version: 66.04
glider: 5
mission: 7
dive: 253
start: 10 6 109 18 10 15
data:
$ID,5
$MISSION,7
$DIVE,253
$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,-105213.11
$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,20
$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
$GPS1,180037,6403.749,-1257.337,40,1.3,40,-12.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-59.0
$GPS2,180926,6403.612,-1257.422,14,1.3,14,-12.4
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,P3
$TGT_LATLONG,6349.750,-1321.120
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.043,-0.242
$KALMAN_X,-58815.3,-1309.0,1030.5,-167733.7,-22417.2
$KALMAN_Y,-31180.1,-851.6,497.8,303765.2,-16802.7
$MHEAD_RNG_PITCHd_Wd,182.4,32152,-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,15,-1.22,-146.6,0.0,0.0,0,79,0.00,0.00,-61.33,0.000,2,0.000,0.000,419,2130,2668
$GC,83,-1.22,-146.6,2.3,-2.9,3,130,11.52,2.60,-30.10,0.000,4,0.167,0.074,2473,714,3428
$GC,349,-1.22,-146.6,41.4,-8.5,15,353,0.00,2.55,0.00,0.000,6,0.000,0.051,2473,2140,3428
$GC,671,-1.17,-146.6,71.0,-7.0,31,675,0.00,2.55,0.00,0.000,4,0.000,0.067,2473,3540,3429
$GC,750,-1.11,-146.6,76.4,-7.6,34,757,0.15,2.55,0.00,0.000,6,0.103,0.056,2504,2128,3429
$GC,1068,-1.11,-146.6,111.0,-13.0,50,1069,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2110,3429
$GC,1381,-1.11,-146.6,154.8,-8.6,66,1382,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2109,3429
$GC,1694,-1.11,-146.6,197.9,-14.3,86,1698,0.00,2.62,0.00,0.000,4,0.000,0.070,2504,3541,3429
$GC,1722,-1.11,-146.6,201.2,-11.1,88,1726,0.00,2.55,0.00,0.000,6,0.000,0.055,2504,2128,3429
$GC,2046,-1.11,-146.6,225.7,-8.7,109,2051,0.00,2.62,0.00,0.000,4,0.000,0.071,2504,3538,3429
$GC,2086,-1.11,-146.6,229.5,-9.2,111,2092,0.00,2.55,0.00,0.000,6,0.000,0.058,2504,2136,3430
$GC,2405,-1.11,-146.6,260.6,-9.7,132,2409,0.00,2.62,0.00,0.000,4,0.000,0.073,2503,3537,3430
$GC,2443,-1.11,-146.6,264.1,-8.9,134,2449,0.00,2.53,0.00,0.000,6,0.000,0.062,2504,2157,3430
$GC,2763,-1.11,-146.6,287.8,-4.5,155,2767,0.00,2.60,0.00,0.000,4,0.000,0.075,2504,3538,3430
$GC,2827,-1.11,-146.6,291.9,-7.4,159,2831,0.00,2.50,0.00,0.000,6,0.000,0.061,2504,2169,3430
$GC,3152,-1.11,-146.6,323.0,-14.7,180,3156,0.00,2.58,0.00,0.000,4,0.000,0.076,2504,3535,3430
$GC,3190,-1.11,-146.6,328.5,-14.5,182,3196,0.00,2.47,0.00,0.000,6,0.000,0.067,2504,2197,3430
$GC,3511,-1.11,-146.6,368.3,-10.9,203,3515,0.00,2.70,0.00,0.000,4,0.000,0.074,2504,718,3429
$GC,3567,-1.15,-146.6,374.5,-10.7,206,3573,0.00,2.65,0.00,0.000,6,0.000,0.059,2504,2182,3430
$GC,3886,-1.15,-146.6,400.7,-7.9,227,3891,0.00,2.72,0.00,0.000,4,0.000,0.075,2503,718,3429
$GC,3920,-1.19,-146.6,403.7,-9.1,229,3924,0.00,2.60,0.00,0.000,6,0.000,0.060,2503,2151,3429
$GC,4239,-1.19,-146.6,432.3,-9.5,249,4243,0.00,2.70,0.00,0.000,4,0.000,0.080,2504,715,3429
$GC,4278,-1.24,-146.6,436.4,-10.6,251,4284,0.15,2.60,0.00,0.000,6,0.064,0.063,2465,2143,3428
$GC,4600,-1.19,-146.6,476.0,-12.4,272,4604,0.00,2.67,0.00,0.000,4,0.000,0.079,2465,714,3428
$GC,4645,-1.19,-146.6,481.8,-11.9,275,4649,0.00,2.58,0.00,0.000,6,0.000,0.063,2465,2129,3428
$GC,4970,-1.14,-146.6,519.9,-13.1,296,4972,0.15,0.00,0.00,0.000,6,0.106,0.000,2493,2129,3427
$GC,5282,-1.14,-146.6,552.0,-9.7,316,5286,0.00,2.65,0.00,0.000,4,0.000,0.084,2493,723,3426
$GC,5315,-1.14,-146.6,555.2,-9.6,318,5319,0.00,2.55,0.00,0.000,6,0.000,0.067,2494,2115,3427
$GC,5634,-1.14,-146.6,583.6,-9.2,338,5639,0.00,2.62,0.00,0.000,4,0.000,0.084,2493,722,3425
$GC,5735,-1.14,-146.6,593.4,-9.7,344,5740,0.00,2.50,0.00,0.000,6,0.000,0.067,2493,2084,3425
$GC,6057,-1.14,-146.6,624.7,-9.7,364,6061,0.00,2.60,0.00,0.000,6,0.000,0.089,2493,722,3424
$STATE,6062,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6062,begin apogee
$GC,6071,-0.33,0.0,625.7,9.6,364,6204,0.80,0.00,129.23,1.325,6,0.093,0.000,2664,1869,2831
$STATE,6205,end apogee,CONTROL_FINISHED_OK
$STATE,6205,begin climb
$GC,6208,1.22,146.6,632.5,0.0,373,6349,1.60,2.70,128.80,1.268,4,0.072,0.078,3005,3253,2233
$GC,6358,1.31,240.0,628.1,4.6,382,6448,0.12,2.70,82.90,1.228,6,0.067,0.077,3035,1850,1852
$GC,6760,1.24,240.0,588.7,9.7,408,6764,0.00,2.67,0.00,0.000,4,0.000,0.091,3035,439,1852
$GC,6839,1.12,240.0,580.0,10.6,413,6845,0.25,2.58,0.00,0.000,6,0.102,0.066,2988,1835,1851
$GC,7165,1.15,258.9,556.0,7.3,434,7184,0.00,0.00,17.58,1.184,6,0.000,0.000,2988,1851,1775
$GC,7492,1.20,258.9,530.4,8.2,455,7496,0.00,2.70,0.00,0.000,4,0.000,0.087,2988,432,1775
$GC,7520,1.20,258.9,527.7,9.4,457,7524,0.00,2.58,0.00,0.000,6,0.000,0.065,2988,1824,1775
$GC,7847,1.24,258.9,497.7,9.5,478,7852,0.12,2.67,0.00,0.000,4,0.069,0.079,3017,3257,1775
$GC,7893,1.24,258.9,492.7,10.7,481,7897,0.00,2.70,0.00,0.000,6,0.000,0.075,3017,1827,1775
$GC,8217,1.24,258.9,462.9,8.7,502,8222,0.00,2.72,0.00,0.000,4,0.000,0.079,3017,3262,1774
$GC,8267,1.24,258.9,458.1,9.7,505,8271,0.00,2.67,0.00,0.000,6,0.000,0.074,3017,1844,1774
$GC,8586,1.24,258.9,427.0,10.0,525,8590,0.00,2.67,0.00,0.000,4,0.000,0.077,3017,3255,1774
$GC,8625,1.24,258.9,422.4,12.6,527,8631,0.00,2.58,0.00,0.000,6,0.000,0.072,3017,1877,1774
$GC,8944,1.33,314.7,397.2,6.0,548,8995,0.00,0.00,48.62,1.186,6,0.000,0.000,3017,1877,1547
$GC,9302,1.37,336.2,372.7,7.2,571,9327,0.12,2.65,19.70,1.122,4,0.067,0.075,3047,3255,1460
$GC,9384,1.37,336.2,364.3,10.7,575,9389,0.00,2.58,0.00,0.000,6,0.000,0.071,3047,1886,1460
$GC,9704,1.31,336.2,326.0,11.8,595,9708,0.00,2.58,0.00,0.000,4,0.000,0.073,3047,3255,1460
$GC,9804,1.31,336.2,314.8,11.4,601,9809,0.00,2.47,0.00,0.000,6,0.000,0.064,3047,1917,1461
$GC,10124,1.27,336.2,272.5,12.7,621,10126,0.15,0.00,0.00,0.000,6,0.100,0.000,3019,1917,1461
$GC,10437,1.27,336.2,245.3,9.2,641,10438,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,1917,1461
$GC,10749,1.30,336.2,214.5,10.5,661,10753,0.00,2.70,0.00,0.000,4,0.000,0.071,3019,435,1461
$GC,10765,1.30,336.2,212.5,11.2,662,10769,0.00,2.70,0.00,0.000,6,0.000,0.052,3019,1940,1462
$GC,11085,1.34,336.2,174.2,11.7,682,11089,0.00,2.80,0.00,0.000,4,0.000,0.069,3019,429,1462
$GC,11135,1.34,336.2,168.1,11.9,685,11139,0.00,2.65,0.00,0.000,6,0.000,0.051,3018,1912,1462
$GC,11464,1.38,336.2,131.2,11.1,703,11469,0.12,2.72,0.00,0.000,4,0.058,0.068,3052,437,1463
$GC,11509,1.31,336.2,124.9,14.5,705,11514,0.12,2.58,0.00,0.000,6,0.092,0.050,3028,1882,1463
$GC,11831,1.31,336.2,91.4,10.0,721,11835,0.00,2.67,0.00,0.000,4,0.000,0.067,3027,429,1465
$GC,11894,1.31,336.2,84.7,10.4,724,11898,0.00,2.50,0.00,0.000,6,0.000,0.050,3028,1836,1465
$GC,12221,1.31,336.2,48.4,10.9,740,12225,0.00,2.53,0.00,0.000,4,0.000,0.058,3028,3254,1466
$GC,12238,1.31,336.2,46.5,10.4,741,12243,0.00,2.55,0.00,0.000,6,0.000,0.050,3027,1826,1466
$GC,12567,1.31,336.2,4.7,15.8,757,12571,0.00,2.50,0.00,0.000,4,0.000,0.067,3027,436,1466
$STATE,12575,end climb,SURFACE_DEPTH_REACHED
$STATE,12575,begin surface coast
$FINISH,0.4,1.027169
$STATE,12598,end surface coast,CONTROL_FINISHED_OK
$STATE,12598,begin surface
$SM_CCo,12685,0.00,0.000,0,0,1466,334.83
$SM_GC,1.15,11.35,0.00,0.00,0.039,0.000,0.000,421,2160,1466,-10.60,0.88,334.83
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1852
$TCM_TEMP,19.00
$XPDR_PINGS,20
$ALTIM_BOTTOM_PING,595.5,39.8
$24V_AH,23.7,41.843
$10V_AH,10.1,18.497
$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,26.750,146.350,426.825,0.000,0.000,75.519,60.338,205.846,10.500,0.000,0.000,14.184,1355.675,9076.867,545.258,1616.108,618.425,33.358,1379.882,0.000,1571.224,0.000,40.685,0.000
$DEVICE_MAMPS,167.206,90.506,1324.609,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,522.119,550.085,433.896,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38007,758
$CAP_FILE_SIZE,113883,0
$CFSIZE,254472192,238645248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,061009,214300,6401.137,-1253.882,38,1.2,43,-12.4