version: 66.04
glider: 5
mission: 7
dive: 261
start: 10 7 109 22 48 2
data:
$ID,5
$MISSION,7
$DIVE,261
$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,-105360.39
$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,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
$GPS1,224154,6409.302,-1247.967,42,1.2,42,-12.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-58.8
$GPS2,224713,6409.425,-1248.017,15,1.2,15,-12.4
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,P3
$TGT_LATLONG,6349.750,-1321.120
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.245,-0.017
$KALMAN_X,-17637.9,-2729.4,-701.8,-197376.6,17239.4
$KALMAN_Y,-5064.8,-925.1,-422.0,289455.8,14377.8
$MHEAD_RNG_PITCHd_Wd,278.4,45375,-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,-61.33,0.000,2,0.000,0.000,422,2123,2756
$GC,82,-1.22,-146.6,2.5,-2.7,3,126,11.50,2.60,-24.40,0.000,4,0.166,0.082,2474,3535,3428
$GC,289,-1.15,-146.6,28.7,-13.8,12,294,0.10,2.55,0.00,0.000,6,0.111,0.052,2493,2121,3428
$GC,611,-1.11,-146.6,66.6,-11.5,28,615,0.00,2.53,0.00,0.000,4,0.000,0.064,2492,717,3429
$GC,645,-1.11,-146.6,70.6,-11.3,29,652,0.00,2.53,0.00,0.000,6,0.000,0.055,2493,2126,3429
$GC,961,-1.11,-146.6,104.7,-9.5,45,966,0.00,2.58,0.00,0.000,4,0.000,0.067,2493,721,3429
$GC,1006,-1.11,-146.6,109.4,-10.4,47,1010,0.00,2.53,0.00,0.000,6,0.000,0.055,2493,2123,3430
$GC,1328,-1.07,-146.6,139.2,-10.0,63,1333,0.00,2.58,0.00,0.000,4,0.000,0.068,2493,723,3430
$GC,1401,-1.07,-146.6,148.0,-11.8,66,1405,0.00,2.50,0.00,0.000,6,0.000,0.055,2492,2110,3430
$GC,1728,-1.03,-146.6,185.7,-11.8,86,1733,0.12,2.55,0.00,0.000,4,0.108,0.067,2518,721,3430
$GC,1784,-1.08,-146.6,192.0,-11.0,89,1790,0.00,2.47,0.00,0.000,6,0.000,0.055,2518,2098,3430
$GC,2105,-1.08,-146.6,219.2,-8.0,110,2109,0.00,2.53,0.00,0.000,4,0.000,0.069,2518,723,3430
$GC,2178,-1.12,-146.6,224.7,-6.7,114,2184,0.00,2.42,0.00,0.000,6,0.000,0.056,2518,2068,3430
$GC,2498,-1.12,-146.6,248.6,-7.8,135,2499,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2069,3430
$GC,2810,-1.12,-146.6,276.7,-9.6,155,2814,0.00,2.50,0.00,0.000,4,0.000,0.071,2519,717,3430
$GC,2849,-1.18,-146.6,280.4,-9.5,157,2855,0.15,2.45,0.00,0.000,6,0.061,0.058,2481,2070,3430
$GC,3172,-1.14,-146.6,315.4,-11.1,178,3173,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2071,3430
$GC,3481,-1.11,-146.6,349.7,-11.5,198,3486,0.10,2.53,0.00,0.000,4,0.109,0.074,2499,717,3430
$GC,3515,-1.14,-146.6,353.9,-12.4,200,3519,0.00,2.45,0.00,0.000,6,0.000,0.059,2499,2065,3429
$GC,3834,-1.14,-146.6,384.9,-9.6,220,3835,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2066,3429
$GC,4147,-1.14,-146.6,412.4,-10.1,240,4148,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2067,3429
$STATE,4315,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4316,begin apogee
$GC,4323,-0.33,0.0,432.0,13.0,251,4454,0.80,0.00,127.68,1.166,6,0.083,0.000,2668,1837,2831
$STATE,4455,end apogee,CONTROL_FINISHED_OK
$STATE,4455,begin climb
$GC,4459,1.22,146.6,437.2,0.0,260,4590,1.55,0.00,127.55,1.118,6,0.062,0.000,3006,1836,2233
$GC,4895,1.78,368.2,437.3,-0.0,288,5099,0.52,2.75,190.40,1.108,4,0.047,0.074,3134,3256,1330
$GC,5151,1.62,368.2,415.4,18.2,304,5157,0.20,2.65,0.00,0.000,6,0.110,0.073,3099,1856,1331
$GC,5479,1.49,368.2,360.7,16.1,325,5481,0.15,0.00,0.00,0.000,6,0.106,0.000,3070,1855,1332
$GC,5789,1.42,368.2,317.4,12.9,345,5793,0.00,2.65,0.00,0.000,4,0.000,0.074,3069,3259,1332
$GC,5834,1.42,368.2,311.6,12.2,348,5838,0.00,2.65,0.00,0.000,6,0.000,0.073,3069,1850,1332
$GC,6160,1.35,368.2,269.6,13.6,369,6165,0.15,2.62,0.00,0.000,4,0.103,0.081,3039,436,1332
$GC,6223,1.31,368.2,260.8,12.7,373,6228,0.00,2.60,0.00,0.000,6,0.000,0.061,3039,1859,1332
$GC,6548,1.31,368.2,222.1,12.2,394,6552,0.00,2.58,0.00,0.000,4,0.000,0.072,3039,3263,1332
$GC,6587,1.35,368.2,216.8,13.5,396,6593,0.00,2.60,0.00,0.000,6,0.000,0.066,3039,1860,1331
$GC,6906,1.35,368.2,178.6,10.8,417,6910,0.00,2.62,0.00,0.000,4,0.000,0.071,3039,3263,1332
$GC,6935,1.35,368.2,175.5,11.7,419,6939,0.00,2.58,0.00,0.000,6,0.000,0.065,3039,1869,1331
$GC,7263,1.35,368.2,139.1,12.1,439,7268,0.00,2.65,0.00,0.000,4,0.000,0.077,3039,430,1331
$GC,7319,1.35,368.2,131.6,12.9,441,7326,0.00,2.62,0.00,0.000,6,0.000,0.058,3039,1880,1331
$GC,7638,1.35,368.2,88.6,14.2,457,7642,0.00,2.70,0.00,0.000,4,0.000,0.074,3039,438,1331
$GC,7665,1.35,368.2,84.5,14.1,458,7669,0.00,2.58,0.00,0.000,6,0.000,0.057,3039,1861,1331
$GC,7981,1.35,368.2,52.0,10.0,473,7985,0.00,2.55,0.00,0.000,4,0.000,0.067,3039,3267,1332
$GC,8026,1.41,368.2,47.2,9.8,475,8031,0.00,2.60,0.00,0.000,6,0.000,0.059,3039,1842,1331
$GC,8348,1.41,368.2,14.0,9.4,491,8353,0.00,2.62,0.00,0.000,4,0.000,0.065,3039,3265,1332
$GC,8377,1.48,368.2,10.8,10.2,492,8382,0.12,2.58,0.00,0.000,6,0.063,0.058,3071,1851,1332
$STATE,8444,end climb,SURFACE_DEPTH_REACHED
$STATE,8444,begin surface coast
$FINISH,0.4,1.012654
$STATE,8464,end surface coast,CONTROL_FINISHED_OK
$STATE,8464,begin surface
$SM_CCo,8549,0.00,0.000,0,0,1332,367.95
$SM_GC,1.12,11.65,0.00,0.00,0.044,0.000,0.000,426,2135,1332,-10.58,0.14,367.95
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1856
$TCM_TEMP,15.50
$XPDR_PINGS,18
$ALTIM_BOTTOM_PING,396.1,45.1
$24V_AH,23.8,43.040
$10V_AH,10.1,19.033
$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,27.125,88.425,445.625,0.000,0.000,37.763,35.462,127.864,7.750,0.000,0.000,15.293,901.389,5947.206,530.212,1081.766,405.577,33.362,1103.210,0.000,1052.980,0.000,23.893,0.000
$DEVICE_MAMPS,165.672,82.069,1165.840,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,340.302,358.920,346.402,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25392,496
$CAP_FILE_SIZE,75963,0
$CFSIZE,254472192,238264320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,081009,011136,6408.615,-1253.077,28,1.6,28,-12.4