version: 66.03
glider: 5
mission: 3
dive: 331
start: 8 14 108 15 11 51
data:
$ID,5
$MISSION,3
$DIVE,331
$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,-82890.266
$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,23
$R_STBD_OVSHOOT,15
$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
$GPS1,150107,6334.764,-814.252,35,0.8,35,-9.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.38
$_SM_ANGLEo,-56.0
$GPS2,151057,6334.688,-814.341,14,1.0,14,-9.5
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,IFRN1K
$TGT_LATLONG,6345.000,-800.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.138,0.174
$KALMAN_X,-116784.3,22.8,-590.8,255119.6,2462.9
$KALMAN_Y,-117319.8,149.5,-401.4,275771.2,-5757.9
$MHEAD_RNG_PITCHd_Wd,331.2,22421,-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,-116.35,0.000,6,0.000,0.000,424,2127,3097
$GC,150,-1.30,-117.3,3.0,-3.1,6,166,10.45,2.50,0.00,0.000,4,0.137,0.052,2436,740,3097
$GC,419,-1.03,-117.3,41.1,-13.5,17,424,0.32,2.55,0.00,0.000,6,0.094,0.050,2505,2160,3096
$GC,743,-0.98,-117.3,72.0,-9.2,33,744,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2159,3096
$GC,1051,-0.92,-117.3,97.4,-8.3,48,1053,0.12,0.00,0.00,0.000,6,0.096,0.000,2530,2160,3096
$GC,1359,-0.92,-117.3,119.0,-7.1,63,1361,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2158,3097
$GC,1669,-0.92,-117.3,140.3,-6.8,78,1673,0.00,2.58,0.00,0.000,4,0.000,0.058,2530,742,3097
$GC,1742,-0.92,-117.3,146.0,-7.6,81,1747,0.00,2.58,0.00,0.000,6,0.000,0.052,2530,2173,3097
$GC,2059,-0.96,-117.3,168.6,-7.3,96,2063,0.00,2.50,0.00,0.000,4,0.000,0.064,2530,3556,3097
$GC,2149,-0.96,-117.3,175.8,-8.0,100,2153,0.00,2.50,0.00,0.000,6,0.000,0.048,2530,2157,3096
$GC,2471,-1.00,-117.3,204.0,-9.6,116,2475,0.00,2.53,0.00,0.000,4,0.000,0.060,2530,746,3096
$GC,2639,-1.00,-117.3,220.3,-8.4,123,2645,0.00,2.58,0.00,0.000,6,0.000,0.054,2530,2167,3096
$GC,2955,-1.00,-117.3,243.2,-6.7,139,2960,0.00,2.53,0.00,0.000,4,0.000,0.067,2530,3556,3096
$GC,3045,-1.00,-117.3,250.0,-7.1,143,3053,0.00,2.50,0.00,0.000,6,0.000,0.052,2530,2149,3096
$GC,3376,-1.05,-117.3,264.8,-3.7,159,3381,0.12,2.55,0.00,0.000,4,0.058,0.066,2494,762,3096
$GC,3466,-0.97,-117.3,270.9,-8.1,163,3471,0.10,2.58,0.00,0.000,6,0.106,0.059,2515,2173,3096
$GC,3787,-0.97,-117.3,293.6,-6.9,179,3791,0.00,2.55,0.00,0.000,4,0.000,0.073,2515,3560,3096
$GC,3984,-0.97,-117.3,308.4,-6.9,188,3989,0.00,2.47,0.00,0.000,6,0.000,0.058,2515,2196,3095
$GC,4312,-0.97,-117.3,330.5,-6.7,204,4317,0.00,2.65,0.00,0.000,4,0.000,0.074,2515,746,3094
$GC,4436,-0.97,-117.3,340.0,-7.4,209,4442,0.00,2.62,0.00,0.000,6,0.000,0.065,2515,2170,3094
$GC,4752,-0.97,-117.3,364.6,-7.9,225,4753,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2169,3093
$GC,5063,-0.97,-117.3,389.5,-8.5,240,5067,0.00,2.60,0.00,0.000,4,0.000,0.080,2515,3564,3092
$GC,5197,-0.97,-117.3,401.8,-9.2,246,5202,0.00,2.58,0.00,0.000,6,0.000,0.064,2515,2162,3091
$GC,5519,-0.97,-117.3,430.0,-8.4,262,5523,0.00,2.60,0.00,0.000,4,0.000,0.075,2515,743,3090
$GC,5652,-0.97,-117.3,441.5,-9.0,268,5657,0.00,2.65,0.00,0.000,6,0.000,0.069,2515,2164,3089
$GC,5974,-0.97,-117.3,467.4,-8.1,284,5976,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2164,3088
$GC,6283,-0.97,-117.3,491.5,-7.5,299,6288,0.00,2.60,0.00,0.000,4,0.000,0.082,2515,3563,3087
$GC,6373,-0.97,-117.3,499.0,-8.5,303,6377,0.00,2.60,0.00,0.000,6,0.000,0.069,2516,2154,3087
$GC,6695,-0.97,-117.3,521.7,-6.6,319,6699,0.00,2.62,0.00,0.000,4,0.000,0.083,2515,745,3086
$GC,6834,-0.97,-117.3,531.3,-6.6,325,6838,0.00,2.65,0.00,0.000,6,0.000,0.073,2515,2155,3086
$GC,7151,-0.97,-117.3,551.5,-6.5,340,7152,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2155,3085
$GC,7459,-0.97,-117.3,570.6,-6.0,355,7464,0.00,2.67,0.00,0.000,4,0.000,0.083,2515,744,3084
$GC,7554,-0.97,-117.3,577.0,-7.4,359,7559,0.00,2.65,0.00,0.000,6,0.000,0.075,2515,2152,3083
$GC,7871,-0.97,-117.3,596.9,-6.1,374,7872,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2152,3082
$GC,8179,-0.97,-117.3,618.2,-6.9,389,8181,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2152,3081
$GC,8490,-0.97,-117.3,638.5,-6.7,404,8491,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2152,3080
$GC,8798,-0.97,-117.3,659.5,-7.0,419,8802,0.00,2.70,0.00,0.000,4,0.000,0.087,2515,745,3079
$GC,8899,-0.97,-117.3,667.0,-7.2,423,8906,0.00,2.62,0.00,0.000,6,0.000,0.077,2515,2140,3079
$GC,9216,-0.97,-117.3,687.7,-6.4,439,9217,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2141,3078
$GC,9524,-0.97,-117.3,707.4,-6.2,454,9525,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2141,3078
$GC,9836,-1.01,-117.3,726.3,-6.2,469,9837,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2141,3077
$GC,10143,-1.06,-117.3,745.7,-5.8,484,10147,0.00,2.67,0.00,0.000,4,0.000,0.087,2515,745,3077
$GC,10227,-1.06,-117.3,750.9,-6.5,488,10231,0.00,2.62,0.00,0.000,6,0.000,0.076,2515,2135,3077
$STATE,10551,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10551,begin apogee
$GC,10559,-0.33,0.0,772.2,6.5,504,10663,0.68,0.00,100.88,1.499,6,0.101,0.000,2651,2081,2620
$STATE,10664,end apogee,CONTROL_FINISHED_OK
$STATE,10664,begin climb
$GC,10667,1.30,117.3,774.5,0.0,509,10778,1.73,2.72,102.88,1.450,4,0.083,0.087,3009,712,2141
$GC,10794,1.18,117.3,766.3,9.6,515,10798,0.00,2.67,0.00,0.000,6,0.000,0.074,3009,2103,2141
$GC,11121,1.11,117.3,733.4,10.1,531,11126,0.17,2.70,0.00,0.000,4,0.105,0.086,2975,3515,2140
$GC,11165,1.11,117.3,729.2,8.8,533,11170,0.00,2.62,0.00,0.000,6,0.000,0.074,2975,2135,2140
$GC,11487,1.11,118.9,703.4,7.9,549,11492,0.00,2.65,0.00,0.000,4,0.000,0.086,2975,3508,2139
$GC,11550,1.13,127.2,698.2,7.6,552,11565,0.00,2.62,9.98,1.279,6,0.000,0.073,2975,2120,2102
$GC,11877,1.14,138.0,673.0,7.5,567,11897,0.00,2.75,11.18,1.296,4,0.000,0.084,2975,3508,2056
$GC,11954,1.16,147.6,666.6,7.6,570,11969,0.00,2.62,10.10,1.273,6,0.000,0.073,2975,2130,2018
$GC,12294,1.21,147.6,640.3,8.2,587,12299,0.00,2.67,0.00,0.000,4,0.000,0.087,2975,3508,2017
$GC,12379,1.21,147.6,632.6,9.1,591,12383,0.00,2.58,0.00,0.000,6,0.000,0.071,2975,2143,2016
$GC,12707,1.26,147.6,605.2,8.3,607,12712,0.12,2.65,0.00,0.000,4,0.065,0.085,3005,3508,2016
$GC,12798,1.20,147.6,595.9,10.4,611,12802,0.00,2.53,0.00,0.000,6,0.000,0.071,3005,2167,2016
$GC,13119,1.20,147.6,565.1,9.6,627,13123,0.00,2.60,0.00,0.000,4,0.000,0.087,3005,3511,2016
$GC,13205,1.14,147.6,557.2,9.4,631,13210,0.15,2.50,0.00,0.000,6,0.106,0.071,2977,2182,2016
$GC,13534,1.20,153.1,532.5,7.8,647,13547,0.00,2.65,6.47,1.139,4,0.000,0.084,2977,3514,1995
$GC,13601,1.20,153.6,527.0,8.0,650,13606,0.00,2.50,0.00,0.000,6,0.000,0.069,2977,2190,1995
$GC,13930,1.28,169.3,502.1,7.3,666,13952,0.15,2.62,15.27,1.279,4,0.065,0.084,3017,3511,1928
$GC,13986,1.21,169.3,496.9,9.4,668,13991,0.12,2.47,0.00,0.000,6,0.112,0.070,2995,2206,1928
$GC,14303,1.21,169.3,471.4,8.3,683,14307,0.00,2.53,0.00,0.000,4,0.000,0.084,2995,3511,1927
$GC,14348,1.21,169.3,467.3,9.0,685,14352,0.00,2.42,0.00,0.000,6,0.000,0.068,2995,2216,1927
$GC,14670,1.21,169.3,440.2,8.1,701,14674,0.00,2.50,0.00,0.000,4,0.000,0.084,2995,3508,1927
$GC,14737,1.21,169.3,434.3,8.4,704,14741,0.00,2.40,0.00,0.000,6,0.000,0.067,2995,2227,1927
$GC,15060,1.21,169.3,408.3,8.5,720,15064,0.00,2.47,0.00,0.000,4,0.000,0.082,2995,3512,1927
$GC,15117,1.21,169.3,402.7,9.7,722,15123,0.00,2.38,0.00,0.000,6,0.000,0.066,2995,2238,1927
$GC,15432,1.21,169.3,373.4,9.9,738,15436,0.00,2.42,0.00,0.000,4,0.000,0.083,2995,3511,1926
$GC,15488,1.21,169.3,367.5,10.0,740,15492,0.00,2.35,0.00,0.000,6,0.000,0.065,2995,2245,1927
$GC,15805,1.21,169.3,337.0,9.3,755,15809,0.00,2.42,0.00,0.000,4,0.000,0.081,2995,3509,1927
$GC,15838,1.21,169.3,333.7,9.1,756,15843,0.00,2.33,0.00,0.000,6,0.000,0.064,2995,2254,1927
$GC,16154,1.25,169.3,306.3,8.9,772,16157,0.00,2.38,0.00,0.000,4,0.000,0.079,2995,3511,1927
$GC,16164,1.25,169.3,305.2,9.0,772,16169,0.00,2.33,0.00,0.000,6,0.000,0.063,2995,2256,1927
$GC,16481,1.25,169.3,276.6,9.1,787,16485,0.00,2.40,0.00,0.000,4,0.000,0.078,2995,3514,1927
$GC,16519,1.25,169.3,272.9,10.0,788,16525,0.00,2.30,0.00,0.000,6,0.000,0.062,2995,2267,1927
$GC,16836,1.31,181.7,247.7,7.4,804,16857,0.00,2.45,11.98,1.068,4,0.000,0.076,2995,3510,1879
$GC,16863,1.31,181.7,245.6,8.6,805,16867,0.00,2.33,0.00,0.000,6,0.000,0.061,2995,2267,1879
$GC,17185,1.40,207.0,222.3,6.8,821,17215,0.15,2.42,22.42,1.075,4,0.058,0.072,3037,3506,1776
$GC,17239,1.32,207.0,217.4,9.2,823,17243,0.00,2.30,0.00,0.000,6,0.000,0.058,3036,2271,1776
$GC,17555,1.25,207.0,185.6,10.8,838,17560,0.15,2.35,0.00,0.000,4,0.103,0.071,3005,3511,1774
$GC,17582,1.25,207.0,182.5,10.7,839,17586,0.00,2.25,0.00,0.000,6,0.000,0.056,3005,2283,1775
$GC,17898,1.25,207.0,151.9,9.8,854,17900,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2269,1775
$GC,18207,1.25,207.0,120.1,10.4,869,18211,0.00,2.30,0.00,0.000,4,0.000,0.067,3005,3514,1776
$GC,18218,1.25,207.0,118.7,10.7,869,18225,0.00,2.22,0.00,0.000,6,0.000,0.053,3005,2285,1776
$GC,18536,1.30,207.0,83.6,11.2,885,18537,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2284,1777
$GC,18844,1.36,207.0,50.6,10.1,900,18848,0.00,2.28,0.00,0.000,4,0.000,0.064,3005,3520,1778
$GC,18855,1.43,207.0,49.5,9.6,900,18862,0.17,2.22,0.00,0.000,6,0.051,0.051,3049,2279,1778
$GC,19172,1.36,207.0,13.9,11.3,916,19174,0.12,0.00,0.00,0.000,6,0.094,0.000,3027,2277,1779
$STATE,19293,end climb,SURFACE_DEPTH_REACHED
$STATE,19293,begin surface coast
$FINISH,-0.3,1.026879
$STATE,19314,end surface coast,CONTROL_FINISHED_OK
$STATE,19314,begin surface
$SM_CCo,19337,208.48,0.828,0,0,390,547.02
$SM_GC,0.26,0.00,0.00,208.48,0.000,0.000,0.828,424,2107,390,-10.60,-0.90,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029913
$HUMID,1707
$TCM_TEMP,16.80
$XPDR_PINGS,168
$ALTIM_TOP_PING,18.5,18.2
$ALTIM_BOTTOM_PING,725.0,56.8
$24V_AH,23.5,60.628
$10V_AH,10.1,29.086
$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,26.200,181.825,291.150,208.475,0.000,82.177,53.668,245.808,48.500,0.000,0.000,14.752,1781.299,14699.154,704.043,2189.172,758.608,33.362,1801.295,0.000,2137.332,0.000,44.417
$DEVICE_MAMPS,136.526,95.108,1498.718,828.360,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,653.647,673.268,526.679,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47396,923
$CAP_FILE_SIZE,156654,0
$CFSIZE,254472192,230883328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,22,0,0
$GPS,140808,203901,6335.543,-817.356,38,0.9,43,-9.6