version: 66.03
glider: 5
mission: 3
dive: 245
start: 7 31 108 7 54 55
data:
$ID,5
$MISSION,3
$DIVE,245
$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,-81206.055
$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,53
$R_STBD_OVSHOOT,22
$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
$GPS1,074538,6231.660,-1026.700,29,1.1,29,-10.4
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-56.4
$GPS2,075403,6231.709,-1026.718,16,1.1,16,-10.4
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,IFRSILL
$TGT_LATLONG,6250.000,-940.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.204,0.087
$KALMAN_X,-59866.2,718.9,1051.4,81345.2,-10671.5
$KALMAN_Y,-29969.6,197.5,1075.7,70240.1,-6862.7
$MHEAD_RNG_PITCHd_Wd,77.4,52039,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.30,-117.3,0.0,0.0,0,138,0.00,0.00,-110.12,0.000,6,0.000,0.000,421,2128,3100
$GC,142,-1.30,-117.3,2.1,-1.7,5,158,10.35,2.55,0.00,0.000,4,0.140,0.054,2407,3559,3098
$GC,209,-0.94,-117.3,14.8,-15.2,7,214,0.43,2.47,0.00,0.000,6,0.094,0.045,2494,2170,3098
$GC,532,-0.87,-117.3,46.7,-9.9,23,537,0.00,2.53,0.00,0.000,4,0.000,0.056,2495,3556,3098
$GC,567,-0.78,-117.3,50.4,-10.4,24,573,0.15,2.53,0.00,0.000,6,0.091,0.044,2527,2129,3097
$GC,883,-0.78,-117.3,74.5,-7.3,40,887,0.00,2.47,0.00,0.000,4,0.000,0.057,2527,740,3098
$GC,1076,-0.78,-117.3,90.0,-7.8,48,1083,0.00,2.47,0.00,0.000,6,0.000,0.048,2527,2128,3098
$GC,1394,-0.82,-117.3,116.7,-8.5,64,1399,0.00,2.55,0.00,0.000,4,0.000,0.059,2527,3556,3099
$GC,1512,-0.82,-117.3,127.2,-8.4,69,1516,0.00,2.53,0.00,0.000,6,0.000,0.044,2527,2129,3099
$GC,1829,-0.87,-117.3,152.1,-8.0,84,1830,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2128,3099
$GC,2139,-0.91,-117.3,176.2,-7.5,99,2143,0.12,2.45,0.00,0.000,4,0.052,0.059,2489,747,3099
$GC,2202,-0.83,-117.3,181.7,-8.4,102,2207,0.12,2.50,0.00,0.000,6,0.096,0.050,2516,2148,3098
$GC,2529,-0.83,-117.3,207.4,-7.6,118,2533,0.00,2.53,0.00,0.000,4,0.000,0.060,2515,3555,3098
$GC,2595,-0.83,-117.3,212.6,-7.8,121,2600,0.00,2.50,0.00,0.000,6,0.000,0.047,2516,2145,3097
$GC,2918,-0.83,-117.3,234.9,-6.9,137,2922,0.00,2.50,0.00,0.000,4,0.000,0.061,2515,746,3097
$GC,2968,-0.83,-117.3,238.7,-7.3,139,2972,0.00,2.50,0.00,0.000,6,0.000,0.051,2516,2142,3097
$GC,3284,-0.83,-117.3,258.7,-5.9,154,3286,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2141,3097
$GC,3595,-0.83,-117.3,275.7,-4.9,169,3596,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2141,3097
$GC,3902,-0.83,-117.3,291.0,-5.3,184,3906,0.00,2.55,0.00,0.000,4,0.000,0.062,2516,739,3097
$GC,3998,-0.83,-117.3,296.5,-5.7,188,4002,0.00,2.50,0.00,0.000,6,0.000,0.052,2516,2134,3096
$GC,4314,-0.83,-117.3,313.5,-5.4,203,4318,0.00,2.50,0.00,0.000,4,0.000,0.061,2516,745,3096
$GC,4358,-0.83,-117.3,316.1,-6.0,205,4362,0.00,2.47,0.00,0.000,6,0.000,0.052,2516,2132,3096
$GC,4680,-0.83,-117.3,335.4,-6.4,221,4684,0.00,2.58,0.00,0.000,4,0.000,0.063,2516,3560,3096
$GC,4742,-0.83,-117.3,340.0,-7.5,224,4747,0.00,2.55,0.00,0.000,6,0.000,0.050,2516,2122,3096
$GC,5070,-0.83,-117.3,363.8,-7.4,240,5074,0.00,2.47,0.00,0.000,4,0.000,0.063,2516,742,3095
$GC,5137,-0.83,-117.3,369.4,-8.6,243,5141,0.00,2.50,0.00,0.000,6,0.000,0.054,2516,2130,3095
$GC,5459,-0.83,-117.3,395.3,-8.2,259,5463,0.00,2.55,0.00,0.000,4,0.000,0.064,2516,3556,3095
$GC,5537,-0.83,-117.3,401.9,-8.3,262,5543,0.00,2.55,0.00,0.000,6,0.000,0.051,2516,2131,3095
$GC,5856,-0.83,-117.3,425.4,-7.2,278,5860,0.00,2.62,0.00,0.000,4,0.000,0.064,2516,3553,3094
$GC,5940,-0.83,-117.3,432.1,-8.0,282,5945,0.00,2.50,0.00,0.000,6,0.000,0.051,2516,2147,3094
$GC,6268,-0.83,-117.3,452.9,-5.8,298,6272,0.00,2.50,0.00,0.000,4,0.000,0.064,2516,750,3094
$GC,6397,-0.83,-117.3,460.6,-5.9,304,6402,0.00,2.47,0.00,0.000,6,0.000,0.053,2516,2131,3094
$GC,6725,-0.83,-117.3,480.2,-6.2,320,6730,0.00,2.55,0.00,0.000,4,0.000,0.064,2516,742,3094
$GC,6799,-0.83,-117.3,485.2,-7.1,323,6803,0.00,2.47,0.00,0.000,6,0.000,0.056,2516,2113,3094
$GC,7116,-0.87,-117.3,505.4,-6.2,338,7120,0.00,2.62,0.00,0.000,4,0.000,0.068,2516,3556,3093
$GC,7194,-0.87,-117.3,510.1,-5.8,341,7200,0.00,2.60,0.00,0.000,6,0.000,0.055,2516,2113,3093
$GC,7511,-0.92,-117.3,528.0,-6.0,357,7515,0.00,2.45,0.00,0.000,4,0.000,0.065,2516,743,3093
$GC,7675,-0.92,-117.3,538.8,-6.8,364,7680,0.00,2.47,0.00,0.000,6,0.000,0.059,2516,2100,3092
$GC,7992,-0.98,-117.3,558.1,-6.3,379,7997,0.12,2.50,0.00,0.000,4,0.057,0.071,2479,744,3092
$GC,8065,-0.92,-117.3,563.7,-8.3,382,8069,0.00,2.47,0.00,0.000,6,0.000,0.061,2479,2094,3091
$STATE,8316,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8316,begin apogee
$GC,8323,-0.33,0.0,582.5,6.9,394,8425,0.70,0.00,98.93,1.236,6,0.090,0.000,2624,2095,2620
$STATE,8426,end apogee,CONTROL_FINISHED_OK
$STATE,8426,begin climb
$GC,8429,1.30,117.3,585.9,0.0,399,8536,1.65,2.70,98.25,1.208,4,0.074,0.074,2977,691,2141
$GC,8586,1.30,117.3,575.1,9.2,406,8592,0.00,2.62,0.00,0.000,6,0.000,0.063,2977,2101,2140
$GC,8902,1.30,117.3,549.4,8.0,422,8906,0.00,2.62,0.00,0.000,4,0.000,0.074,2976,3512,2139
$GC,8942,1.30,117.3,546.1,8.4,424,8946,0.00,2.60,0.00,0.000,6,0.000,0.063,2977,2105,2138
$GC,9268,1.30,117.3,519.4,8.2,440,9272,0.00,2.65,0.00,0.000,4,0.000,0.074,2976,3512,2138
$GC,9308,1.30,117.3,516.0,8.7,442,9312,0.00,2.58,0.00,0.000,6,0.000,0.063,2977,2118,2138
$GC,9634,1.30,117.3,488.4,8.4,458,9639,0.00,2.62,0.00,0.000,4,0.000,0.072,2977,681,2137
$GC,9667,1.30,117.3,485.3,9.4,459,9673,0.00,2.67,0.00,0.000,6,0.000,0.063,2977,2131,2137
$GC,9984,1.33,131.7,461.1,7.3,475,10006,0.00,2.62,12.55,1.101,4,0.000,0.071,2977,3505,2083
$GC,10030,1.33,131.7,457.4,8.8,477,10035,0.00,2.55,0.00,0.000,6,0.000,0.059,2977,2123,2083
$GC,10357,1.33,131.7,428.5,9.6,493,10361,0.00,2.60,0.00,0.000,4,0.000,0.070,2977,3510,2081
$GC,10385,1.33,131.7,425.7,10.5,494,10389,0.00,2.53,0.00,0.000,6,0.000,0.058,2977,2128,2081
$GC,10701,1.33,131.7,395.4,9.4,509,10705,0.00,2.58,0.00,0.000,4,0.000,0.067,2977,3515,2081
$GC,10768,1.33,131.7,388.6,10.7,512,10773,0.00,2.50,0.00,0.000,6,0.000,0.056,2977,2143,2081
$GC,11090,1.33,131.7,360.4,8.4,528,11095,0.00,2.55,0.00,0.000,4,0.000,0.066,2977,3516,2080
$GC,11118,1.33,131.7,357.8,8.8,529,11122,0.00,2.47,0.00,0.000,6,0.000,0.053,2977,2148,2080
$GC,11434,1.35,144.5,333.7,7.4,544,11455,0.00,2.58,11.70,0.998,4,0.000,0.064,2977,3509,2030
$GC,11462,1.36,149.6,331.6,7.8,545,11473,0.00,2.45,6.20,0.864,6,0.000,0.052,2977,2166,2010
$GC,11782,1.37,157.7,306.4,7.6,560,11793,0.00,0.00,8.57,0.929,6,0.000,0.000,2977,2166,1977
$GC,12092,1.42,160.8,282.8,7.9,575,12099,0.15,0.00,4.47,0.734,6,0.048,0.000,3019,2166,1964
$GC,12402,1.35,160.8,251.4,10.3,590,12407,0.12,2.47,0.00,0.000,4,0.095,0.061,2995,3518,1964
$GC,12435,1.35,160.8,247.8,9.9,591,12442,0.00,2.40,0.00,0.000,6,0.000,0.049,2996,2169,1963
$GC,12751,1.35,160.8,218.7,9.3,607,12755,0.00,2.45,0.00,0.000,4,0.000,0.061,2996,3510,1964
$GC,12779,1.35,160.8,215.7,10.2,608,12783,0.00,2.40,0.00,0.000,6,0.000,0.049,2996,2174,1964
$GC,13095,1.35,160.8,185.2,10.0,623,13099,0.00,2.45,0.00,0.000,4,0.000,0.061,2995,3517,1965
$GC,13127,1.35,160.8,181.4,10.6,624,13133,0.00,2.38,0.00,0.000,6,0.000,0.048,2995,2193,1965
$GC,13444,1.35,160.8,147.6,10.8,640,13448,0.00,2.40,0.00,0.000,4,0.000,0.061,2996,3510,1965
$GC,13461,1.35,160.8,145.6,10.7,640,13467,0.00,2.33,0.00,0.000,6,0.000,0.048,2996,2209,1966
$GC,13778,1.35,160.8,111.9,10.3,656,13779,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2209,1966
$GC,14086,1.35,160.8,82.3,9.3,671,14088,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2208,1966
$GC,14395,1.35,160.8,54.7,8.5,686,14396,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2206,1967
$GC,14704,1.35,160.8,29.2,8.5,701,14708,0.00,2.38,0.00,0.000,4,0.000,0.058,2995,3511,1967
$GC,14783,1.35,160.8,22.4,8.1,704,14789,0.00,2.33,0.00,0.000,6,0.000,0.048,2995,2204,1967
$STATE,15056,end climb,SURFACE_DEPTH_REACHED
$STATE,15057,begin surface coast
$FINISH,0.3,1.015870
$STATE,15077,end surface coast,CONTROL_FINISHED_OK
$STATE,15077,begin surface
$SM_CCo,15100,230.50,0.781,0,0,390,547.02
$SM_GC,0.63,0.00,0.00,230.50,0.000,0.000,0.781,420,2191,390,-10.49,1.16,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1701
$TCM_TEMP,17.50
$XPDR_PINGS,414
$ALTIM_TOP_PING,18.9,999.0
$ALTIM_BOTTOM_PING,525.5,65.7
$24V_AH,23.8,47.215
$10V_AH,10.1,22.978
$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,24.975,161.025,240.675,230.500,0.000,75.532,81.696,162.107,108.000,0.000,0.000,16.104,1390.003,11464.438,669.275,1697.534,616.819,33.347,1530.739,0.000,1657.955,0.000,31.760
$DEVICE_MAMPS,139.594,74.399,1235.637,780.806,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,492.947,532.204,471.942,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38052,719
$CAP_FILE_SIZE,123718,0
$CFSIZE,254472192,235651072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,24,0,0
$GPS,310708,121138,6231.846,-1023.862,32,1.0,32,-10.4