1308.211,14,1.1,14,-12.5
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,P3
$TGT_LATLONG,6349.750,-1321.120
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.243,-0.035
$KALMAN_X,20219.4,-1447.3,-31.3,-255020.2,11030.5
$KALMAN_Y,11311.1,-1060.9,15.0,252965.4,8208.5
$MHEAD_RNG_PITCHd_Wd,274.3,19709,-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,-146.6,0.0,0.0,0,59,0.00,0.00,-41.38,0.000,2,0.000,0.000,417,2145,2421
$GC,63,-1.22,-146.6,2.1,-4.6,2,128,11.40,2.62,-47.40,0.000,4,0.170,0.067,2471,714,3429
$GC,140,-1.07,-146.6,5.5,-10.4,5,145,0.20,2.47,0.00,0.000,6,0.100,0.047,2513,2104,3429
$GC,457,-1.07,-146.6,39.0,-10.4,20,461,0.00,2.60,0.00,0.000,4,0.000,0.065,2514,3538,3430
$GC,714,-1.07,-146.6,66.0,-11.7,31,721,0.00,2.53,0.00,0.000,6,0.000,0.048,2514,2117,3430
$GC,1030,-1.07,-146.6,100.3,-11.4,47,1035,0.00,2.60,0.00,0.000,4,0.000,0.064,2513,3539,3430
$GC,1217,-1.07,-146.6,122.2,-12.0,55,1221,0.00,2.53,0.00,0.000,6,0.000,0.048,2514,2117,3430
$GC,1534,-1.07,-146.6,157.9,-11.4,71,1535,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2106,3430
$GC,1847,-1.07,-146.6,191.8,-10.1,91,1848,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2103,3430
$GC,2160,-1.07,-146.6,222.6,-9.9,111,2161,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2103,3430
$GC,2472,-1.07,-146.6,253.8,-10.2,131,2477,0.00,2.62,0.00,0.000,4,0.000,0.067,2513,3539,3430
$GC,2495,-1.07,-146.6,256.4,-10.2,132,2501,0.00,2.55,0.00,0.000,6,0.000,0.054,2513,2117,3430
$GC,2814,-1.07,-146.6,287.6,-9.6,153,2818,0.00,2.62,0.00,0.000,4,0.000,0.067,2513,3538,3430
$GC,2842,-1.07,-146.6,290.5,-10.2,155,2847,0.00,2.53,0.00,0.000,6,0.000,0.054,2513,2129,3431
$GC,3168,-1.07,-146.6,324.0,-10.1,176,3169,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2118,3430
$GC,3481,-1.07,-146.6,354.3,-9.1,196,3482,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2118,3430
$GC,3794,-1.07,-146.6,381.9,-9.0,216,3795,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2118,3430
$GC,4104,-1.07,-146.6,413.9,-11.0,236,4108,0.00,2.50,0.00,0.000,4,0.000,0.063,2513,723,3430
$GC,4194,-1.10,-146.6,424.9,-12.2,241,4199,0.00,2.50,0.00,0.000,6,0.000,0.051,2514,2135,3430
$GC,4515,-1.10,-146.6,462.6,-11.8,261,4519,0.00,2.55,0.00,0.000,4,0.000,0.063,2513,726,3430
$GC,4594,-1.14,-146.6,472.2,-11.2,266,4599,0.00,2.47,0.00,0.000,6,0.000,0.051,2514,2121,3430
$GC,4920,-1.14,-146.6,508.0,-10.4,287,4921,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2120,3429
$GC,5231,-1.14,-146.6,539.5,-9.7,307,5233,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2120,3429
$GC,5544,-1.14,-146.6,574.9,-10.7,327,5548,0.00,2.60,0.00,0.000,4,0.000,0.071,2513,3543,3429
$GC,5577,-1.14,-146.6,578.6,-11.2,329,5582,0.00,2.55,0.00,0.000,6,0.000,0.059,2513,2134,3429
$GC,5896,-1.14,-146.6,610.7,-9.6,349,5900,0.00,2.62,0.00,0.000,4,0.000,0.072,2513,3542,3428
$GC,5969,-1.17,-146.6,618.3,-10.2,353,5976,0.12,2.55,0.00,0.000,6,0.062,0.060,2478,2137,3428
$GC,6293,-1.13,-146.6,652.6,-10.2,374,6297,0.00,2.55,0.00,0.000,4,0.000,0.070,2478,719,3428
$GC,6326,-1.13,-146.6,656.7,-10.8,376,6330,0.00,2.55,0.00,0.000,6,0.000,0.056,2478,2143,3428
$STATE,6611,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6611,begin apogee
$GC,6619,-0.33,0.0,687.2,10.5,394,6753,0.90,0.00,130.27,1.295,6,0.084,0.000,2669,1846,2831
$STATE,6754,end apogee,CONTROL_FINISHED_OK
$STATE,6754,begin climb
$GC,6757,1.22,146.6,692.7,0.0,403,6898,1.55,2.70,130.65,1.252,4,0.059,0.071,3010,3260,2233
$GC,6954,1.23,193.7,686.4,6.3,415,7002,0.00,2.62,42.17,1.210,6,0.000,0.067,3010,1848,2041
$GC,7319,1.20,197.8,658.7,7.9,438,7329,0.00,2.62,5.32,0.898,4,0.000,0.077,3010,439,2024
$GC,7364,1.12,197.8,654.4,9.2,440,7369,0.00,2.55,0.00,0.000,6,0.000,0.058,3010,1839,2024
$GC,7689,1.09,197.8,626.2,9.0,461,7694,0.15,2.60,0.00,0.000,4,0.095,0.071,2982,3255,2023
$GC,7712,1.09,197.8,624.1,8.8,462,7718,0.00,2.67,0.00,0.000,6,0.000,0.069,2982,1824,2023
$GC,8031,1.12,217.4,599.2,7.3,483,8056,0.00,2.78,18.12,1.184,4,0.000,0.068,2982,3258,1944
$GC,8116,1.18,226.2,592.9,7.7,488,8133,0.00,2.60,9.25,1.084,6,0.000,0.066,2982,1855,1908
$GC,8445,1.18,226.2,566.4,9.3,509,8450,0.00,2.62,0.00,0.000,4,0.000,0.069,2982,3261,1907
$GC,8581,1.23,226.2,555.5,9.5,517,8586,0.12,2.50,0.00,0.000,6,0.062,0.061,3014,1896,1907
$GC,8902,1.23,228.1,526.6,7.9,537,8907,0.00,2.67,0.00,0.000,4,0.000,0.073,3014,434,1907
$GC,8982,1.16,228.1,519.3,9.0,542,8987,0.00,2.65,0.00,0.000,6,0.000,0.055,3014,1902,1907
$GC,9308,1.20,251.3,493.7,7.2,563,9339,0.00,2.83,22.62,1.147,4,0.000,0.071,3013,445,1806
$GC,9408,1.16,251.3,485.2,8.7,569,9413,0.00,2.60,0.00,0.000,6,0.000,0.054,3014,1879,1806
$GC,9734,1.16,251.3,455.7,9.6,590,9738,0.00,2.67,0.00,0.000,4,0.000,0.071,3014,440,1806
$GC,9790,1.11,251.3,449.5,10.8,593,9796,0.15,2.55,0.00,0.000,6,0.093,0.053,2985,1861,1806
$GC,10112,1.17,251.3,421.8,8.4,614,10116,0.00,2.62,0.00,0.000,4,0.000,0.070,2985,441,1806
$GC,10157,1.20,251.3,417.7,8.9,617,10162,0.00,2.53,0.00,0.000,6,0.000,0.052,2985,1851,1806
$GC,10483,1.33,292.6,395.2,6.5,638,10525,0.17,2.58,36.00,1.091,4,0.052,0.061,3034,3255,1637
$GC,10548,1.33,292.6,388.9,10.3,641,10552,0.00,2.60,0.00,0.000,6,0.000,0.056,3035,1839,1637
$GC,10868,1.29,292.6,355.5,11.2,661,10872,0.00,2.60,0.00,0.000,4,0.000,0.061,3035,3255,1638
$GC,10918,1.29,292.6,349.4,12.3,664,10922,0.00,2.53,0.00,0.000,6,0.000,0.054,3035,1858,1638
$GC,11237,1.29,292.6,312.5,11.0,684,11238,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,1858,1639
$GC,11549,1.29,292.6,279.6,10.2,704,11553,0.00,2.55,0.00,0.000,4,0.000,0.060,3035,3255,1639
$GC,11601,1.29,292.6,274.0,11.1,707,11605,0.00,2.50,0.00,0.000,6,0.000,0.053,3035,1866,1639
$GC,11920,1.29,292.6,237.5,11.0,727,11924,0.00,2.55,0.00,0.000,4,0.000,0.059,3035,3265,1639
$GC,11948,1.29,292.6,234.3,11.0,729,11953,0.00,2.47,0.00,0.000,6,0.000,0.051,3035,1875,1639
$GC,12273,1.29,292.6,200.8,10.1,750,12275,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,1875,1640
$GC,12585,1.29,292.6,166.8,11.2,770,12589,0.00,2.53,0.00,0.000,4,0.000,0.060,3035,3264,1640
$GC,12641,1.29,292.6,160.5,10.6,773,12647,0.00,2.47,0.00,0.000,6,0.000,0.050,3035,1875,1640
$GC,12969,1.29,292.6,126.9,9.5,791,12970,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,1875,1640
$GC,13278,1.36,331.2,101.0,6.6,806,13313,0.00,0.00,32.95,0.870,6,0.000,0.000,3035,1875,1480
$GC,13627,1.36,331.2,68.8,11.9,822,13628,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,1875,1480
$GC,13934,1.36,331.2,33.9,11.3,837,13939,0.00,2.53,0.00,0.000,4,0.000,0.058,3035,3265,1480
$GC,13956,1.36,331.2,31.3,11.4,838,13961,0.00,2.45,0.00,0.000,6,0.000,0.049,3035,1893,1480
$STATE,14215,end climb,SURFACE_DEPTH_REACHED
$STATE,14215,begin surface coast
$FINISH,0.7,1.027234
$STATE,14235,end surface coast,CONTROL_FINISHED_OK
$STATE,14236,begin surface
$SM_CCo,14320,0.00,0.000,0,0,1479,331.65
$SM_GC,1.35,11.32,0.00,0.00,0.037,0.000,0.000,427,2131,1479,-10.59,0.06,331.65
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1814
$TCM_TEMP,17.30
$XPDR_PINGS,45
$ALTIM_BOTTOM_PING,646.3,49.5
$24V_AH,23.8,45.867
$10V_AH,10.1,20.277
$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,26.100,129.825,427.375,0.000,0.000,37.760,28.239,151.479,17.000,0.000,0.000,14.622,1509.298,10316.967,517.548,1806.647,519.402,33.361,1438.677,0.000,1764.374,0.000,42.562,0.000
$DEVICE_MAMPS,170.274,77.467,1294.696,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,583.621,621.961,483.044,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44316,852
$CAP_FILE_SIZE,117156,0
$CFSIZE,254472192,237240320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,101009,175706,6358.064,-1309.904,38,1.0,38,-12.5