version: 66.03
glider: 5
mission: 3
dive: 322
start: 8 12 108 12 49 21
data:
$ID,5
$MISSION,3
$DIVE,322
$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,-82757.031
$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,53
$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
$GPS1,123807,6328.692,-818.045,36,1.1,36,-9.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.25
$_SM_ANGLEo,-48.8
$GPS2,124827,6328.666,-818.139,15,1.2,15,-9.5
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,IFRN1K
$TGT_LATLONG,6345.000,-800.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.102,0.197
$KALMAN_X,-125289.1,-185.7,-486.1,260437.3,3170.0
$KALMAN_Y,-84275.1,324.0,-29.3,231024.6,-3638.3
$MHEAD_RNG_PITCHd_Wd,342.0,33702,-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,-117.3,0.0,0.0,0,146,0.00,0.00,-115.95,0.000,6,0.000,0.000,420,2112,3098
$GC,150,-1.30,-117.3,3.2,-3.4,6,166,10.40,2.62,0.00,0.000,4,0.133,0.056,2435,3564,3097
$GC,407,-1.02,-117.3,37.7,-12.1,16,415,0.35,2.47,0.00,0.000,6,0.092,0.043,2509,2166,3096
$GC,725,-0.96,-117.3,62.9,-8.5,32,729,0.00,2.53,0.00,0.000,4,0.000,0.054,2509,740,3097
$GC,871,-0.91,-117.3,75.7,-7.8,38,878,0.10,2.53,0.00,0.000,6,0.102,0.048,2529,2154,3098
$GC,1189,-0.91,-117.3,99.4,-7.8,54,1193,0.00,2.53,0.00,0.000,4,0.000,0.059,2529,3562,3098
$GC,1329,-0.91,-117.3,111.4,-8.1,60,1334,0.00,2.53,0.00,0.000,6,0.000,0.044,2529,2134,3098
$GC,1646,-0.91,-117.3,133.2,-6.6,75,1650,0.00,2.47,0.00,0.000,4,0.000,0.057,2529,744,3098
$GC,1786,-0.91,-117.3,143.2,-7.2,81,1791,0.00,2.50,0.00,0.000,6,0.000,0.051,2529,2134,3098
$GC,2103,-0.91,-117.3,166.5,-7.5,96,2104,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2132,3098
$GC,2413,-0.91,-117.3,187.4,-6.6,111,2417,0.00,2.58,0.00,0.000,4,0.000,0.062,2529,3564,3097
$GC,2552,-0.91,-117.3,198.6,-8.5,117,2557,0.00,2.58,0.00,0.000,6,0.000,0.048,2529,2122,3097
$GC,2869,-0.91,-117.3,220.4,-6.3,132,2873,0.00,2.45,0.00,0.000,4,0.000,0.063,2529,750,3097
$GC,3029,-0.91,-117.3,231.3,-6.9,139,3033,0.00,2.47,0.00,0.000,6,0.000,0.052,2529,2122,3097
$GC,3352,-0.96,-117.3,250.7,-5.8,155,3356,0.00,2.60,0.00,0.000,4,0.000,0.066,2529,3565,3097
$GC,3483,-0.96,-117.3,259.6,-7.2,161,3487,0.00,2.65,0.00,0.000,6,0.000,0.052,2529,2083,3096
$GC,3811,-1.01,-117.3,282.2,-6.8,177,3815,0.00,2.42,0.00,0.000,4,0.000,0.067,2529,748,3096
$GC,3906,-1.01,-117.3,289.1,-7.2,181,3911,0.00,2.45,0.00,0.000,6,0.000,0.057,2529,2092,3096
$GC,4224,-1.07,-117.3,309.8,-6.6,196,4226,0.15,0.00,0.00,0.000,6,0.055,0.000,2488,2091,3096
$GC,4533,-1.00,-117.3,331.7,-7.4,211,4535,0.12,0.00,0.00,0.000,6,0.103,0.000,2513,2092,3096
$GC,4841,-1.00,-117.3,351.7,-6.2,226,4846,0.00,2.70,0.00,0.000,4,0.000,0.075,2513,3555,3095
$GC,4966,-1.00,-117.3,360.4,-6.7,231,4972,0.00,2.70,0.00,0.000,6,0.000,0.061,2513,2078,3094
$GC,5282,-1.00,-117.3,379.2,-5.9,247,5283,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2062,3093
$GC,5591,-1.00,-117.3,399.6,-6.8,262,5595,0.00,2.78,0.00,0.000,4,0.000,0.080,2513,3553,3092
$GC,5721,-1.00,-117.3,409.2,-7.3,268,5726,0.00,2.67,0.00,0.000,6,0.000,0.065,2513,2097,3092
$GC,6049,-1.00,-117.3,432.0,-7.1,284,6053,0.00,2.50,0.00,0.000,4,0.000,0.079,2513,751,3090
$GC,6134,-1.00,-117.3,438.3,-7.7,288,6139,0.00,2.50,0.00,0.000,6,0.000,0.069,2513,2091,3090
$GC,6462,-1.00,-117.3,461.5,-7.1,304,6466,0.00,2.75,0.00,0.000,4,0.000,0.083,2513,3560,3088
$GC,6643,-1.00,-117.3,475.6,-8.0,312,6648,0.00,2.70,0.00,0.000,6,0.000,0.068,2513,2098,3088
$GC,6965,-1.00,-117.3,498.7,-7.2,328,6966,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2082,3086
$GC,7274,-1.00,-117.3,520.5,-6.9,343,7275,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2081,3085
$GC,7585,-1.00,-117.3,541.0,-6.5,358,7586,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2082,3084
$GC,7893,-1.00,-117.3,561.6,-6.9,373,7894,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2081,3082
$GC,8202,-1.00,-117.3,582.0,-6.3,388,8203,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2081,3081
$GC,8512,-1.00,-117.3,601.3,-6.4,403,8513,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2081,3080
$GC,8821,-1.00,-117.3,621.4,-6.4,418,8825,0.00,2.80,0.00,0.000,4,0.000,0.089,2513,3551,3079
$GC,8969,-1.00,-117.3,632.0,-7.6,424,8975,0.00,2.70,0.00,0.000,6,0.000,0.074,2513,2115,3078
$GC,9285,-1.00,-117.3,653.0,-6.5,440,9289,0.00,2.58,0.00,0.000,4,0.000,0.085,2513,741,3077
$GC,9374,-1.00,-117.3,659.2,-7.4,444,9379,0.00,2.58,0.00,0.000,6,0.000,0.077,2513,2103,3077
$GC,9696,-1.00,-117.3,680.4,-6.5,460,9701,0.00,2.78,0.00,0.000,4,0.000,0.091,2513,3565,3077
$STATE,9824,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9824,begin apogee
$GC,9833,-0.33,0.0,689.9,7.7,466,9935,0.70,0.00,98.90,1.444,6,0.100,0.000,2654,2091,2620
$STATE,9936,end apogee,CONTROL_FINISHED_OK
$STATE,9936,begin climb
$GC,9940,1.30,117.3,692.9,0.0,471,10047,1.67,0.00,101.62,1.393,6,0.078,0.000,3013,2089,2141
$GC,10356,1.22,117.3,658.7,9.3,492,10361,0.00,2.72,0.00,0.000,4,0.000,0.085,3012,3511,2139
$GC,10412,1.11,117.3,652.8,11.0,494,10419,0.20,2.67,0.00,0.000,6,0.104,0.074,2977,2100,2139
$GC,10728,1.11,117.3,627.1,8.1,510,10733,0.00,2.72,0.00,0.000,4,0.000,0.087,2977,3510,2138
$GC,10786,1.11,117.3,622.2,9.0,512,10792,0.00,2.67,0.00,0.000,6,0.000,0.074,2977,2098,2138
$GC,11102,1.11,117.3,596.7,8.5,528,11107,0.00,2.72,0.00,0.000,4,0.000,0.087,2977,3509,2138
$GC,11158,1.11,117.3,591.4,9.0,530,11164,0.00,2.62,0.00,0.000,6,0.000,0.072,2977,2115,2138
$GC,11475,1.14,135.6,568.0,7.2,546,11497,0.00,2.80,16.40,1.309,4,0.000,0.084,2976,3507,2067
$GC,11537,1.14,136.2,563.2,8.0,548,11543,0.00,2.62,0.00,0.000,6,0.000,0.072,2977,2128,2067
$GC,11853,1.21,146.7,539.3,7.5,564,11874,0.00,2.75,11.27,1.248,4,0.000,0.085,2977,3514,2021
$GC,11909,1.21,146.7,534.7,8.7,566,11914,0.00,2.62,0.00,0.000,6,0.000,0.074,2977,2138,2020
$GC,12226,1.27,150.0,510.0,7.9,581,12236,0.12,2.67,4.47,0.964,4,0.068,0.086,3006,3508,2008
$GC,12276,1.21,150.0,504.9,9.9,583,12280,0.00,2.58,0.00,0.000,6,0.000,0.071,3006,2146,2008
$GC,12593,1.21,150.0,475.1,9.4,598,12597,0.00,2.65,0.00,0.000,4,0.000,0.085,3006,3515,2007
$GC,12677,1.16,150.0,466.5,9.8,602,12682,0.12,2.53,0.00,0.000,6,0.111,0.071,2983,2163,2007
$GC,13005,1.16,150.0,438.5,8.8,618,13009,0.00,2.60,0.00,0.000,4,0.000,0.084,2983,3508,2007
$GC,13049,1.16,150.0,434.2,9.9,620,13053,0.00,2.53,0.00,0.000,6,0.000,0.070,2983,2166,2007
$GC,13371,1.20,150.0,405.5,9.0,636,13375,0.00,2.60,0.00,0.000,4,0.000,0.084,2983,3514,2007
$GC,13421,1.20,150.0,400.7,10.0,638,13425,0.00,2.50,0.00,0.000,6,0.000,0.070,2983,2180,2007
$GC,13737,1.24,150.0,372.6,8.7,653,13741,0.00,2.55,0.00,0.000,4,0.000,0.084,2983,3510,2007
$GC,13800,1.24,150.0,366.7,9.6,656,13805,0.00,2.47,0.00,0.000,6,0.000,0.068,2983,2188,2007
$GC,14129,1.30,156.8,340.5,7.7,672,14144,0.12,2.60,7.32,1.079,4,0.066,0.081,3014,3512,1980
$GC,14206,1.25,156.8,332.8,9.9,675,14211,0.00,2.45,0.00,0.000,6,0.000,0.067,3014,2204,1980
$GC,14523,1.25,156.8,303.4,9.5,690,14527,0.00,2.53,0.00,0.000,4,0.000,0.081,3014,3515,1979
$GC,14567,1.19,156.8,298.6,11.1,692,14572,0.12,2.42,0.00,0.000,6,0.109,0.065,2992,2217,1980
$GC,14889,1.24,156.8,270.7,9.0,708,14893,0.00,2.47,0.00,0.000,4,0.000,0.081,2992,3509,1980
$GC,14945,1.24,156.8,265.3,9.1,710,14951,0.00,2.38,0.00,0.000,6,0.000,0.064,2992,2224,1979
$GC,15261,1.24,156.8,237.7,8.7,726,15265,0.00,2.45,0.00,0.000,4,0.000,0.077,2992,3511,1979
$GC,15271,1.24,156.8,236.6,8.6,726,15277,0.00,2.38,0.00,0.000,6,0.000,0.062,2992,2226,1980
$GC,15588,1.28,156.8,207.0,9.1,742,15589,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2207,1980
$GC,15896,1.29,157.7,180.9,8.0,757,15900,0.00,2.40,0.00,0.000,4,0.000,0.071,2992,3510,1979
$GC,15908,1.29,157.7,179.9,8.1,757,15914,0.00,2.38,0.00,0.000,6,0.000,0.057,2992,2210,1980
$GC,16225,1.33,157.7,153.8,8.4,773,16230,0.12,2.42,0.00,0.000,4,0.058,0.068,3024,3513,1981
$GC,16237,1.33,157.7,152.7,8.5,773,16243,0.00,2.38,0.00,0.000,6,0.000,0.054,3024,2207,1981
$GC,16553,1.28,157.7,122.2,9.4,789,16557,0.00,2.42,0.00,0.000,4,0.000,0.066,3024,3518,1981
$GC,16573,1.21,157.7,120.5,9.4,790,16578,0.15,2.35,0.00,0.000,6,0.098,0.051,2997,2213,1982
$GC,16902,1.26,161.3,94.4,7.8,806,16913,0.00,2.42,6.22,0.798,4,0.000,0.064,2997,3518,1961
$GC,16935,1.26,161.3,91.1,8.9,807,16942,0.00,2.35,0.00,0.000,6,0.000,0.051,2996,2221,1961
$GC,17254,1.31,161.3,63.8,8.6,823,17258,0.00,2.38,0.00,0.000,4,0.000,0.064,2997,3512,1962
$GC,17265,1.36,161.3,62.5,8.1,823,17272,0.15,2.30,0.00,0.000,6,0.052,0.050,3035,2224,1962
$GC,17584,1.31,161.3,33.6,10.2,839,17588,0.00,2.38,0.00,0.000,4,0.000,0.063,3035,3517,1963
$GC,17603,1.23,161.3,31.6,9.5,840,17608,0.17,2.28,0.00,0.000,6,0.091,0.048,3001,2238,1963
$GC,17932,1.31,178.4,6.3,7.2,856,17954,0.00,2.38,14.80,0.818,4,0.000,0.060,3001,3516,1891
$GC,17972,1.36,178.4,2.1,9.9,857,17979,0.12,2.30,0.00,0.000,6,0.054,0.047,3033,2239,1891
$STATE,17997,end climb,SURFACE_DEPTH_REACHED
$STATE,17997,begin surface coast
$FINISH,-0.4,1.013381
$STATE,18019,end surface coast,CONTROL_FINISHED_OK
$STATE,18019,begin surface
$SM_CCo,18042,217.40,0.811,0,0,390,547.02
$SM_GC,0.16,0.00,0.00,217.40,0.000,0.000,0.811,424,2105,390,-10.61,-1.27,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1700
$TCM_TEMP,17.20
$XPDR_PINGS,184
$ALTIM_TOP_PING,19.4,18.7
$ALTIM_BOTTOM_PING,625.1,74.4
$24V_AH,23.5,59.019
$10V_AH,10.1,28.243
$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,26.375,183.475,261.025,217.400,0.000,75.519,56.976,285.051,51.500,0.000,0.000,15.520,1679.902,13625.831,721.670,2075.085,776.991,33.365,1746.612,0.000,2027.137,0.000,38.280
$DEVICE_MAMPS,132.691,90.506,1444.261,811.486,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,600.084,634.188,530.444,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44279,860
$CAP_FILE_SIZE,152195,0
$CFSIZE,254472192,231538688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,30,0,0
$GPS,120808,175502,6330.214,-820.392,40,1.2,40,-9.6