version: 66.03
glider: 5
mission: 3
dive: 199
start: 7 19 108 18 17 12
data:
$ID,5
$MISSION,3
$DIVE,199
$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,-80306.094
$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,29
$R_STBD_OVSHOOT,19
$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,3
$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
$GPS1,180938,6143.596,-927.085,37,1.7,43,-9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.54
$_SM_ANGLEo,-45.4
$GPS2,181621,6143.529,-927.014,16,1.8,16,-9.5
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,IFRS1K
$TGT_LATLONG,6210.000,-1055.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.051,0.216
$KALMAN_X,-22632.7,1375.1,273.8,1037.7,-12675.1
$KALMAN_Y,13082.7,-646.2,-644.4,-55924.1,3621.8
$MHEAD_RNG_PITCHd_Wd,356.2,90509,-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,-117.3,0.0,0.0,0,138,0.00,0.00,-110.70,0.000,6,0.000,0.000,423,2120,3099
$GC,142,-1.30,-117.3,2.0,-1.5,5,155,10.32,0.00,0.00,0.000,6,0.135,0.000,2410,2117,3098
$GC,460,-0.98,-117.3,46.6,-11.8,21,465,0.32,2.58,0.00,0.000,4,0.096,0.056,2482,3560,3097
$GC,631,-0.84,-117.3,63.9,-8.8,28,638,0.15,2.50,0.00,0.000,6,0.095,0.044,2513,2141,3097
$GC,948,-0.84,-117.3,90.0,-9.4,44,950,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2122,3097
$GC,1257,-0.84,-117.3,119.2,-6.6,59,1261,0.00,2.47,0.00,0.000,4,0.000,0.059,2513,753,3098
$GC,1416,-0.84,-117.3,129.8,-7.0,66,1420,0.00,2.55,0.00,0.000,6,0.000,0.048,2513,2181,3097
$GC,1737,-0.84,-117.3,153.1,-7.6,82,1742,0.00,2.60,0.00,0.000,4,0.000,0.059,2514,751,3097
$GC,1856,-0.84,-117.3,162.6,-8.0,87,1860,0.00,2.53,0.00,0.000,6,0.000,0.050,2513,2162,3097
$GC,2171,-0.84,-117.3,186.6,-8.3,102,2176,0.00,2.50,0.00,0.000,4,0.000,0.060,2513,3560,3097
$GC,2272,-0.84,-117.3,195.9,-9.6,106,2278,0.00,2.50,0.00,0.000,6,0.000,0.048,2513,2154,3097
$GC,2588,-0.84,-117.3,220.1,-7.1,122,2592,0.00,2.53,0.00,0.000,4,0.000,0.064,2514,740,3097
$GC,2767,-0.84,-117.3,232.0,-6.3,130,2772,0.00,2.53,0.00,0.000,6,0.000,0.051,2513,2147,3097
$GC,3090,-0.84,-117.3,249.9,-5.4,146,3095,0.00,2.53,0.00,0.000,4,0.000,0.062,2513,3556,3097
$GC,3209,-0.84,-117.3,257.8,-7.1,151,3213,0.00,2.50,0.00,0.000,6,0.000,0.048,2513,2147,3097
$GC,3530,-0.84,-117.3,280.2,-7.5,167,3535,0.00,2.53,0.00,0.000,4,0.000,0.064,2513,740,3096
$GC,3671,-0.84,-117.3,292.0,-7.7,173,3675,0.00,2.53,0.00,0.000,6,0.000,0.052,2513,2144,3096
$GC,3987,-0.84,-117.3,316.9,-7.8,188,3992,0.00,2.53,0.00,0.000,4,0.000,0.064,2513,3560,3096
$GC,4095,-0.84,-117.3,326.5,-8.5,193,4099,0.00,2.53,0.00,0.000,6,0.000,0.050,2513,2139,3095
$GC,4422,-0.84,-117.3,351.7,-7.5,209,4426,0.00,2.50,0.00,0.000,4,0.000,0.063,2513,743,3095
$GC,4605,-0.84,-117.3,365.4,-8.2,217,4609,0.00,2.50,0.00,0.000,6,0.000,0.053,2513,2133,3095
$GC,4926,-0.84,-117.3,387.5,-6.0,233,4931,0.00,2.58,0.00,0.000,4,0.000,0.064,2513,3563,3095
$GC,5114,-0.84,-117.3,398.6,-6.5,241,5119,0.00,2.55,0.00,0.000,6,0.000,0.051,2513,2134,3095
$GC,5431,-0.84,-117.3,419.3,-6.5,256,5435,0.00,2.47,0.00,0.000,4,0.000,0.063,2513,743,3095
$GC,5543,-0.84,-117.3,426.9,-6.7,261,5548,0.00,2.50,0.00,0.000,6,0.000,0.053,2513,2137,3095
$GC,5864,-0.84,-117.3,448.3,-6.9,277,5868,0.00,2.55,0.00,0.000,4,0.000,0.064,2513,3563,3095
$GC,5982,-0.84,-117.3,458.1,-8.8,282,5986,0.00,2.55,0.00,0.000,6,0.000,0.051,2513,2134,3094
$GC,6297,-0.84,-117.3,483.8,-8.1,297,6301,0.00,2.47,0.00,0.000,4,0.000,0.063,2513,743,3094
$GC,6416,-0.84,-117.3,493.4,-7.7,302,6420,0.00,2.53,0.00,0.000,6,0.000,0.054,2513,2144,3094
$GC,6732,-0.84,-117.3,514.0,-5.9,317,6733,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2144,3093
$GC,7041,-0.84,-117.3,527.8,-4.3,332,7042,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2144,3093
$GC,7351,-0.84,-117.3,541.7,-4.3,347,7352,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2144,3093
$GC,7659,-0.84,-117.3,552.3,-3.7,362,7664,0.00,2.55,0.00,0.000,4,0.000,0.064,2514,744,3093
$GC,7768,-0.84,-117.3,560.0,-7.9,367,7772,0.00,2.45,0.00,0.000,6,0.000,0.054,2513,2126,3093
$GC,8096,-0.89,-117.3,578.6,-7.6,383,8100,0.00,2.55,0.00,0.000,4,0.000,0.066,2513,740,3093
$GC,8140,-0.89,-117.3,581.4,-6.7,385,8145,0.00,2.45,0.00,0.000,6,0.000,0.054,2513,2102,3093
$GC,8463,-0.89,-117.3,594.5,-4.2,401,8467,0.00,2.50,0.00,0.000,4,0.000,0.067,2513,747,3093
$GC,8642,-0.89,-117.3,604.5,-7.3,409,8646,0.00,2.42,0.00,0.000,6,0.000,0.055,2513,2089,3093
$GC,8964,-0.89,-117.3,623.9,-5.7,425,8969,0.00,2.47,0.00,0.000,4,0.000,0.067,2513,738,3093
$GC,9032,-0.89,-117.3,629.6,-7.2,428,9036,0.00,2.42,0.00,0.000,6,0.000,0.056,2513,2079,3093
$GC,9354,-0.89,-117.3,654.3,-7.8,444,9358,0.00,2.45,0.00,0.000,4,0.000,0.068,2513,747,3092
$GC,9513,-0.89,-117.3,663.6,-4.9,451,9518,0.00,2.40,0.00,0.000,6,0.000,0.057,2513,2068,3092
$GC,9835,-0.93,-117.3,679.7,-4.9,467,9837,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2068,3092
$GC,10145,-0.98,-117.3,686.9,-1.6,482,10150,0.12,2.47,0.00,0.000,4,0.057,0.073,2476,747,3092
$GC,10404,-0.91,-117.3,700.8,-8.5,493,10411,0.12,2.40,0.00,0.000,6,0.104,0.062,2500,2054,3091
$GC,10720,-0.91,-117.3,731.9,-8.6,509,10724,0.00,2.78,0.00,0.000,4,0.000,0.080,2500,3552,3091
$GC,10966,-0.91,-117.3,749.9,-8.2,520,10970,0.00,2.70,0.00,0.000,6,0.000,0.067,2500,2085,3089
$GC,11288,-0.95,-117.3,766.3,-3.0,536,11289,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2067,3089
$GC,11597,-0.95,-117.3,782.8,-9.1,551,11601,0.00,2.47,0.00,0.000,4,0.000,0.084,2500,747,3087
$GC,11652,-1.01,-117.3,788.3,-11.4,553,11658,0.00,2.53,0.00,0.000,6,0.000,0.073,2500,2095,3087
$GC,11969,-1.05,-117.3,809.4,-3.8,569,11974,0.12,2.75,0.00,0.000,4,0.066,0.086,2467,3560,3086
$GC,12227,-0.91,-117.3,830.2,1.8,580,12235,0.15,2.67,0.00,0.000,6,0.115,0.074,2496,2117,3084
$STATE,12272,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,12272,begin apogee
$GC,12279,-0.33,0.0,832.4,3.8,583,12383,0.62,0.00,101.03,1.476,6,0.094,0.000,2625,2087,2620
$STATE,12384,end apogee,CONTROL_FINISHED_OK
$STATE,12384,begin climb
$GC,12387,1.30,117.3,838.5,0.0,588,12498,1.67,2.78,101.47,1.437,4,0.079,0.081,2978,3504,2141
$GC,12754,1.25,117.3,811.2,8.4,604,12760,0.00,2.65,0.00,0.000,6,0.000,0.070,2978,2097,2139
$GC,13070,1.24,140.6,783.2,6.9,620,13097,0.00,2.78,21.08,1.364,4,0.000,0.084,2979,3502,2046
$GC,13171,1.17,140.6,772.6,12.3,624,13177,0.12,2.62,0.00,0.000,6,0.106,0.074,2956,2120,2045
$GC,13487,1.25,147.6,748.0,7.7,640,13501,0.00,2.72,7.47,1.201,4,0.000,0.084,2956,3501,2018
$GC,13510,1.33,196.8,746.8,5.8,641,13560,0.15,2.62,43.45,1.402,6,0.059,0.071,2994,2115,1816
$GC,13881,1.33,196.8,706.6,12.6,659,13882,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2086,1814
$GC,14190,1.33,196.8,675.0,9.1,674,14192,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2105,1813
$GC,14500,1.33,196.8,643.1,10.7,689,14505,0.00,2.67,0.00,0.000,4,0.000,0.082,2994,682,1812
$GC,14601,1.33,196.8,632.6,10.5,693,14607,0.00,2.65,0.00,0.000,6,0.000,0.068,2994,2110,1811
$GC,14917,1.33,196.8,595.5,13.1,709,14918,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2109,1811
$GC,15226,1.33,196.8,559.7,11.5,724,15230,0.00,2.65,0.00,0.000,4,0.000,0.075,2994,687,1811
$GC,15275,1.33,196.8,553.8,11.6,726,15280,0.00,2.58,0.00,0.000,6,0.000,0.061,2994,2105,1811
$GC,15592,1.33,196.8,521.2,10.4,741,15596,0.00,2.55,0.00,0.000,4,0.000,0.068,2994,3507,1811
$GC,15603,1.33,196.8,520.1,10.1,741,15609,0.00,2.55,0.00,0.000,6,0.000,0.057,2994,2105,1811
$GC,15918,1.33,196.8,487.0,10.2,757,15923,0.00,2.60,0.00,0.000,4,0.000,0.066,2993,3508,1812
$GC,15968,1.33,196.8,481.2,11.0,759,15973,0.00,2.50,0.00,0.000,6,0.000,0.053,2994,2121,1813
$GC,16285,1.33,196.8,447.9,10.6,774,16289,0.00,2.55,0.00,0.000,4,0.000,0.064,2994,3514,1814
$GC,16329,1.33,196.8,442.3,11.3,776,16333,0.00,2.50,0.00,0.000,6,0.000,0.052,2994,2127,1814
$GC,16650,1.33,196.8,406.7,10.3,792,16655,0.00,2.55,0.00,0.000,4,0.000,0.064,2994,3513,1816
$GC,16672,1.33,196.8,404.2,11.0,793,16677,0.00,2.47,0.00,0.000,6,0.000,0.051,2994,2133,1816
$GC,16994,1.33,196.8,372.6,11.1,809,16995,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2122,1816
$GC,17303,1.33,196.8,337.5,11.7,824,17307,0.00,2.50,0.00,0.000,4,0.000,0.061,2994,3509,1817
$GC,17313,1.33,196.8,336.1,11.7,824,17320,0.00,2.47,0.00,0.000,6,0.000,0.052,2994,2125,1817
$GC,17629,1.33,196.8,299.3,10.9,840,17633,0.00,2.53,0.00,0.000,4,0.000,0.061,2994,3513,1818
$GC,17647,1.33,196.8,297.3,10.7,841,17651,0.00,2.47,0.00,0.000,6,0.000,0.051,2994,2129,1818
$GC,17974,1.33,196.8,260.6,11.3,857,17978,0.00,2.53,0.00,0.000,4,0.000,0.061,2994,3515,1819
$GC,18001,1.33,196.8,257.3,11.5,858,18005,0.00,2.47,0.00,0.000,6,0.000,0.051,2994,2136,1819
$GC,18317,1.33,196.8,221.9,11.0,873,18321,0.00,2.47,0.00,0.000,4,0.000,0.061,2993,3510,1820
$GC,18350,1.33,196.8,218.2,11.1,874,18356,0.00,2.45,0.00,0.000,6,0.000,0.050,2994,2143,1820
$GC,18666,1.33,196.8,186.8,9.4,890,18670,0.00,2.47,0.00,0.000,4,0.000,0.060,2994,3510,1820
$GC,18715,1.33,196.8,182.0,9.5,892,18720,0.00,2.42,0.00,0.000,6,0.000,0.048,2993,2154,1820
$GC,19032,1.33,196.8,152.0,9.6,907,19036,0.00,2.47,0.00,0.000,4,0.000,0.060,2994,3510,1820
$GC,19054,1.37,196.8,149.7,10.0,908,19058,0.00,2.40,0.00,0.000,6,0.000,0.049,2994,2164,1820
$GC,19375,1.37,196.8,118.3,10.2,924,19380,0.00,2.45,0.00,0.000,4,0.000,0.060,2994,3511,1821
$GC,19398,1.37,196.8,115.5,10.7,925,19402,0.00,2.40,0.00,0.000,6,0.000,0.049,2994,2170,1821
$GC,19720,1.42,196.8,81.5,10.4,941,19724,0.00,2.42,0.00,0.000,4,0.000,0.059,2994,3510,1821
$GC,19730,1.47,196.8,80.0,10.5,941,19737,0.12,2.38,0.00,0.000,6,0.050,0.049,3031,2176,1821
$GC,20049,1.41,196.8,37.3,14.1,957,20051,0.12,0.00,0.00,0.000,6,0.091,0.000,3009,2174,1821
$GC,20356,1.41,196.8,2.4,11.3,972,20360,0.00,2.12,0.00,0.000,3,0.000,0.056,3008,3348,1822
$STATE,20360,end climb,SURFACE_DEPTH_REACHED
$STATE,20360,begin surface coast
$FINISH,0.7,1.026956
$STATE,20365,end surface coast,CONTROL_FINISHED_OK
$STATE,20365,begin surface
$SM_CCo,20390,209.23,0.772,0,0,389,547.02
$SM_GC,0.61,0.00,0.00,209.23,0.000,0.000,0.772,422,2116,389,-10.48,-0.88,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1670
$TCM_TEMP,19.40
$XPDR_PINGS,517
$ALTIM_TOP_PING,19.8,18.6
$ALTIM_BOTTOM_PING,775.2,65.9
$24V_AH,23.7,38.849
$10V_AH,10.1,18.534
$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,25.275,201.675,274.500,209.225,0.000,37.760,26.384,206.503,136.500,0.000,0.000,16.530,1903.149,15259.316,693.482,2491.253,653.252,33.352,1918.603,0.000,2428.409,0.000,50.510
$DEVICE_MAMPS,134.992,85.904,1476.475,771.602,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,668.010,718.099,531.983,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50515,972
$CAP_FILE_SIZE,165751,0
$CFSIZE,254472192,238936064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,23,0,0
$GPS,200708,000158,6146.790,-929.628,26,2.6,45,-9.6