version: 66.04
glider: 5
mission: 7
dive: 244
start: 10 6 109 6 25 50
data:
$ID,5
$MISSION,7
$DIVE,244
$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,-104990.48
$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
$GPS1,062025,6405.567,-1310.865,40,1.8,41,-12.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-58.5
$GPS2,062500,6405.528,-1311.093,15,1.8,31,-12.6
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,P3
$TGT_LATLONG,6349.750,-1321.120
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.179,0.168
$KALMAN_X,-56983.0,-8477.5,971.2,-174373.1,-74935.6
$KALMAN_Y,-39797.0,-321.4,962.8,314930.3,-91433.3
$MHEAD_RNG_PITCHd_Wd,59.3,30347,-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,-61.15,0.000,2,0.000,0.000,419,2143,2801
$GC,82,-1.22,-146.6,2.5,-2.6,3,125,11.55,2.62,-22.23,0.000,4,0.170,0.073,2473,720,3430
$GC,242,-1.17,-146.6,23.8,-14.9,10,247,0.00,2.53,0.00,0.000,6,0.000,0.051,2474,2134,3430
$GC,570,-1.11,-146.6,66.0,-13.0,26,572,0.15,0.00,0.00,0.000,6,0.100,0.000,2505,2134,3430
$GC,879,-1.11,-146.6,100.4,-11.3,41,883,0.00,2.60,0.00,0.000,4,0.000,0.063,2505,709,3430
$GC,929,-1.14,-146.6,106.1,-10.9,43,933,0.00,2.53,0.00,0.000,6,0.000,0.051,2505,2121,3430
$GC,1246,-1.14,-146.6,139.7,-10.3,58,1250,0.00,2.60,0.00,0.000,4,0.000,0.068,2505,3546,3430
$STATE,1254,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1254,begin apogee
$GC,1265,-0.33,0.0,141.2,11.0,58,1392,0.75,0.00,121.40,0.889,6,0.079,0.000,2668,1844,2830
$STATE,1392,end apogee,CONTROL_FINISHED_OK
$STATE,1393,begin climb
$GC,1396,1.22,146.6,147.4,0.0,65,1524,1.55,2.65,119.97,0.854,4,0.060,0.064,3009,435,2233
$GC,1628,1.13,147.0,136.8,8.0,75,1633,0.00,2.55,0.00,0.000,6,0.000,0.048,3009,1868,2233
$GC,1946,1.23,234.9,117.7,4.8,90,2025,0.00,2.55,72.88,0.836,4,0.000,0.060,3009,3258,1872
$GC,2121,1.27,234.9,103.7,9.3,97,2125,0.00,2.55,0.00,0.000,6,0.000,0.053,3009,1851,1872
$GC,2443,1.27,234.9,75.3,9.0,113,2444,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,1851,1872
$GC,2751,1.27,234.9,47.9,8.6,128,2755,0.00,2.58,0.00,0.000,4,0.000,0.059,3009,3258,1872
$GC,2792,1.31,234.9,44.4,8.9,130,2796,0.00,2.53,0.00,0.000,6,0.000,0.052,3009,1853,1872
$GC,3119,1.31,234.9,17.1,8.8,146,3123,0.00,2.55,0.00,0.000,4,0.000,0.059,3009,3252,1872
$GC,3147,1.35,234.9,14.4,9.4,147,3152,0.12,2.50,0.00,0.000,6,0.055,0.052,3044,1860,1872
$STATE,3254,end climb,SURFACE_DEPTH_REACHED
$STATE,3254,begin surface coast
$FINISH,0.5,1.003929
$STATE,3277,end surface coast,CONTROL_FINISHED_OK
$STATE,3277,begin surface
$SM_CCo,3301,33.75,0.779,0,0,1608,300.00
$SM_GC,1.42,0.00,0.00,33.75,0.000,0.000,0.779,420,2142,1608,-10.70,0.28,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1817
$TCM_TEMP,16.80
$XPDR_PINGS,9
$ALTIM_BOTTOM_PING,122.4,28.5
$24V_AH,24.0,40.849
$10V_AH,10.1,18.159
$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,25.500,36.925,314.250,33.750,0.000,37.756,27.787,94.458,2.750,0.000,0.000,31.278,332.992,2127.912,398.262,488.758,276.067,33.344,674.246,0.000,463.052,0.000,6.679,0.000
$DEVICE_MAMPS,169.507,72.865,888.953,778.505,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,103.248,112.257,263.777,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6509,153
$CAP_FILE_SIZE,34190,0
$CFSIZE,254472192,238985216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,061009,072234,6405.799,-1311.740,8,2.4,28,-12.6