version: 66.03
glider: 5
mission: 3
dive: 239
start: 7 30 108 3 9 15
data:
$ID,5
$MISSION,3
$DIVE,239
$D_SURF,2
$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,412.5
$T_MISSION,440
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,600
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$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,52
$TGT_DEFAULT_LON,-7
$TGT_AUTO_DEFAULT,0
$SM_CC,547.01898
$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,-81098.07
$T_RSLEEP,12
$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,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,159
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,52
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,390
$VBD_MAX,3851
$C_VBD,2620
$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
$PRESSURE_YINT,-24.477776
$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,150
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,3
$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
$PHONE_DEVICE,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043890956
$SEABIRD_T_H,0.00065287336
$SEABIRD_T_I,2.754709e-05
$SEABIRD_T_J,3.0424237e-06
$SEABIRD_C_G,-10.354986
$SEABIRD_C_H,1.1996267
$SEABIRD_C_I,-0.0023424325
$SEABIRD_C_J,0.0002635108
$GPS1,030237,6223.368,-1030.627,40,1.6,45,-10.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-51.8
$GPS2,030821,6223.365,-1030.667,15,1.6,15,-10.4
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,IFRSILL
$TGT_LATLONG,6250.000,-940.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.128,0.181
$KALMAN_X,-51396.3,565.4,-279.3,70929.7,1281.1
$KALMAN_Y,-18372.6,99.8,-388.7,44809.0,-6602.5
$MHEAD_RNG_PITCHd_Wd,335.2,65336,-16.7,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.30,-117.3,0.0,0.0,0,136,0.00,0.00,-109.60,0.000,6,0.000,0.000,421,2123,3099
$GC,140,-1.30,-117.3,2.2,-1.6,5,156,10.30,2.58,0.00,0.000,4,0.137,0.054,2409,3561,3098
$GC,408,-0.95,-117.3,39.3,-11.2,16,414,0.40,2.47,0.00,0.000,6,0.094,0.045,2491,2168,3097
$GC,733,-0.87,-117.3,65.2,-9.0,32,737,0.00,2.53,0.00,0.000,4,0.000,0.057,2491,750,3098
$GC,828,-0.79,-117.3,74.3,-9.2,36,833,0.17,2.47,0.00,0.000,6,0.091,0.047,2529,2141,3098
$GC,1146,-0.79,-117.3,95.5,-6.3,51,1150,0.00,2.53,0.00,0.000,4,0.000,0.057,2529,3561,3098
$GC,1300,-0.79,-117.3,106.4,-6.9,58,1304,0.00,2.50,0.00,0.000,6,0.000,0.045,2528,2143,3098
$GC,1629,-0.79,-117.3,126.7,-5.9,74,1633,0.00,2.47,0.00,0.000,4,0.000,0.059,2529,750,3099
$GC,1694,-0.79,-117.3,130.8,-6.8,77,1698,0.00,2.53,0.00,0.000,6,0.000,0.049,2528,2167,3099
$GC,2021,-0.83,-117.3,153.2,-7.1,93,2022,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2166,3098
$GC,2333,-0.89,-117.3,175.3,-7.1,108,2337,0.00,2.60,0.00,0.000,4,0.000,0.061,2529,741,3098
$GC,2413,-0.89,-117.3,181.6,-7.4,111,2419,0.00,2.53,0.00,0.000,6,0.000,0.051,2528,2151,3098
$GC,2730,-0.94,-117.3,204.9,-7.2,127,2732,0.15,0.00,0.00,0.000,6,0.050,0.000,2485,2151,3097
$GC,3039,-0.86,-117.3,232.5,-8.9,142,3044,0.12,2.58,0.00,0.000,4,0.094,0.061,2511,744,3097
$GC,3128,-0.86,-117.3,240.5,-8.9,146,3133,0.00,2.50,0.00,0.000,6,0.000,0.051,2511,2144,3097
$GC,3450,-0.86,-117.3,264.1,-6.9,162,3451,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2143,3097
$GC,3759,-0.86,-117.3,285.2,-6.9,177,3760,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2143,3097
$GC,4068,-0.86,-117.3,305.5,-6.6,192,4072,0.00,2.55,0.00,0.000,4,0.000,0.062,2511,750,3097
$GC,4186,-0.86,-117.3,313.9,-6.6,197,4190,0.00,2.50,0.00,0.000,6,0.000,0.051,2511,2141,3096
$GC,4502,-0.86,-117.3,335.2,-6.8,212,4503,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2141,3096
$GC,4812,-0.86,-117.3,357.2,-7.3,227,4813,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2141,3095
$GC,5120,-0.86,-117.3,379.3,-7.0,242,5125,0.00,2.55,0.00,0.000,4,0.000,0.061,2511,744,3095
$GC,5216,-0.86,-117.3,386.0,-6.8,246,5220,0.00,2.50,0.00,0.000,6,0.000,0.052,2511,2136,3095
$GC,5533,-0.86,-117.3,407.1,-6.8,261,5534,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2135,3094
$GC,5842,-0.86,-117.3,428.2,-6.7,276,5843,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2135,3094
$GC,6152,-0.86,-117.3,451.0,-7.6,291,6156,0.00,2.53,0.00,0.000,4,0.000,0.061,2511,750,3093
$GC,6309,-0.86,-117.3,463.9,-8.9,298,6313,0.00,2.47,0.00,0.000,6,0.000,0.051,2511,2128,3093
$GC,6630,-0.86,-117.3,489.5,-7.7,314,6635,0.00,2.58,0.00,0.000,4,0.000,0.065,2511,3557,3093
$GC,6721,-0.86,-117.3,496.6,-7.6,318,6725,0.00,2.55,0.00,0.000,6,0.000,0.051,2511,2127,3093
$GC,7042,-0.86,-117.3,518.2,-6.5,334,7046,0.00,2.45,0.00,0.000,4,0.000,0.061,2511,746,3093
$GC,7143,-0.86,-117.3,525.0,-6.6,338,7150,0.00,2.50,0.00,0.000,6,0.000,0.053,2511,2134,3092
$GC,7459,-0.86,-117.3,548.0,-8.0,354,7460,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2133,3092
$GC,7768,-0.86,-117.3,571.7,-6.9,369,7772,0.00,2.55,0.00,0.000,4,0.000,0.063,2511,742,3092
$GC,7886,-0.86,-117.3,579.3,-6.5,374,7890,0.00,2.50,0.00,0.000,6,0.000,0.055,2511,2124,3092
$GC,8202,-0.86,-117.3,594.2,-4.2,389,8203,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2124,3092
$GC,8512,-0.86,-117.3,609.3,-5.8,404,8516,0.00,2.55,0.00,0.000,4,0.000,0.068,2511,746,3091
$GC,8646,-0.86,-117.3,618.3,-7.0,410,8650,0.00,2.53,0.00,0.000,6,0.000,0.059,2512,2132,3091
$GC,8968,-0.86,-117.3,639.2,-6.0,426,8973,0.00,2.58,0.00,0.000,4,0.000,0.071,2511,740,3091
$GC,9140,-0.86,-117.3,650.4,-6.6,433,9146,0.00,2.53,0.00,0.000,6,0.000,0.062,2511,2119,3091
$GC,9456,-0.86,-117.3,669.5,-6.1,449,9457,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2118,3090
$GC,9766,-0.86,-117.3,688.6,-6.7,464,9767,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2118,3089
$GC,10075,-1.28,-117.3,697.1,-0.0,479,10081,0.38,2.67,0.00,0.000,4,0.048,0.077,2413,3562,3088
$GC,10334,-1.48,-117.3,697.0,0.0,490,10341,0.15,2.58,0.00,0.000,6,0.057,0.063,2375,2123,3087
$STATE,10584,end dive,NO_VERTICAL_VELOCITY
$STATE,10585,begin apogee
$GC,10591,-0.33,0.0,697.0,0.0,503,10694,1.17,0.00,99.18,1.335,6,0.076,0.000,2626,2123,2620
$STATE,10695,end apogee,CONTROL_FINISHED_OK
$STATE,10695,begin climb
$GC,10698,1.30,117.3,696.7,0.0,508,10806,1.65,2.72,99.88,1.306,4,0.074,0.077,2978,714,2140
$GC,10914,1.25,117.3,680.0,10.6,518,10918,0.00,2.60,0.00,0.000,6,0.000,0.066,2978,2103,2139
$GC,11235,1.25,117.3,652.3,8.5,534,11239,0.00,2.62,0.00,0.000,4,0.000,0.077,2978,3507,2138
$GC,11247,1.25,117.3,651.3,8.8,534,11253,0.00,2.58,0.00,0.000,6,0.000,0.065,2978,2125,2138
$GC,11563,1.25,117.3,626.1,8.2,550,11564,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2125,2137
$GC,11871,1.25,117.3,598.8,9.0,565,11876,0.00,2.60,0.00,0.000,4,0.000,0.076,2978,3507,2136
$GC,11882,1.25,117.3,597.7,8.8,565,11889,0.00,2.62,0.00,0.000,6,0.000,0.065,2978,2091,2136
$GC,12199,1.25,117.3,569.8,9.5,581,12203,0.00,2.65,0.00,0.000,4,0.000,0.074,2977,3507,2136
$GC,12277,1.25,117.3,561.8,10.5,584,12283,0.00,2.58,0.00,0.000,6,0.000,0.062,2979,2107,2135
$GC,12593,1.25,117.3,530.7,9.7,600,12594,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2108,2135
$GC,12902,1.25,117.3,501.7,9.8,615,12906,0.00,2.60,0.00,0.000,4,0.000,0.070,2978,3508,2134
$GC,12964,1.25,117.3,495.4,10.4,618,12969,0.00,2.55,0.00,0.000,6,0.000,0.057,2978,2102,2133
$GC,13291,1.25,117.3,463.5,9.8,634,13295,0.00,2.60,0.00,0.000,4,0.000,0.067,2978,3511,2133
$GC,13331,1.25,117.3,459.6,10.9,636,13335,0.00,2.53,0.00,0.000,6,0.000,0.054,2978,2112,2134
$GC,13657,1.25,117.3,427.0,10.2,652,13662,0.00,2.58,0.00,0.000,4,0.000,0.065,2978,3514,2134
$GC,13685,1.25,117.3,424.1,10.1,653,13689,0.00,2.53,0.00,0.000,6,0.000,0.054,2978,2118,2134
$GC,14001,1.25,117.3,393.6,9.5,668,14006,0.00,2.55,0.00,0.000,4,0.000,0.064,2978,3518,2134
$GC,14086,1.25,117.3,385.0,9.3,672,14091,0.00,2.47,0.00,0.000,6,0.000,0.052,2978,2131,2134
$GC,14413,1.25,117.3,356.4,8.3,688,14417,0.00,2.55,0.00,0.000,4,0.000,0.062,2978,3517,2135
$GC,14447,1.25,117.3,353.4,9.1,689,14453,0.00,2.47,0.00,0.000,6,0.000,0.051,2978,2137,2135
$GC,14763,1.25,117.3,327.2,8.1,705,14767,0.00,2.53,0.00,0.000,4,0.000,0.061,2978,3514,2136
$GC,14807,1.25,117.3,323.3,8.7,707,14811,0.00,2.45,0.00,0.000,6,0.000,0.051,2978,2142,2136
$GC,15128,1.25,117.3,296.2,8.7,723,15132,0.00,2.50,0.00,0.000,4,0.000,0.061,2978,3511,2137
$GC,15183,1.25,117.3,291.0,9.7,725,15190,0.00,2.42,0.00,0.000,6,0.000,0.050,2978,2153,2137
$GC,15499,1.25,117.3,263.7,8.5,741,15504,0.00,2.45,0.00,0.000,4,0.000,0.061,2977,3511,2137
$GC,15552,1.25,117.3,258.9,9.3,743,15556,0.00,2.40,0.00,0.000,6,0.000,0.050,2978,2171,2137
$GC,15868,1.26,122.2,233.2,7.8,758,15878,0.00,2.45,5.57,0.765,4,0.000,0.060,2977,3509,2120
$GC,15917,1.26,122.2,228.9,8.4,760,15921,0.00,2.40,0.00,0.000,6,0.000,0.049,2978,2178,2120
$GC,16234,1.26,122.2,202.6,8.4,775,16237,0.00,2.42,0.00,0.000,4,0.000,0.060,2978,3511,2120
$GC,16274,1.26,122.2,198.9,9.1,776,16280,0.00,2.38,0.00,0.000,6,0.000,0.049,2978,2183,2121
$GC,16590,1.26,122.2,171.6,8.6,792,16594,0.00,2.42,0.00,0.000,4,0.000,0.059,2978,3517,2121
$GC,16630,1.26,122.2,168.1,9.2,794,16634,0.00,2.35,0.00,0.000,6,0.000,0.049,2978,2197,2121
$GC,16957,1.26,122.2,140.2,8.4,810,16961,0.00,2.42,0.00,0.000,4,0.000,0.060,2978,3518,2121
$GC,16990,1.26,122.2,137.2,9.2,811,16996,0.00,2.35,0.00,0.000,6,0.000,0.048,2978,2200,2122
$GC,17308,1.26,122.2,111.0,8.3,827,17312,0.00,2.40,0.00,0.000,4,0.000,0.058,2978,3512,2122
$GC,17325,1.26,122.2,109.3,8.5,828,17329,0.00,2.33,0.00,0.000,6,0.000,0.049,2978,2208,2122
$GC,17658,1.26,122.2,81.9,8.8,844,17662,0.00,2.38,0.00,0.000,4,0.000,0.058,2978,3511,2122
$GC,17681,1.26,122.2,79.7,10.0,845,17685,0.00,2.35,0.00,0.000,6,0.000,0.048,2978,2200,2122
$GC,18003,1.31,122.2,48.8,9.1,861,18007,0.00,2.38,0.00,0.000,4,0.000,0.058,2978,3512,2123
$GC,18014,1.35,122.2,47.6,9.1,861,18020,0.00,2.33,0.00,0.000,6,0.000,0.049,2978,2208,2123
$GC,18332,1.41,122.2,21.0,8.8,877,18334,0.12,0.00,0.00,0.000,6,0.049,0.000,3018,2190,2123
$STATE,18554,end climb,SURFACE_DEPTH_REACHED
$STATE,18554,begin surface coast
$FINISH,0.1,1.026741
$STATE,18576,end surface coast,CONTROL_FINISHED_OK
$STATE,18576,begin surface
$SM_CCo,18598,254.65,0.769,0,0,389,547.02
$SM_GC,0.52,0.00,0.00,254.65,0.000,0.000,0.769,417,2180,389,-10.50,0.76,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1669
$TCM_TEMP,17.70
$XPDR_PINGS,475
$ALTIM_TOP_PING,19.0,18.2
$24V_AH,23.7,46.248
$10V_AH,10.1,22.508
$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
$DEVICE_SECS,25.800,170.425,204.625,254.650,0.000,37.762,30.449,143.915,124.750,0.000,0.000,15.911,1707.589,14159.076,670.251,2110.975,551.338,33.356,1703.550,0.000,2060.997,0.000,40.834
$DEVICE_MAMPS,136.526,77.467,1335.347,769.301,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,610.456,655.467,545.966,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44322,889
$CAP_FILE_SIZE,144114,0
$CFSIZE,254472192,235986944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,22,0,0
$GPS,300708,082438,6224.899,-1027.900,29,1.4,29,-10.4