version: 66.03
glider: 5
mission: 3
dive: 248
start: 7 31 108 20 59 48
data:
$ID,5
$MISSION,3
$DIVE,248
$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,-81248.211
$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,40
$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,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
$GPS1,205331,6233.496,-1025.034,37,1.2,42,-10.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-51.2
$GPS2,205857,6233.562,-1025.024,15,1.6,15,-10.4
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,IFRSILL
$TGT_LATLONG,6250.000,-940.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.218,-0.039
$KALMAN_X,-71507.0,228.4,1334.9,94616.6,-13740.5
$KALMAN_Y,-32195.3,601.2,1194.0,75357.9,-5554.9
$MHEAD_RNG_PITCHd_Wd,110.5,48747,-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,-117.3,0.0,0.0,0,140,0.00,0.00,-110.12,0.000,6,0.000,0.000,419,2113,3099
$GC,144,-1.30,-117.3,2.2,-1.5,5,159,10.43,2.45,0.00,0.000,4,0.142,0.054,2409,753,3098
$GC,194,-0.98,-117.3,12.1,-14.2,8,199,0.38,2.50,0.00,0.000,6,0.094,0.047,2485,2161,3097
$GC,517,-0.89,-117.3,39.2,-6.8,24,521,0.10,2.50,0.00,0.000,4,0.099,0.056,2507,3561,3097
$GC,573,-0.83,-117.3,43.3,-6.8,26,580,0.00,2.45,0.00,0.000,6,0.000,0.044,2506,2166,3098
$GC,891,-0.83,-117.3,65.3,-7.3,42,892,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2148,3098
$GC,1199,-0.83,-117.3,87.2,-7.4,57,1203,0.00,2.53,0.00,0.000,4,0.000,0.058,2506,747,3099
$GC,1340,-0.79,-117.3,98.1,-7.8,63,1345,0.10,2.45,0.00,0.000,6,0.099,0.048,2526,2122,3099
$GC,1657,-0.79,-117.3,121.4,-7.7,78,1661,0.00,2.55,0.00,0.000,4,0.000,0.059,2526,3553,3098
$GC,1668,-0.79,-117.3,122.4,-7.8,78,1674,0.00,2.53,0.00,0.000,6,0.000,0.049,2526,2132,3099
$GC,1985,-0.83,-117.3,145.9,-7.2,94,1986,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2129,3099
$GC,2293,-0.87,-117.3,167.8,-7.1,109,2298,0.00,2.47,0.00,0.000,4,0.000,0.060,2526,744,3098
$GC,2327,-0.87,-117.3,170.5,-7.3,110,2333,0.00,2.47,0.00,0.000,6,0.000,0.051,2526,2132,3098
$GC,2645,-0.92,-117.3,192.8,-7.3,126,2647,0.12,0.00,0.00,0.000,6,0.051,0.000,2488,2132,3098
$GC,2953,-0.85,-117.3,220.0,-9.0,141,2958,0.12,2.53,0.00,0.000,4,0.097,0.060,2513,747,3098
$GC,2981,-0.85,-117.3,222.7,-8.7,142,2985,0.00,2.47,0.00,0.000,6,0.000,0.051,2513,2128,3098
$GC,3296,-0.85,-117.3,249.7,-8.9,157,3304,0.00,2.53,0.00,0.000,4,0.000,0.063,2513,746,3097
$GC,3338,-0.85,-117.3,253.4,-8.5,158,3344,0.00,2.45,0.00,0.000,6,0.000,0.051,2513,2116,3098
$GC,3654,-0.85,-117.3,280.2,-8.2,174,3658,0.00,2.50,0.00,0.000,4,0.000,0.061,2513,746,3097
$GC,3681,-0.85,-117.3,282.6,-8.5,175,3685,0.00,2.42,0.00,0.000,6,0.000,0.051,2514,2105,3097
$GC,3997,-0.85,-117.3,307.3,-7.8,190,4001,0.00,2.47,0.00,0.000,4,0.000,0.064,2513,746,3097
$GC,4047,-0.85,-117.3,311.5,-8.2,192,4051,0.00,2.45,0.00,0.000,6,0.000,0.051,2513,2109,3097
$GC,4363,-0.85,-117.3,336.5,-8.1,207,4367,0.00,2.47,0.00,0.000,4,0.000,0.063,2514,746,3097
$GC,4395,-0.85,-117.3,339.2,-8.7,208,4401,0.00,2.45,0.00,0.000,6,0.000,0.051,2513,2109,3096
$GC,4712,-0.85,-117.3,361.8,-6.7,224,4716,0.00,2.60,0.00,0.000,4,0.000,0.063,2513,3555,3096
$GC,4745,-0.85,-117.3,364.2,-7.3,225,4751,0.00,2.58,0.00,0.000,6,0.000,0.051,2514,2109,3097
$GC,5062,-0.85,-117.3,385.7,-6.7,241,5066,0.00,2.65,0.00,0.000,4,0.000,0.063,2514,3553,3096
$GC,5158,-0.85,-117.3,392.7,-7.0,245,5162,0.00,2.55,0.00,0.000,6,0.000,0.050,2513,2118,3096
$GC,5474,-0.85,-117.3,411.7,-5.6,260,5478,0.00,2.62,0.00,0.000,4,0.000,0.064,2513,3556,3095
$GC,5485,-0.85,-117.3,412.4,-5.7,260,5491,0.00,2.55,0.00,0.000,6,0.000,0.051,2514,2124,3095
$GC,5802,-0.85,-117.3,430.0,-6.1,276,5806,0.00,2.65,0.00,0.000,4,0.000,0.065,2514,3561,3095
$GC,5887,-0.85,-117.3,436.3,-7.8,280,5891,0.00,2.53,0.00,0.000,6,0.000,0.051,2513,2145,3094
$GC,6215,-0.85,-117.3,458.8,-6.3,296,6216,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2127,3094
$GC,6523,-0.85,-117.3,477.9,-6.3,311,6527,0.00,2.53,0.00,0.000,4,0.000,0.067,2513,741,3094
$GC,6573,-0.85,-117.3,481.1,-5.9,313,6577,0.00,2.53,0.00,0.000,6,0.000,0.056,2513,2138,3094
$GC,6890,-0.90,-117.3,501.6,-6.7,328,6894,0.00,2.55,0.00,0.000,4,0.000,0.067,2514,748,3093
$GC,6919,-0.90,-117.3,503.3,-5.7,329,6923,0.00,2.53,0.00,0.000,6,0.000,0.058,2514,2139,3093
$GC,7236,-0.94,-117.3,522.6,-6.5,344,7240,0.00,2.55,0.00,0.000,4,0.000,0.068,2514,750,3092
$GC,7292,-0.94,-117.3,526.1,-6.5,346,7298,0.00,2.53,0.00,0.000,6,0.000,0.059,2513,2141,3092
$GC,7609,-0.99,-117.3,544.3,-5.6,362,7614,0.12,2.60,0.00,0.000,4,0.058,0.073,2478,3557,3092
$GC,7638,-0.92,-117.3,546.4,-7.3,363,7643,0.10,2.58,0.00,0.000,6,0.108,0.061,2496,2138,3092
$GC,7954,-0.92,-117.3,567.1,-6.5,378,7958,0.00,2.53,0.00,0.000,4,0.000,0.071,2496,744,3091
$GC,8049,-0.92,-117.3,573.3,-6.7,382,8054,0.00,2.50,0.00,0.000,6,0.000,0.063,2497,2110,3090
$GC,8366,-1.44,-117.3,585.5,0.1,397,8371,0.47,2.53,0.00,0.000,4,0.051,0.073,2378,746,3090
$GC,8626,-1.90,-117.3,585.5,-0.2,408,8632,0.43,2.42,0.00,0.000,6,0.046,0.066,2274,2054,3090
$STATE,8939,end dive,NO_VERTICAL_VELOCITY
$STATE,8939,begin apogee
$GC,8946,-0.33,0.0,585.5,0.0,424,9048,1.60,0.00,98.38,1.269,6,0.066,0.000,2624,2107,2620
$STATE,9049,end apogee,CONTROL_FINISHED_OK
$STATE,9049,begin climb
$GC,9053,1.30,117.3,585.3,0.0,429,9159,1.65,2.67,98.28,1.232,4,0.073,0.074,2978,3504,2141
$GC,9226,1.30,117.3,573.3,9.3,437,9231,0.00,2.62,0.00,0.000,6,0.000,0.066,2978,2103,2140
$GC,9543,1.30,117.3,546.5,9.0,452,9547,0.00,2.65,0.00,0.000,4,0.000,0.074,2978,3505,2139
$GC,9582,1.30,117.3,542.7,9.9,454,9587,0.00,2.60,0.00,0.000,6,0.000,0.064,2978,2101,2139
$GC,9909,1.30,117.3,513.6,9.4,470,9913,0.00,2.65,0.00,0.000,4,0.000,0.075,2978,3505,2138
$GC,9972,1.26,117.3,507.9,9.2,473,9976,0.00,2.55,0.00,0.000,6,0.000,0.062,2978,2122,2138
$GC,10298,1.26,117.3,480.1,8.3,489,10299,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2122,2137
$GC,10607,1.26,117.3,452.8,8.9,504,10612,0.00,2.60,0.00,0.000,4,0.000,0.073,2978,3501,2136
$GC,10715,1.26,117.3,443.1,9.1,509,10720,0.00,2.50,0.00,0.000,6,0.000,0.060,2978,2135,2136
$GC,11042,1.26,117.3,416.3,8.1,525,11046,0.00,2.55,0.00,0.000,4,0.000,0.071,2978,3501,2135
$GC,11086,1.26,117.3,412.6,8.7,527,11090,0.00,2.47,0.00,0.000,6,0.000,0.059,2978,2148,2135
$GC,11408,1.27,120.7,388.0,7.8,543,11412,0.00,2.50,0.00,0.000,4,0.000,0.069,2978,3504,2135
$GC,11458,1.27,120.7,383.6,9.0,545,11462,0.00,2.45,0.00,0.000,6,0.000,0.056,2978,2160,2135
$GC,11774,1.27,120.7,356.5,8.3,560,11778,0.00,2.47,0.00,0.000,4,0.000,0.066,2978,3502,2135
$GC,11836,1.27,120.7,351.1,8.5,563,11840,0.00,2.40,0.00,0.000,6,0.000,0.054,2978,2171,2135
$GC,12162,1.27,120.7,325.3,8.1,579,12163,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2171,2135
$GC,12471,1.27,120.7,299.2,8.7,594,12473,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2171,2135
$GC,12781,1.27,120.7,272.5,8.5,609,12785,0.00,2.42,0.00,0.000,4,0.000,0.063,2978,3504,2136
$GC,12847,1.27,120.7,266.3,9.1,612,12851,0.00,2.38,0.00,0.000,6,0.000,0.051,2978,2178,2135
$GC,13169,1.27,122.6,240.0,7.9,628,13176,0.00,0.00,5.40,0.781,6,0.000,0.000,2977,2178,2120
$GC,13477,1.28,127.0,215.3,7.8,643,13488,0.00,2.45,5.60,0.784,4,0.000,0.060,2978,3511,2102
$GC,13544,1.28,127.0,209.8,8.0,646,13548,0.00,2.40,0.00,0.000,6,0.000,0.051,2978,2183,2101
$GC,13866,1.30,138.2,186.1,7.5,662,13878,0.00,0.00,10.68,0.874,6,0.000,0.000,2978,2184,2056
$GC,14174,1.34,140.0,162.9,7.9,677,14178,0.00,2.40,0.00,0.000,4,0.000,0.060,2978,3509,2056
$GC,14218,1.34,140.0,158.9,9.6,679,14222,0.00,2.38,0.00,0.000,6,0.000,0.051,2978,2191,2056
$GC,14546,1.38,140.0,130.5,8.9,695,14551,0.10,2.40,0.00,0.000,4,0.054,0.058,3012,3510,2056
$GC,14580,1.31,140.0,126.7,10.8,696,14586,0.15,2.33,0.00,0.000,6,0.094,0.050,2983,2205,2056
$GC,14898,1.31,140.0,96.4,9.5,712,14899,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2204,2057
$GC,15205,1.35,140.0,68.8,8.0,727,15209,0.00,2.38,0.00,0.000,4,0.000,0.058,2983,3504,2057
$GC,15239,1.38,154.4,66.3,7.3,728,15258,0.00,2.33,14.85,0.818,6,0.000,0.050,2983,2208,1990
$GC,15580,1.46,174.5,44.6,7.1,745,15599,0.15,0.00,17.02,0.811,6,0.047,0.000,3027,2207,1908
$GC,15906,1.41,174.5,10.7,9.9,761,15910,0.00,2.38,0.00,0.000,4,0.000,0.057,3027,3506,1908
$GC,15951,1.37,174.5,6.3,9.2,763,15956,0.15,2.33,0.00,0.000,6,0.089,0.052,2999,2220,1907
$STATE,16003,end climb,SURFACE_DEPTH_REACHED
$STATE,16003,begin surface coast
$FINISH,0.0,1.022583
$STATE,16023,end surface coast,CONTROL_FINISHED_OK
$STATE,16023,begin surface
$SM_CCo,16046,224.15,0.775,0,0,390,547.02
$SM_GC,0.62,0.00,0.00,224.15,0.000,0.000,0.775,421,2133,390,-10.48,-0.48,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1686
$TCM_TEMP,17.70
$XPDR_PINGS,379
$ALTIM_TOP_PING,18.8,999.0
$24V_AH,23.8,47.685
$10V_AH,10.1,23.207
$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,27.350,165.150,250.200,224.150,0.000,37.764,27.990,135.240,100.000,0.000,0.000,15.613,1479.447,12181.826,675.032,1746.195,516.328,33.349,1559.075,0.000,1703.813,0.000,37.145
$DEVICE_MAMPS,141.895,102.778,1268.618,775.437,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,526.472,571.294,509.957,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41048,767
$CAP_FILE_SIZE,131730,0
$CFSIZE,254472192,235462656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,31,0,0
$GPS,010808,013227,6232.984,-1024.777,28,3.4,47,-10.4