version: 66.03
glider: 5
mission: 3
dive: 320
start: 8 12 108 2 38 20
data:
$ID,5
$MISSION,3
$DIVE,320
$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,-82724.844
$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,34
$R_STBD_OVSHOOT,17
$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
$GPS1,022555,6324.455,-820.521,41,1.2,41,-9.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.28
$_SM_ANGLEo,-50.6
$GPS2,023726,6324.492,-820.564,13,1.7,13,-9.5
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,IFRN1K
$TGT_LATLONG,6345.000,-800.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.067,0.211
$KALMAN_X,-126683.6,-299.4,-610.6,260000.4,2793.4
$KALMAN_Y,-84688.6,1420.1,744.8,221819.6,-9031.8
$MHEAD_RNG_PITCHd_Wd,27.1,41548,-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,-117.3,0.0,0.0,0,146,0.00,0.00,-115.95,0.000,6,0.000,0.000,422,2193,3098
$GC,150,-1.30,-117.3,2.7,-2.8,6,166,10.45,2.47,0.00,0.000,4,0.136,0.057,2440,3567,3097
$GC,258,-1.01,-117.3,21.0,-15.9,10,264,0.32,2.50,0.00,0.000,6,0.094,0.044,2507,2155,3096
$GC,588,-0.94,-117.3,49.6,-8.0,26,589,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2137,3096
$GC,896,-0.89,-117.3,72.7,-7.7,41,897,0.15,0.00,0.00,0.000,6,0.094,0.000,2538,2137,3097
$GC,1206,-0.94,-117.3,94.2,-7.2,56,1207,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2137,3097
$GC,1514,-0.98,-117.3,115.9,-7.0,71,1516,0.10,0.00,0.00,0.000,6,0.058,0.000,2508,2137,3097
$GC,1823,-0.98,-117.3,140.5,-7.7,86,1827,0.00,2.50,0.00,0.000,4,0.000,0.057,2508,750,3097
$GC,1902,-0.93,-117.3,147.1,-8.7,89,1908,0.00,2.55,0.00,0.000,6,0.000,0.051,2507,2172,3097
$GC,2218,-0.93,-117.3,172.1,-8.1,105,2222,0.00,2.50,0.00,0.000,4,0.000,0.062,2507,3560,3096
$GC,2375,-0.86,-117.3,185.7,-9.4,112,2380,0.15,2.47,0.00,0.000,6,0.094,0.047,2539,2166,3096
$GC,2704,-0.93,-117.3,212.2,-7.6,128,2709,0.00,2.53,0.00,0.000,4,0.000,0.058,2539,741,3096
$GC,2829,-0.98,-117.3,221.5,-6.9,133,2835,0.00,2.58,0.00,0.000,6,0.000,0.051,2539,2171,3096
$GC,3146,-1.05,-117.3,239.7,-5.4,149,3151,0.15,2.60,0.00,0.000,4,0.051,0.059,2490,744,3096
$GC,3236,-0.96,-117.3,246.5,-7.8,153,3241,0.12,2.55,0.00,0.000,6,0.098,0.052,2517,2161,3096
$GC,3558,-0.96,-117.3,269.5,-7.2,169,3559,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2161,3095
$GC,3867,-0.96,-117.3,292.1,-7.3,184,3871,0.00,2.58,0.00,0.000,4,0.000,0.061,2517,742,3095
$GC,4058,-0.96,-117.3,306.1,-6.8,192,4064,0.00,2.53,0.00,0.000,6,0.000,0.054,2517,2139,3095
$GC,4374,-0.96,-117.3,328.4,-7.7,208,4375,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2138,3095
$GC,4684,-0.96,-117.3,351.3,-7.2,223,4686,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2139,3095
$GC,4992,-0.96,-117.3,370.9,-6.4,238,4997,0.00,2.58,0.00,0.000,4,0.000,0.067,2517,746,3094
$GC,5191,-0.96,-117.3,385.6,-7.6,247,5195,0.00,2.50,0.00,0.000,6,0.000,0.060,2518,2117,3094
$GC,5518,-0.96,-117.3,409.9,-7.3,263,5522,0.00,2.65,0.00,0.000,4,0.000,0.074,2517,3555,3093
$GC,5658,-0.96,-117.3,420.5,-7.9,269,5663,0.00,2.62,0.00,0.000,6,0.000,0.061,2517,2117,3092
$GC,5975,-0.96,-117.3,442.6,-7.0,284,5979,0.00,2.53,0.00,0.000,4,0.000,0.072,2517,737,3091
$GC,6123,-0.96,-117.3,452.4,-5.8,290,6129,0.00,2.53,0.00,0.000,6,0.000,0.066,2517,2108,3091
$GC,6440,-0.96,-117.3,471.3,-5.9,306,6444,0.00,2.70,0.00,0.000,4,0.000,0.080,2517,3558,3090
$GC,6548,-0.96,-117.3,478.4,-7.0,311,6553,0.00,2.67,0.00,0.000,6,0.000,0.066,2517,2103,3089
$GC,6877,-0.96,-117.3,499.0,-6.7,327,6881,0.00,2.53,0.00,0.000,4,0.000,0.080,2517,742,3088
$GC,6963,-0.96,-117.3,505.2,-7.0,331,6967,0.00,2.55,0.00,0.000,6,0.000,0.071,2517,2108,3088
$GC,7291,-1.00,-117.3,527.2,-6.6,347,7295,0.00,2.72,0.00,0.000,4,0.000,0.084,2517,3558,3086
$GC,7461,-1.00,-117.3,539.5,-7.9,354,7467,0.00,2.67,0.00,0.000,6,0.000,0.073,2517,2118,3085
$GC,7777,-1.00,-117.3,560.6,-6.8,370,7782,0.00,2.55,0.00,0.000,4,0.000,0.081,2517,736,3084
$GC,7845,-1.00,-117.3,565.5,-7.6,373,7849,0.00,2.60,0.00,0.000,6,0.000,0.074,2517,2121,3084
$GC,8166,-1.05,-117.3,586.8,-6.5,389,8171,0.00,2.72,0.00,0.000,4,0.000,0.087,2517,3563,3082
$GC,8279,-1.05,-117.3,594.6,-6.8,394,8283,0.00,2.72,0.00,0.000,6,0.000,0.074,2517,2106,3082
$GC,8600,-1.09,-117.3,615.2,-6.5,410,8605,0.12,2.58,0.00,0.000,4,0.071,0.087,2486,741,3081
$GC,8674,-1.02,-117.3,620.9,-8.0,413,8679,0.10,2.60,0.00,0.000,6,0.119,0.077,2504,2117,3080
$GC,8990,-1.02,-117.3,643.0,-7.1,428,8995,0.00,2.72,0.00,0.000,4,0.000,0.088,2504,3560,3078
$GC,9092,-1.02,-117.3,650.6,-7.5,432,9098,0.00,2.72,0.00,0.000,6,0.000,0.074,2504,2105,3077
$STATE,9158,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9158,begin apogee
$GC,9164,-0.33,0.0,655.4,7.1,436,9266,0.73,0.00,98.72,1.401,6,0.100,0.000,2651,2088,2620
$STATE,9267,end apogee,CONTROL_FINISHED_OK
$STATE,9267,begin climb
$GC,9270,1.30,117.3,658.0,0.0,441,9381,1.70,2.83,100.32,1.355,4,0.081,0.084,3009,3507,2140
$GC,9412,1.20,117.3,649.4,9.3,447,9418,0.00,2.70,0.00,0.000,6,0.000,0.077,3009,2100,2139
$GC,9728,1.14,117.3,620.7,8.7,463,9733,0.15,2.72,0.00,0.000,4,0.107,0.086,2978,3514,2139
$GC,9792,1.15,119.7,615.4,7.9,466,9797,0.00,2.65,0.00,0.000,6,0.000,0.074,2978,2111,2138
$GC,10120,1.15,122.9,589.3,7.9,482,10131,0.00,2.75,5.95,1.064,4,0.000,0.084,2978,3512,2119
$GC,10176,1.16,126.7,584.3,7.8,484,10186,0.00,2.65,5.03,0.987,6,0.000,0.072,2978,2117,2103
$GC,10509,1.17,132.6,558.0,7.7,501,10523,0.00,2.75,6.70,1.108,4,0.000,0.084,2978,3514,2079
$GC,10575,1.17,135.8,552.6,7.9,504,10585,0.00,2.60,4.55,0.943,6,0.000,0.071,2978,2131,2066
$GC,10902,1.21,157.5,529.2,7.0,520,10928,0.00,2.72,20.15,1.288,4,0.000,0.085,2978,3508,1977
$GC,10963,1.21,157.5,524.5,8.6,523,10968,0.00,2.62,0.00,0.000,6,0.000,0.073,2978,2131,1977
$GC,11291,1.27,157.5,499.3,8.1,539,11296,0.12,2.67,0.00,0.000,4,0.065,0.086,3009,3513,1976
$GC,11354,1.22,157.5,493.1,10.6,542,11359,0.00,2.58,0.00,0.000,6,0.000,0.071,3008,2148,1976
$GC,11681,1.22,157.5,463.5,8.7,558,11685,0.00,2.65,0.00,0.000,4,0.000,0.086,3009,3514,1975
$GC,11771,1.17,157.5,454.8,10.0,562,11776,0.12,2.55,0.00,0.000,6,0.111,0.071,2986,2164,1975
$GC,12092,1.22,157.5,428.2,8.4,578,12097,0.00,2.60,0.00,0.000,4,0.000,0.084,2986,3509,1975
$GC,12155,1.22,157.5,422.6,8.5,581,12159,0.00,2.50,0.00,0.000,6,0.000,0.069,2986,2175,1975
$GC,12483,1.28,169.3,396.9,7.5,597,12500,0.10,2.62,10.68,1.177,4,0.071,0.083,3011,3508,1928
$GC,12539,1.28,169.3,391.5,9.8,598,12545,0.00,2.50,0.00,0.000,6,0.000,0.069,3011,2186,1928
$GC,12855,1.28,169.3,360.9,10.1,614,12860,0.00,2.55,0.00,0.000,4,0.000,0.081,3011,3512,1928
$GC,12918,1.24,169.3,353.9,11.9,617,12923,0.00,2.45,0.00,0.000,6,0.000,0.066,3010,2197,1927
$GC,13245,1.24,169.3,319.7,10.1,633,13250,0.00,2.53,0.00,0.000,4,0.000,0.080,3011,3515,1927
$GC,13280,1.24,169.3,316.1,10.4,634,13286,0.00,2.45,0.00,0.000,6,0.000,0.065,3011,2201,1927
$GC,13596,1.24,169.3,285.7,8.9,650,13600,0.00,2.50,0.00,0.000,4,0.000,0.076,3011,3515,1927
$GC,13623,1.24,169.3,283.0,10.4,651,13627,0.00,2.40,0.00,0.000,6,0.000,0.062,3010,2216,1927
$GC,13940,1.24,169.3,254.5,9.6,666,13941,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2199,1927
$GC,14249,1.24,169.3,224.3,9.5,681,14250,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2199,1927
$GC,14558,1.24,169.3,197.4,8.9,696,14559,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2199,1928
$GC,14869,1.24,169.3,168.4,9.4,711,14874,0.00,2.42,0.00,0.000,4,0.000,0.066,3011,3519,1929
$GC,14897,1.24,169.3,165.3,10.1,712,14901,0.00,2.35,0.00,0.000,6,0.000,0.053,3011,2212,1929
$GC,15218,1.24,169.3,137.4,8.3,728,15222,0.00,2.40,0.00,0.000,4,0.000,0.064,3011,3518,1931
$GC,15236,1.24,169.3,135.8,8.5,729,15241,0.00,2.33,0.00,0.000,6,0.000,0.050,3011,2219,1931
$GC,15565,1.24,169.3,106.1,9.2,745,15569,0.00,2.38,0.00,0.000,4,0.000,0.064,3011,3514,1932
$GC,15587,1.24,169.3,103.7,9.3,746,15591,0.00,2.33,0.00,0.000,6,0.000,0.050,3011,2221,1932
$GC,15909,1.24,169.3,73.6,9.5,762,15910,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2220,1933
$GC,16218,1.24,169.3,42.9,9.6,777,16222,0.00,2.38,0.00,0.000,4,0.000,0.061,3011,3519,1934
$GC,16236,1.24,169.3,41.2,8.3,778,16241,0.00,2.30,0.00,0.000,6,0.000,0.048,3011,2223,1935
$GC,16565,1.24,169.3,11.9,9.5,794,16569,0.00,2.35,0.00,0.000,4,0.000,0.061,3011,3513,1936
$GC,16599,1.24,169.3,8.7,9.7,795,16605,0.00,2.30,0.00,0.000,6,0.000,0.047,3011,2217,1936
$STATE,16686,end climb,SURFACE_DEPTH_REACHED
$STATE,16686,begin surface coast
$FINISH,-0.1,1.026901
$STATE,16708,end surface coast,CONTROL_FINISHED_OK
$STATE,16708,begin surface
$SM_CCo,16731,223.30,0.805,0,0,389,547.02
$SM_GC,0.03,0.00,0.00,223.30,0.000,0.000,0.805,418,2129,389,-10.63,-1.07,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1700
$TCM_TEMP,17.40
$XPDR_PINGS,256
$ALTIM_TOP_PING,19.7,19.0
$ALTIM_BOTTOM_PING,600.5,63.8
$24V_AH,23.6,58.659
$10V_AH,10.1,28.062
$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,25.825,169.000,252.100,223.300,0.000,113.286,143.544,184.468,69.250,0.000,0.000,12.979,1560.679,12668.903,675.745,1962.048,781.501,33.356,1652.942,0.000,1918.607,0.000,36.237
$DEVICE_MAMPS,135.759,88.205,1400.542,805.350,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,556.630,591.853,513.398,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41124,801
$CAP_FILE_SIZE,140028,0
$CFSIZE,254472192,231690240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,23,0,0
$GPS,120808,072208,6327.332,-817.348,33,1.2,33,-9.5