version: 66.03
glider: 5
mission: 3
dive: 254
start: 8 1 108 22 24 54
data:
$ID,5
$MISSION,3
$DIVE,254
$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,-81377.078
$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,38
$R_STBD_OVSHOOT,21
$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
$GPS1,221837,6239.648,-1029.088,30,1.6,30,-10.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.57
$_SM_ANGLEo,-46.8
$GPS2,222403,6239.667,-1029.070,13,1.6,13,-10.5
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,IFRSILL
$TGT_LATLONG,6250.000,-940.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.213,0.063
$KALMAN_X,-99415.3,1431.5,1932.7,117175.7,-20799.8
$KALMAN_Y,-29381.1,244.0,479.2,84946.9,321.7
$MHEAD_RNG_PITCHd_Wd,83.9,45693,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-1.30,-117.3,0.0,0.0,0,142,0.00,0.00,-111.95,0.000,6,0.000,0.000,417,2136,3099
$GC,146,-1.30,-117.3,2.0,-1.6,5,158,10.35,0.00,0.00,0.000,6,0.134,0.000,2412,2121,3099
$GC,464,-1.01,-117.3,45.6,-11.5,21,469,0.28,2.47,0.00,0.000,4,0.097,0.055,2472,757,3098
$GC,514,-0.87,-117.3,51.0,-9.6,23,519,0.17,2.50,0.00,0.000,6,0.091,0.048,2510,2156,3098
$GC,832,-0.87,-117.3,74.7,-7.6,38,837,0.00,2.55,0.00,0.000,4,0.000,0.058,2510,755,3099
$GC,1002,-0.87,-117.3,87.9,-7.2,45,1008,0.00,2.45,0.00,0.000,6,0.000,0.048,2510,2132,3099
$GC,1320,-0.87,-117.3,108.4,-6.3,61,1321,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2132,3099
$GC,1627,-0.87,-117.3,131.4,-8.1,76,1629,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2132,3099
$GC,1936,-0.87,-117.3,157.7,-8.6,91,1938,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2132,3099
$GC,2245,-0.87,-117.3,183.5,-8.2,106,2250,0.00,2.50,0.00,0.000,4,0.000,0.061,2509,757,3099
$GC,2296,-0.87,-117.3,188.2,-9.3,108,2300,0.00,2.42,0.00,0.000,6,0.000,0.051,2510,2114,3099
$GC,2612,-0.87,-117.3,214.2,-8.1,123,2613,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2113,3098
$GC,2921,-0.87,-117.3,237.3,-7.0,138,2926,0.00,2.60,0.00,0.000,4,0.000,0.062,2510,3563,3098
$GC,2967,-0.87,-117.3,240.8,-7.8,140,2971,0.00,2.58,0.00,0.000,6,0.000,0.050,2510,2121,3098
$GC,3288,-0.87,-117.3,263.3,-6.5,156,3293,0.00,2.45,0.00,0.000,4,0.000,0.060,2510,743,3098
$GC,3345,-0.87,-117.3,267.2,-7.2,158,3350,0.00,2.47,0.00,0.000,6,0.000,0.052,2510,2123,3098
$GC,3661,-0.87,-117.3,287.0,-6.3,174,3666,0.00,2.53,0.00,0.000,4,0.000,0.061,2510,737,3097
$GC,3702,-0.87,-117.3,289.8,-6.9,176,3706,0.00,2.45,0.00,0.000,6,0.000,0.052,2510,2109,3097
$GC,4029,-0.87,-117.3,311.6,-6.6,192,4034,0.00,2.60,0.00,0.000,4,0.000,0.063,2510,3556,3097
$GC,4074,-0.87,-117.3,314.9,-7.7,194,4079,0.00,2.58,0.00,0.000,6,0.000,0.049,2510,2103,3097
$GC,4396,-0.87,-117.3,338.0,-7.4,210,4400,0.00,2.42,0.00,0.000,4,0.000,0.062,2509,738,3096
$GC,4447,-0.87,-117.3,342.2,-8.2,212,4451,0.00,2.45,0.00,0.000,6,0.000,0.053,2509,2106,3097
$GC,4768,-0.87,-117.3,367.7,-8.0,228,4769,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2107,3097
$GC,5077,-0.87,-117.3,389.8,-7.0,243,5081,0.00,2.47,0.00,0.000,4,0.000,0.064,2510,743,3096
$GC,5185,-0.87,-117.3,397.7,-7.7,248,5189,0.00,2.45,0.00,0.000,6,0.000,0.054,2510,2110,3097
$GC,5512,-0.87,-117.3,421.3,-7.3,264,5513,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2111,3096
$GC,5821,-0.87,-117.3,444.8,-7.6,279,5823,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2111,3096
$GC,6130,-0.87,-117.3,467.2,-7.4,294,6134,0.00,2.60,0.00,0.000,4,0.000,0.068,2510,3554,3095
$GC,6215,-0.87,-117.3,473.8,-7.7,298,6219,0.00,2.60,0.00,0.000,6,0.000,0.054,2510,2091,3095
$GC,6542,-0.87,-117.3,498.4,-7.3,314,6546,0.00,2.42,0.00,0.000,4,0.000,0.065,2510,744,3094
$GC,6583,-0.87,-117.3,501.5,-7.8,316,6587,0.00,2.40,0.00,0.000,6,0.000,0.058,2509,2068,3094
$GC,6912,-0.87,-117.3,525.1,-7.1,332,6917,0.00,2.70,0.00,0.000,4,0.000,0.071,2510,3557,3094
$GC,7102,-0.87,-117.3,539.7,-7.3,340,7109,0.00,2.65,0.00,0.000,6,0.000,0.060,2510,2096,3093
$STATE,7188,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7188,begin apogee
$GC,7195,-0.33,0.0,545.7,6.8,345,7297,0.55,0.00,98.53,1.197,6,0.086,0.000,2624,2076,2620
$STATE,7297,end apogee,CONTROL_FINISHED_OK
$STATE,7297,begin climb
$GC,7301,1.30,117.3,548.0,0.0,350,7407,1.65,2.70,97.68,1.167,4,0.071,0.069,2978,3507,2141
$GC,7463,1.30,117.3,537.9,10.2,357,7469,0.00,2.60,0.00,0.000,6,0.000,0.059,2978,2101,2140
$GC,7779,1.30,117.3,510.3,8.9,373,7784,0.00,2.62,0.00,0.000,4,0.000,0.072,2978,3504,2139
$GC,7823,1.30,117.3,506.0,9.7,375,7827,0.00,2.58,0.00,0.000,6,0.000,0.061,2978,2106,2139
$GC,8144,1.30,117.3,476.8,9.3,391,8149,0.00,2.62,0.00,0.000,4,0.000,0.072,2978,3510,2138
$GC,8201,1.30,117.3,470.8,11.0,393,8207,0.00,2.55,0.00,0.000,6,0.000,0.061,2978,2122,2138
$GC,8516,1.30,117.3,438.7,10.7,409,8520,0.00,2.58,0.00,0.000,4,0.000,0.073,2978,3504,2137
$GC,8561,1.30,117.3,433.6,11.2,411,8565,0.00,2.55,0.00,0.000,6,0.000,0.061,2978,2117,2137
$GC,8882,1.30,117.3,403.0,8.8,427,8886,0.00,2.58,0.00,0.000,4,0.000,0.070,2978,3504,2136
$GC,8937,1.30,117.3,398.1,9.0,429,8943,0.00,2.53,0.00,0.000,6,0.000,0.058,2978,2121,2136
$GC,9253,1.32,130.1,373.2,7.4,445,9274,0.00,2.62,11.25,1.025,4,0.000,0.068,2978,3504,2088
$GC,9280,1.33,135.9,371.1,7.7,446,9296,0.00,2.55,6.45,0.904,6,0.000,0.058,2978,2122,2066
$GC,9606,1.36,154.2,348.3,7.2,462,9628,0.00,2.67,16.58,1.038,4,0.000,0.065,2978,3511,1991
$GC,9674,1.36,154.2,342.8,8.5,465,9678,0.00,2.50,0.00,0.000,6,0.000,0.054,2978,2137,1990
$GC,10002,1.44,175.9,319.0,7.0,481,10027,0.15,2.58,18.92,1.019,4,0.052,0.064,3019,3505,1903
$GC,10049,1.36,175.9,314.5,9.9,483,10054,0.12,2.50,0.00,0.000,6,0.095,0.054,2998,2143,1903
$GC,10371,1.36,177.5,289.1,7.9,499,10376,0.00,2.50,0.00,0.000,4,0.000,0.063,2998,3505,1902
$GC,10393,1.36,178.8,287.2,7.9,500,10402,0.00,2.45,4.25,0.709,6,0.000,0.054,2997,2159,1891
$GC,10720,1.36,178.8,261.2,8.0,516,10724,0.00,2.47,0.00,0.000,4,0.000,0.062,2998,3511,1891
$GC,10748,1.36,178.8,258.8,8.8,517,10752,0.00,2.42,0.00,0.000,6,0.000,0.053,2998,2169,1891
$GC,11063,1.36,178.8,231.7,9.2,532,11065,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2169,1891
$GC,11373,1.36,178.8,201.2,10.4,547,11377,0.00,2.45,0.00,0.000,4,0.000,0.061,2998,3512,1892
$GC,11401,1.36,178.8,197.8,11.8,548,11405,0.00,2.42,0.00,0.000,6,0.000,0.053,2998,2173,1892
$GC,11717,1.36,178.8,163.9,10.8,563,11721,0.00,2.45,0.00,0.000,4,0.000,0.061,2998,3514,1892
$GC,11739,1.36,178.8,161.3,10.9,564,11743,0.00,2.40,0.00,0.000,6,0.000,0.052,2998,2183,1892
$GC,12061,1.36,178.8,127.2,10.3,580,12062,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2184,1892
$GC,12370,1.36,178.8,96.4,9.8,595,12374,0.00,2.40,0.00,0.000,4,0.000,0.059,2998,3507,1893
$GC,12392,1.36,178.8,94.0,9.7,596,12396,0.00,2.35,0.00,0.000,6,0.000,0.051,2998,2192,1893
$GC,12713,1.36,178.8,58.8,11.9,612,12714,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2192,1893
$GC,13025,1.42,178.8,23.4,10.5,627,13026,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2192,1893
$STATE,13226,end climb,SURFACE_DEPTH_REACHED
$STATE,13226,begin surface coast
$FINISH,-0.1,1.012924
$STATE,13248,end surface coast,CONTROL_FINISHED_OK
$STATE,13248,begin surface
$SM_CCo,13270,217.27,0.773,0,0,390,547.02
$SM_GC,0.47,0.00,0.00,217.27,0.000,0.000,0.773,417,2179,390,-10.50,0.82,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1691
$TCM_TEMP,16.60
$XPDR_PINGS,387
$ALTIM_TOP_PING,19.8,999.0
$ALTIM_BOTTOM_PING,525.1,29.2
$24V_AH,23.8,48.618
$10V_AH,10.1,23.632
$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,24.375,125.975,253.650,217.275,0.000,37.765,26.454,141.494,101.250,0.000,0.000,13.720,1206.743,10070.524,638.640,1429.007,473.334,33.363,1368.748,0.000,1398.693,0.000,31.322
$DEVICE_MAMPS,134.225,72.865,1197.287,773.136,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,437.195,472.146,432.298,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31632,638
$CAP_FILE_SIZE,103581,0
$CFSIZE,254472192,235163648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,21,0,0
$GPS,020808,021125,6239.398,-1028.503,45,1.8,63,-10.5