version: 66.03
glider: 5
mission: 3
dive: 314
start: 8 11 108 1 9 24
data:
$ID,5
$MISSION,3
$DIVE,314
$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,-82623.609
$T_RSLEEP,12
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,432
$PITCH_MAX,3760
$C_PITCH,2730
$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,55
$R_STBD_OVSHOOT,23
$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
$GPS1,010308,6315.801,-841.846,33,1.1,33,-9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.36
$_SM_ANGLEo,-50.4
$GPS2,010833,6315.783,-841.853,14,1.3,14,-9.7
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,IFRN1K
$TGT_LATLONG,6345.000,-800.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.107,0.194
$KALMAN_X,-133168.1,409.4,-39.9,246764.8,-596.9
$KALMAN_Y,-75894.8,1180.9,885.5,196995.0,-12759.2
$MHEAD_RNG_PITCHd_Wd,38.5,64055,-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,-117.3,0.0,0.0,0,149,0.00,0.00,-116.03,0.000,6,0.000,0.000,420,2112,3098
$GC,153,-1.30,-117.3,3.3,-3.5,6,169,10.43,2.62,0.00,0.000,4,0.135,0.058,2437,3556,3098
$GC,294,-1.03,-117.3,25.4,-13.7,11,299,0.32,2.45,0.00,0.000,6,0.091,0.044,2506,2177,3096
$GC,611,-0.97,-117.3,53.9,-7.7,26,615,0.00,2.55,0.00,0.000,4,0.000,0.054,2506,740,3096
$GC,684,-0.90,-117.3,59.8,-8.2,29,689,0.15,2.55,0.00,0.000,6,0.092,0.048,2537,2165,3096
$GC,1001,-0.94,-117.3,81.8,-7.0,44,1005,0.00,2.50,0.00,0.000,4,0.000,0.058,2537,3563,3097
$GC,1142,-0.94,-117.3,92.8,-7.5,50,1146,0.00,2.47,0.00,0.000,6,0.000,0.043,2537,2161,3097
$GC,1459,-0.99,-117.3,115.2,-7.1,65,1463,0.00,2.50,0.00,0.000,4,0.000,0.054,2537,750,3098
$GC,1566,-0.99,-117.3,123.6,-8.0,70,1571,0.00,2.53,0.00,0.000,6,0.000,0.049,2537,2164,3098
$GC,1895,-1.04,-117.3,149.2,-8.0,86,1900,0.15,2.50,0.00,0.000,4,0.050,0.059,2488,3558,3098
$GC,1985,-0.93,-117.3,158.4,-10.7,90,1990,0.17,2.50,0.00,0.000,6,0.091,0.045,2523,2150,3097
$GC,2307,-0.93,-117.3,184.6,-7.8,106,2312,0.00,2.50,0.00,0.000,4,0.000,0.058,2524,750,3097
$GC,2397,-0.93,-117.3,192.0,-7.9,110,2401,0.00,2.55,0.00,0.000,6,0.000,0.051,2524,2168,3097
$GC,2719,-0.93,-117.3,216.9,-7.6,126,2720,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2168,3097
$GC,3029,-0.93,-117.3,241.4,-8.0,141,3033,0.00,2.58,0.00,0.000,4,0.000,0.060,2524,744,3097
$GC,3180,-0.93,-117.3,254.8,-8.5,148,3185,0.00,2.50,0.00,0.000,6,0.000,0.052,2524,2153,3097
$GC,3509,-0.93,-117.3,281.5,-8.0,164,3513,0.00,2.58,0.00,0.000,4,0.000,0.060,2524,739,3096
$GC,3582,-0.93,-117.3,287.4,-7.9,167,3586,0.00,2.50,0.00,0.000,6,0.000,0.051,2524,2134,3096
$GC,3899,-0.93,-117.3,308.7,-6.3,182,3903,0.00,2.55,0.00,0.000,4,0.000,0.063,2524,3560,3096
$GC,4091,-0.93,-117.3,320.9,-6.4,190,4098,0.00,2.50,0.00,0.000,6,0.000,0.048,2524,2148,3095
$GC,4408,-0.93,-117.3,339.7,-5.8,206,4413,0.00,2.53,0.00,0.000,4,0.000,0.062,2524,740,3095
$GC,4569,-0.93,-117.3,350.2,-7.3,213,4573,0.00,2.53,0.00,0.000,6,0.000,0.053,2524,2145,3095
$GC,4890,-0.93,-117.3,370.5,-6.3,229,4895,0.00,2.55,0.00,0.000,4,0.000,0.066,2524,3556,3095
$GC,5025,-0.93,-117.3,379.8,-6.9,235,5030,0.00,2.53,0.00,0.000,6,0.000,0.051,2523,2145,3095
$GC,5350,-0.93,-117.3,401.0,-6.7,251,5354,0.00,2.53,0.00,0.000,4,0.000,0.064,2524,740,3094
$GC,5496,-0.93,-117.3,410.9,-6.7,257,5502,0.00,2.55,0.00,0.000,6,0.000,0.056,2524,2152,3095
$GC,5812,-0.93,-117.3,427.8,-5.3,273,5817,0.00,2.58,0.00,0.000,4,0.000,0.069,2524,3563,3094
$GC,5984,-0.93,-117.3,437.0,-5.0,280,5990,0.00,2.50,0.00,0.000,6,0.000,0.055,2524,2157,3094
$GC,6301,-0.97,-117.3,454.5,-5.7,296,6302,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2156,3093
$GC,6611,-1.02,-117.3,470.5,-5.0,311,6615,0.00,2.58,0.00,0.000,4,0.000,0.073,2524,3556,3093
$GC,6868,-1.02,-117.3,487.9,-7.7,322,6874,0.00,2.45,0.00,0.000,6,0.000,0.059,2524,2203,3093
$GC,7185,-1.08,-117.3,509.5,-6.4,338,7187,0.15,0.00,0.00,0.000,6,0.058,0.000,2483,2189,3092
$GC,7494,-1.02,-117.3,532.7,-7.5,353,7499,0.12,2.65,0.00,0.000,4,0.104,0.072,2508,760,3091
$GC,7602,-1.02,-117.3,540.8,-7.8,358,7606,0.00,2.62,0.00,0.000,6,0.000,0.067,2508,2183,3091
$STATE,7740,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7740,begin apogee
$GC,7747,-0.33,0.0,550.9,7.3,365,7849,0.73,0.00,98.78,1.242,6,0.096,0.000,2655,2091,2620
$STATE,7850,end apogee,CONTROL_FINISHED_OK
$STATE,7850,begin climb
$GC,7853,1.30,117.3,553.5,0.0,370,7956,1.67,0.00,98.30,1.206,6,0.079,0.000,3010,2092,2141
$GC,8269,1.26,117.3,519.2,9.3,390,8274,0.00,2.67,0.00,0.000,4,0.000,0.078,3010,3509,2139
$GC,8319,1.18,117.3,513.5,10.3,392,8324,0.12,2.60,0.00,0.000,6,0.104,0.066,2988,2118,2139
$GC,8636,1.19,121.1,487.5,7.8,407,8645,0.00,2.67,4.25,0.805,4,0.000,0.079,2988,3514,2126
$GC,8685,1.19,121.1,483.1,9.2,409,8689,0.00,2.60,0.00,0.000,6,0.000,0.065,2988,2116,2126
$GC,9003,1.19,121.1,457.5,8.0,424,9007,0.00,2.65,0.00,0.000,4,0.000,0.079,2988,3512,2124
$GC,9024,1.19,121.1,455.4,8.3,425,9029,0.00,2.60,0.00,0.000,6,0.000,0.065,2988,2114,2124
$GC,9346,1.21,137.0,432.5,7.3,441,9367,0.00,2.72,14.48,1.127,4,0.000,0.077,2988,3514,2060
$GC,9463,1.21,137.0,422.0,8.6,446,9468,0.00,2.58,0.00,0.000,6,0.000,0.064,2988,2130,2060
$GC,9785,1.21,137.0,393.7,8.5,462,9789,0.00,2.62,0.00,0.000,4,0.000,0.075,2988,3509,2058
$GC,9857,1.21,137.0,387.4,8.5,465,9861,0.00,2.50,0.00,0.000,6,0.000,0.062,2988,2154,2058
$GC,10174,1.23,152.2,364.7,7.3,480,10195,0.00,2.62,13.73,1.087,4,0.000,0.073,2988,3502,1999
$GC,10264,1.23,152.2,357.0,9.1,484,10268,0.00,2.47,0.00,0.000,6,0.000,0.059,2988,2161,1999
$GC,10591,1.23,152.2,325.9,10.0,500,10596,0.00,2.53,0.00,0.000,4,0.000,0.070,2988,3509,1999
$GC,10619,1.23,152.2,322.7,11.7,501,10623,0.00,2.45,0.00,0.000,6,0.000,0.056,2988,2171,1999
$GC,10935,1.23,152.2,292.5,8.8,516,10936,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2153,1999
$GC,11245,1.28,152.2,265.0,8.9,531,11249,0.00,2.47,0.00,0.000,4,0.000,0.067,2988,3512,1999
$GC,11289,1.28,152.2,260.9,9.1,533,11294,0.00,2.45,0.00,0.000,6,0.000,0.054,2988,2164,1999
$GC,11611,1.33,152.5,234.0,8.0,549,11616,0.15,2.47,0.00,0.000,4,0.051,0.064,3034,3517,1999
$GC,11653,1.21,152.5,230.0,10.2,551,11658,0.20,2.42,0.00,0.000,6,0.093,0.051,2995,2171,1999
$GC,11980,1.26,183.3,206.6,6.6,567,12013,0.00,2.55,26.67,0.969,4,0.000,0.063,2995,3510,1872
$GC,12055,1.34,201.8,201.5,7.2,570,12077,0.12,2.40,16.42,0.933,6,0.054,0.050,3028,2186,1797
$GC,12396,1.34,201.8,170.1,9.8,587,12400,0.00,2.45,0.00,0.000,4,0.000,0.062,3028,3513,1797
$GC,12429,1.30,201.8,166.1,11.5,588,12435,0.00,2.40,0.00,0.000,6,0.000,0.049,3028,2184,1797
$GC,12746,1.30,201.8,130.4,12.0,604,12750,0.00,2.42,0.00,0.000,4,0.000,0.061,3028,3511,1798
$GC,12767,1.30,201.8,127.4,13.0,605,12771,0.00,2.35,0.00,0.000,6,0.000,0.048,3028,2195,1798
$GC,13089,1.30,201.8,91.3,10.9,621,13093,0.00,2.42,0.00,0.000,4,0.000,0.061,3028,3518,1798
$GC,13107,1.30,201.8,89.2,11.0,622,13111,0.00,2.35,0.00,0.000,6,0.000,0.048,3028,2194,1798
$GC,13435,1.30,201.8,55.4,10.2,638,13439,0.00,2.42,0.00,0.000,4,0.000,0.061,3028,3517,1799
$GC,13452,1.30,201.8,53.5,10.2,639,13456,0.00,2.35,0.00,0.000,6,0.000,0.047,3028,2201,1799
$GC,13780,1.30,201.8,22.6,9.0,655,13784,0.00,2.40,0.00,0.000,4,0.000,0.059,3027,3512,1799
$GC,13846,1.30,201.8,15.4,11.9,658,13851,0.00,2.33,0.00,0.000,6,0.000,0.046,3028,2209,1799
$STATE,13980,end climb,SURFACE_DEPTH_REACHED
$STATE,13980,begin surface coast
$FINISH,-0.2,1.026924
$STATE,14002,end surface coast,CONTROL_FINISHED_OK
$STATE,14002,begin surface
$SM_CCo,14025,198.68,0.792,0,0,390,547.02
$SM_GC,0.20,0.00,0.00,198.68,0.000,0.000,0.792,422,2113,390,-10.61,-1.13,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1701
$TCM_TEMP,17.50
$XPDR_PINGS,362
$ALTIM_TOP_PING,19.8,999.0
$ALTIM_BOTTOM_PING,526.4,33.5
$24V_AH,23.7,57.683
$10V_AH,10.1,27.600
$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,25.775,151.225,272.625,198.675,0.000,37.761,29.628,133.791,95.000,0.000,0.000,14.382,1329.955,10326.991,656.366,1742.275,496.129,33.362,1526.332,0.000,1701.037,0.000,31.336
$DEVICE_MAMPS,134.992,79.001,1241.773,792.311,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,457.910,490.849,445.507,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34812,666
$CAP_FILE_SIZE,120226,0
$CFSIZE,254472192,232067072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,26,0,0
$GPS,110808,050738,6317.506,-836.151,29,1.3,29,-9.6