version: 66.04
glider: 5
mission: 7
dive: 291
start: 10 13 109 5 2 29
data:
$ID,5
$MISSION,7
$DIVE,291
$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,-105939.58
$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,24
$R_STBD_OVSHOOT,31
$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
$GPS1,045537,6342.640,-1302.580,30,0.9,30,-12.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-62.4
$GPS2,050138,6342.658,-1302.388,15,1.2,15,-12.3
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,JE
$TGT_LATLONG,6345.000,-1255.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.211,0.125
$KALMAN_X,21762.2,-591.4,640.4,-253003.1,-3251.5
$KALMAN_Y,10507.9,-533.4,118.3,223344.0,-1763.8
$MHEAD_RNG_PITCHd_Wd,71.8,7445,-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,-60.88,0.000,2,0.000,0.000,420,2160,2819
$GC,83,-1.22,-146.6,2.9,-3.1,3,120,11.15,2.53,-19.92,0.000,4,0.159,0.077,2471,3537,3429
$GC,225,-1.12,-146.6,21.5,-13.5,8,230,0.15,2.53,0.00,0.000,6,0.097,0.047,2503,2118,3429
$GC,541,-1.07,-146.6,59.4,-11.7,23,545,0.00,2.50,0.00,0.000,4,0.000,0.059,2503,712,3429
$GC,592,-1.07,-146.6,65.4,-11.0,25,597,0.00,2.50,0.00,0.000,6,0.000,0.049,2503,2120,3428
$GC,909,-1.03,-146.6,103.0,-12.0,40,913,0.00,2.53,0.00,0.000,4,0.000,0.059,2503,719,3429
$GC,949,-1.03,-146.6,107.8,-12.5,42,953,0.00,2.47,0.00,0.000,6,0.000,0.048,2503,2117,3429
$GC,1278,-0.99,-146.6,146.7,-12.0,58,1280,0.12,0.00,0.00,0.000,6,0.095,0.000,2529,2116,3429
$GC,1598,-0.99,-146.6,181.7,-10.8,78,1602,0.00,2.53,0.00,0.000,4,0.000,0.061,2529,719,3429
$GC,1637,-1.04,-146.6,185.8,-11.1,80,1644,0.00,2.47,0.00,0.000,6,0.000,0.050,2529,2118,3429
$GC,1957,-1.04,-146.6,218.4,-10.2,101,1961,0.00,2.53,0.00,0.000,4,0.000,0.060,2529,717,3429
$GC,2008,-1.10,-146.6,223.2,-9.3,104,2013,0.12,2.45,0.00,0.000,6,0.059,0.049,2495,2100,3429
$GC,2330,-1.05,-146.6,259.8,-11.7,124,2332,0.10,0.00,0.00,0.000,6,0.100,0.000,2516,2101,3429
$GC,2640,-1.05,-146.6,293.3,-10.2,144,2644,0.00,2.50,0.00,0.000,4,0.000,0.061,2516,717,3429
$GC,2679,-1.05,-146.6,297.6,-10.9,146,2685,0.00,2.45,0.00,0.000,6,0.000,0.051,2516,2099,3429
$GC,2998,-1.05,-146.6,328.5,-9.8,167,2999,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2099,3429
$GC,3310,-1.05,-146.6,359.0,-9.9,187,3314,0.00,2.50,0.00,0.000,4,0.000,0.061,2516,715,3429
$GC,3366,-1.08,-146.6,364.6,-10.0,190,3373,0.00,2.42,0.00,0.000,6,0.000,0.050,2516,2087,3429
$GC,3687,-1.08,-146.6,397.2,-10.3,211,3691,0.00,2.47,0.00,0.000,4,0.000,0.061,2516,716,3429
$GC,3722,-1.08,-146.6,401.0,-10.3,213,3727,0.00,2.42,0.00,0.000,6,0.000,0.051,2516,2080,3429
$GC,4042,-1.08,-146.6,433.0,-9.8,233,4043,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2081,3429
$GC,4353,-1.08,-146.6,464.4,-10.0,253,4358,0.00,2.47,0.00,0.000,4,0.000,0.064,2516,717,3429
$GC,4401,-1.12,-146.6,469.2,-10.9,256,4405,0.00,2.42,0.00,0.000,6,0.000,0.051,2516,2079,3428
$GC,4725,-1.12,-146.6,501.7,-9.6,277,4726,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2080,3428
$GC,5037,-1.12,-146.6,532.2,-9.8,297,5042,0.00,2.47,0.00,0.000,4,0.000,0.065,2516,721,3428
$GC,5111,-1.15,-146.6,539.8,-10.7,301,5117,0.00,2.38,0.00,0.000,6,0.000,0.052,2516,2058,3428
$GC,5430,-1.15,-146.6,578.8,-13.9,322,5434,0.00,2.42,0.00,0.000,4,0.000,0.064,2516,723,3428
$GC,5481,-1.15,-146.6,586.0,-14.5,325,5485,0.00,2.35,0.00,0.000,6,0.000,0.051,2516,2049,3428
$GC,5806,-1.15,-146.6,622.3,-11.2,346,5807,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2049,3428
$STATE,6083,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6083,begin apogee
$GC,6092,-0.33,0.0,648.3,8.4,364,6226,0.73,0.00,130.85,1.231,6,0.074,0.000,2673,1833,2831
$STATE,6226,end apogee,CONTROL_FINISHED_OK
$STATE,6227,begin climb
$GC,6230,1.22,146.6,657.4,0.0,373,6371,1.52,2.70,131.77,1.188,4,0.056,0.063,3010,3258,2233
$GC,6409,1.15,146.6,648.9,8.8,384,6414,0.00,2.60,0.00,0.000,6,0.000,0.061,3010,1854,2233
$GC,6734,1.08,146.6,614.2,12.8,405,6739,0.15,2.58,0.00,0.000,4,0.094,0.069,2981,440,2233
$GC,6801,1.04,146.6,605.2,13.1,409,6806,0.00,2.55,0.00,0.000,6,0.000,0.054,2981,1855,2233
$GC,7121,1.11,189.8,578.5,6.4,429,7166,0.00,2.65,39.00,1.151,4,0.000,0.065,2981,3250,2057
$GC,7206,1.31,292.8,574.0,4.3,434,7304,0.22,2.62,91.22,1.156,6,0.051,0.062,3036,1831,1637
$GC,7618,1.26,292.8,527.5,11.0,460,7622,0.00,2.65,0.00,0.000,4,0.000,0.065,3036,3258,1638
$GC,7718,1.26,292.8,515.5,11.4,466,7723,0.00,2.58,0.00,0.000,6,0.000,0.058,3036,1849,1638
$GC,8039,1.21,292.8,483.2,10.8,486,8041,0.15,0.00,0.00,0.000,6,0.095,0.000,3008,1849,1638
$GC,8350,1.21,292.8,450.3,10.8,506,8354,0.00,2.60,0.00,0.000,4,0.000,0.063,3008,3262,1638
$GC,8383,1.26,292.8,446.7,10.1,508,8387,0.00,2.55,0.00,0.000,6,0.000,0.058,3008,1862,1638
$GC,8703,1.26,292.8,414.1,10.4,528,8707,0.00,2.58,0.00,0.000,4,0.000,0.063,3008,3261,1638
$GC,8731,1.30,292.8,411.0,11.5,530,8736,0.00,2.53,0.00,0.000,6,0.000,0.057,3008,1869,1638
$GC,9057,1.30,292.8,375.8,11.1,551,9061,0.00,2.55,0.00,0.000,4,0.000,0.062,3008,3261,1638
$GC,9079,1.34,292.8,373.2,10.8,552,9086,0.15,2.50,0.00,0.000,6,0.055,0.055,3047,1878,1638
$GC,9399,1.28,292.8,331.1,13.0,573,9400,0.12,0.00,0.00,0.000,6,0.093,0.000,3022,1878,1638
$GC,9711,1.28,292.8,295.4,11.3,593,9715,0.00,2.53,0.00,0.000,4,0.000,0.061,3022,3258,1638
$GC,9767,1.31,292.8,288.7,11.4,596,9773,0.00,2.45,0.00,0.000,6,0.000,0.052,3023,1894,1638
$GC,10086,1.31,292.8,253.0,10.8,617,10088,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,1894,1638
$GC,10400,1.31,292.8,217.9,11.7,637,10404,0.00,2.47,0.00,0.000,4,0.000,0.061,3023,3253,1638
$GC,10455,1.34,292.8,210.7,12.5,640,10462,0.00,2.42,0.00,0.000,6,0.000,0.052,3022,1895,1638
$GC,10776,1.34,292.8,174.6,11.4,661,10780,0.00,2.60,0.00,0.000,4,0.000,0.064,3022,442,1639
$GC,10804,1.34,292.8,170.9,13.1,663,10808,0.00,2.58,0.00,0.000,6,0.000,0.048,3022,1893,1638
$GC,11127,1.34,292.8,135.4,11.9,682,11128,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,1907,1638
$GC,11437,1.34,292.8,102.1,10.9,697,11438,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,1911,1639
$GC,11746,1.34,292.8,67.6,11.2,712,11747,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,1911,1639
$GC,12055,1.34,292.8,36.3,10.3,727,12056,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,1912,1639
$GC,12366,1.34,292.8,5.2,10.1,742,12367,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,1912,1639
$STATE,12402,end climb,SURFACE_DEPTH_REACHED
$STATE,12402,begin surface coast
$FINISH,0.6,1.014204
$STATE,12424,end surface coast,CONTROL_FINISHED_OK
$STATE,12424,begin surface
$SM_CCo,12448,3.80,0.507,0,0,1608,300.00
$SM_GC,2.40,0.00,0.00,3.80,0.000,0.000,0.507,421,2145,1608,-10.69,0.42,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1833
$TCM_TEMP,17.10
$XPDR_PINGS,60
$ALTIM_BOTTOM_PING,595.9,62.2
$24V_AH,23.8,48.101
$10V_AH,10.1,21.424
$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,25.950,106.400,392.850,3.800,0.000,37.761,27.608,155.151,20.250,0.000,0.000,15.055,1304.914,9022.085,486.357,1501.234,496.807,33.361,1253.974,0.000,1466.377,0.000,36.633,0.000
$DEVICE_MAMPS,158.769,76.700,1231.035,506.987,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,508.815,543.894,435.023,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37988,745
$CAP_FILE_SIZE,101478,0
$CFSIZE,254472192,236367872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,131009,083107,6343.119,-1256.603,25,1.6,25,-12.3