version: 66.04
glider: 5
mission: 5
dive: 251
start: 12 30 108 3 49 18
data:
$ID,5
$MISSION,5
$DIVE,251
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,50
$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,550
$T_MISSION,580
$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,1001
$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,2
$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,52
$TGT_DEFAULT_LON,-7
$TGT_AUTO_DEFAULT,0
$SM_CC,250
$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,-92233.984
$T_RSLEEP,27
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,432
$PITCH_MAX,3760
$C_PITCH,2700
$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,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,159
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,2000
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,360
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,390
$VBD_MAX,3851
$C_VBD,2832
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0016
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$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,-23.610077
$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,20
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,125
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$XPDR_INHIBIT,90
$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,0.0043761111
$SEABIRD_T_H,0.00064345129
$SEABIRD_T_I,2.5632376e-05
$SEABIRD_T_J,2.7382036e-06
$SEABIRD_C_G,-10.188265
$SEABIRD_C_H,1.1432956
$SEABIRD_C_I,-0.00020702372
$SEABIRD_C_J,0.00012956691
$GPS1,034228,6052.249,-524.797,29,2.2,48,-7.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-63.3
$GPS2,034858,6052.195,-524.862,30,2.5,49,-7.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,SSEC_NW
$TGT_LATLONG,6058.000,-547.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.132,-0.177
$KALMAN_X,220775.9,-921.1,-1644.0,-80717.6,25183.1
$KALMAN_Y,135954.9,-405.3,-1430.2,-453990.2,21805.5
$MHEAD_RNG_PITCHd_Wd,305.5,22616,-11.0,-6.000
$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,-0.97,-146.6,0.0,0.0,0,79,0.00,0.00,-61.70,0.000,2,0.000,0.000,422,1961,2963
$GC,82,-0.97,-146.6,3.2,-4.5,3,113,10.65,2.53,-14.85,0.000,4,0.132,0.076,2482,593,3431
$GC,242,-0.73,-146.6,22.4,-12.4,10,248,0.28,2.53,0.00,0.000,6,0.088,0.052,2541,2006,3431
$GC,559,-0.67,-146.6,50.8,-8.3,25,560,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2022,3431
$GC,870,-0.61,-146.6,73.7,-6.9,40,875,0.12,2.60,0.00,0.000,4,0.091,0.067,2567,602,3431
$GC,910,-0.61,-146.6,76.9,-6.9,42,915,0.00,2.50,0.00,0.000,6,0.000,0.054,2567,2001,3431
$GC,1238,-0.61,-146.6,96.2,-6.0,58,1242,0.00,2.53,0.00,0.000,4,0.000,0.064,2567,3405,3431
$GC,1271,-0.61,-146.6,99.0,-8.8,59,1277,0.00,2.53,0.00,0.000,6,0.000,0.050,2567,1989,3431
$GC,1587,-0.61,-146.6,129.7,-10.2,75,1588,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,1989,3431
$GC,1896,-0.61,-146.6,148.5,-5.7,90,1901,0.00,2.60,0.00,0.000,4,0.000,0.062,2567,3415,3431
$GC,1938,-0.66,-146.6,151.0,-5.9,92,1942,0.00,2.53,0.00,0.000,6,0.000,0.050,2567,1994,3431
$GC,2264,-0.66,-146.6,173.3,-7.0,108,2265,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,1994,3431
$GC,2574,-0.66,-146.6,192.1,-5.9,123,2579,0.00,2.58,0.00,0.000,4,0.000,0.063,2567,3405,3431
$GC,2642,-0.70,-146.6,196.1,-5.9,126,2646,0.00,2.50,0.00,0.000,6,0.000,0.049,2567,1998,3431
$GC,2963,-0.70,-146.6,212.0,-4.6,142,2964,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,1999,3431
$GC,3272,-0.70,-146.6,229.5,-6.5,157,3277,0.00,2.58,0.00,0.000,4,0.000,0.064,2567,3410,3431
$GC,3313,-0.76,-146.6,232.2,-5.9,159,3318,0.15,2.53,0.00,0.000,6,0.051,0.051,2525,1992,3431
$GC,3640,-0.66,-146.6,261.0,-8.9,175,3642,0.15,0.00,0.00,0.000,6,0.088,0.000,2557,1992,3432
$GC,3950,-0.66,-146.6,282.7,-6.9,190,3951,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1992,3431
$GC,4258,-0.66,-146.6,305.2,-7.5,205,4262,0.00,2.58,0.00,0.000,4,0.000,0.065,2556,3406,3432
$GC,4314,-0.66,-146.6,309.6,-7.9,207,4320,0.00,2.50,0.00,0.000,6,0.000,0.051,2557,2004,3431
$GC,4629,-0.66,-146.6,333.1,-7.4,223,4631,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2003,3432
$GC,4939,-0.66,-146.6,353.3,-6.2,238,4943,0.00,2.53,0.00,0.000,4,0.000,0.070,2557,596,3432
$GC,5001,-0.66,-146.6,357.2,-6.2,241,5006,0.00,2.53,0.00,0.000,6,0.000,0.054,2557,2018,3432
$GC,5329,-0.66,-146.6,374.9,-5.5,257,5334,0.00,2.53,0.00,0.000,4,0.000,0.068,2557,3412,3431
$GC,5374,-0.66,-146.6,377.7,-6.3,259,5378,0.00,2.53,0.00,0.000,6,0.000,0.055,2557,2006,3432
$GC,5701,-0.66,-146.6,401.9,-7.9,275,5702,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2005,3432
$GC,6010,-0.66,-146.6,425.0,-7.7,290,6012,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2005,3432
$GC,6319,-0.66,-146.6,444.1,-5.9,305,6323,0.00,2.60,0.00,0.000,4,0.000,0.073,2557,3403,3432
$GC,6397,-0.66,-146.6,449.3,-6.3,308,6403,0.00,2.55,0.00,0.000,6,0.000,0.061,2557,1999,3431
$GC,6713,-0.66,-146.6,469.7,-6.5,324,6714,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2000,3431
$GC,7022,-0.66,-146.6,491.1,-7.1,339,7026,0.00,2.65,0.00,0.000,4,0.000,0.078,2557,3411,3430
$GC,7143,-0.73,-146.6,500.3,-7.7,344,7148,0.00,2.55,0.00,0.000,6,0.000,0.066,2557,2018,3430
$GC,7459,-0.73,-146.6,522.6,-6.7,359,7460,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2018,3429
$GC,7769,-0.73,-146.6,543.0,-6.5,374,7773,0.00,2.62,0.00,0.000,4,0.000,0.085,2557,3408,3428
$GC,7809,-0.78,-146.6,545.8,-7.4,376,7814,0.12,2.58,0.00,0.000,6,0.067,0.071,2525,2016,3427
$STATE,8010,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8010,begin apogee
$GC,8017,-0.33,0.0,562.2,8.4,386,8146,0.47,0.00,125.45,1.293,6,0.085,0.000,2624,2205,2832
$STATE,8146,end apogee,CONTROL_FINISHED_OK
$STATE,8146,begin climb
$GC,8150,0.97,146.6,565.9,0.0,392,8279,1.30,0.00,124.75,1.245,6,0.061,0.000,2909,2205,2234
$GC,8584,1.07,208.5,549.7,4.3,413,8647,0.10,2.80,53.28,1.226,4,0.067,0.085,2938,797,1982
$GC,8677,1.00,208.5,544.5,6.5,417,8681,0.00,2.62,0.00,0.000,6,0.000,0.070,2938,2192,1982
$GC,8998,0.96,208.5,523.8,6.2,433,9000,0.15,0.00,0.00,0.000,6,0.093,0.000,2908,2192,1982
$GC,9307,0.99,229.5,507.0,5.4,448,9332,0.00,2.75,19.25,1.203,4,0.000,0.085,2908,794,1896
$GC,9366,0.99,229.5,503.5,6.3,450,9373,0.00,2.60,0.00,0.000,6,0.000,0.071,2907,2184,1896
$GC,9683,1.06,233.6,485.7,5.9,466,9691,0.10,0.00,5.45,0.974,6,0.070,0.000,2935,2183,1879
$GC,9992,1.06,233.6,464.3,6.7,481,9993,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2183,1879
$GC,10301,1.06,233.6,443.2,7.3,496,10306,0.00,2.65,0.00,0.000,4,0.000,0.085,2934,787,1878
$GC,10346,1.06,233.6,439.5,7.7,498,10351,0.00,2.58,0.00,0.000,6,0.000,0.070,2935,2174,1878
$GC,10668,1.06,233.6,415.3,7.6,514,10669,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2175,1878
$GC,10976,1.06,233.6,391.3,7.7,529,10981,0.00,2.62,0.00,0.000,4,0.000,0.083,2935,791,1877
$GC,11044,1.06,233.6,385.9,8.1,532,11048,0.00,2.55,0.00,0.000,6,0.000,0.067,2935,2173,1877
$GC,11365,1.11,262.9,365.1,5.2,548,11392,0.00,0.00,25.40,1.166,6,0.000,0.000,2935,2173,1760
$GC,11694,1.11,262.9,342.4,7.4,564,11698,0.00,2.67,0.00,0.000,4,0.000,0.079,2935,3608,1761
$GC,11735,1.11,262.9,339.1,8.5,566,11739,0.00,2.65,0.00,0.000,6,0.000,0.064,2935,2163,1761
$GC,12061,1.11,262.9,313.9,7.9,582,12065,0.00,2.53,0.00,0.000,4,0.000,0.077,2935,790,1760
$GC,12146,1.11,262.9,306.9,8.4,586,12150,0.00,2.45,0.00,0.000,6,0.000,0.061,2935,2139,1760
$GC,12473,1.11,262.9,283.3,6.9,602,12474,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2139,1762
$GC,12781,1.11,262.9,260.6,7.6,617,12785,0.00,2.50,0.00,0.000,4,0.000,0.071,2935,790,1762
$GC,12814,1.11,262.9,257.7,8.2,618,12821,0.00,2.42,0.00,0.000,6,0.000,0.058,2935,2132,1762
$GC,13131,1.11,262.9,234.2,7.6,634,13135,0.00,2.47,0.00,0.000,4,0.000,0.070,2935,790,1763
$GC,13158,1.11,262.9,231.9,8.0,635,13162,0.00,2.40,0.00,0.000,6,0.000,0.056,2935,2126,1763
$GC,13474,1.11,262.9,208.7,7.4,650,13475,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2126,1764
$GC,13783,1.11,262.9,185.9,7.3,665,13784,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2126,1764
$GC,14092,1.11,262.9,164.8,6.7,680,14093,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2126,1765
$GC,14402,1.11,262.9,143.6,7.1,695,14406,0.00,2.47,0.00,0.000,4,0.000,0.068,2935,781,1765
$GC,14435,1.11,262.9,141.0,7.3,696,14442,0.00,2.40,0.00,0.000,6,0.000,0.055,2935,2122,1766
$GC,14751,1.11,262.9,119.4,6.2,712,14752,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2122,1766
$GC,15061,1.11,262.9,99.3,6.8,727,15062,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2122,1767
$GC,15370,1.11,262.9,78.9,6.8,742,15372,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2123,1767
$GC,15680,1.15,262.9,57.0,7.1,757,15684,0.00,2.45,0.00,0.000,4,0.000,0.068,2935,790,1768
$GC,15707,1.15,262.9,54.7,7.9,758,15711,0.00,2.40,0.00,0.000,6,0.000,0.054,2935,2132,1768
$GC,16026,1.20,262.9,33.3,6.8,773,16028,0.12,0.00,0.00,0.000,6,0.054,0.000,2973,2131,1768
$GC,16333,1.12,262.9,7.1,8.2,788,16339,0.15,0.00,3.50,0.533,6,0.081,0.000,2941,2132,1759
$STATE,16390,end climb,SURFACE_DEPTH_REACHED
$STATE,16390,begin surface coast
$FINISH,0.4,1.027476
$STATE,16454,end surface coast,CONTROL_FINISHED_OK
$STATE,16454,begin surface
$SM_CCo,16537,0.00,0.000,0,0,1758,263.45
$SM_GC,1.55,11.05,0.00,0.00,0.041,0.000,0.000,420,1985,1758,-10.40,-0.40,263.45
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1787
$TCM_TEMP,15.70
$XPDR_PINGS,257
$ALTIM_TOP_PING,19.0,18.3
$ALTIM_BOTTOM_PING,500.3,71.7
$24V_AH,23.7,44.175
$10V_AH,10.1,21.806
$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,24.925,112.875,357.075,0.000,0.000,37.761,24.982,160.595,68.750,0.000,0.000,50.575,1439.216,12811.559,471.645,1691.512,511.608,0.000,1298.166,0.000,1623.506,0.000,31.089,0.000
$DEVICE_MAMPS,131.924,85.137,1293.162,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,582.617,535.193,541.111,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41078,794
$CAP_FILE_SIZE,115809,0
$CFSIZE,254472192,236797952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,39,0,0
$GPS,301208,082608,6052.685,-530.335,36,0.9,36,-7.2