version: 66.03
glider: 5
mission: 3
dive: 261
start: 8 3 108 2 30 56
data:
$ID,5
$MISSION,3
$DIVE,261
$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,-81522.773
$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,32
$R_STBD_OVSHOOT,20
$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
$GPS1,022401,6243.960,-1024.307,42,1.5,42,-10.4
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.56
$_SM_ANGLEo,-50.1
$GPS2,023004,6243.886,-1024.388,15,1.5,34,-10.4
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,IFRSILL
$TGT_LATLONG,6250.000,-940.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.221,0.020
$KALMAN_X,-118196.2,2118.2,593.2,140665.3,-13047.9
$KALMAN_Y,-24684.2,83.2,-1308.6,90060.0,6663.7
$MHEAD_RNG_PITCHd_Wd,95.3,39205,-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,-117.3,0.0,0.0,0,139,0.00,0.00,-111.05,0.000,6,0.000,0.000,422,2120,3099
$GC,143,-1.30,-117.3,2.1,-1.7,5,159,10.52,2.45,0.00,0.000,4,0.140,0.050,2438,748,3098
$GC,251,-1.06,-117.3,19.9,-11.7,9,257,0.30,2.50,0.00,0.000,6,0.093,0.047,2500,2155,3097
$GC,581,-1.01,-117.3,45.8,-7.7,25,585,0.00,2.50,0.00,0.000,4,0.000,0.056,2501,3557,3097
$GC,712,-0.94,-117.3,56.3,-8.5,31,717,0.10,2.42,0.00,0.000,6,0.103,0.042,2521,2172,3097
$GC,1039,-0.94,-117.3,80.3,-8.0,47,1041,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2153,3098
$GC,1349,-0.94,-117.3,105.1,-8.3,62,1350,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2154,3098
$GC,1657,-0.94,-117.3,130.8,-8.3,77,1662,0.00,2.53,0.00,0.000,4,0.000,0.059,2521,3556,3098
$GC,1698,-0.94,-117.3,134.4,-9.4,79,1702,0.00,2.42,0.00,0.000,6,0.000,0.044,2521,2174,3099
$GC,2025,-0.94,-117.3,160.0,-8.0,95,2026,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2155,3099
$GC,2334,-0.94,-117.3,184.2,-7.5,110,2335,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2155,3098
$GC,2643,-0.94,-117.3,206.7,-7.2,125,2644,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2155,3098
$GC,2953,-0.94,-117.3,228.3,-6.8,140,2954,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2155,3098
$GC,3261,-0.94,-117.3,249.8,-7.3,155,3266,0.00,2.53,0.00,0.000,4,0.000,0.061,2521,753,3098
$GC,3323,-0.94,-117.3,254.6,-7.4,157,3329,0.00,2.58,0.00,0.000,6,0.000,0.051,2521,2187,3097
$GC,3640,-0.94,-117.3,277.3,-7.0,173,3644,0.00,2.62,0.00,0.000,4,0.000,0.061,2521,747,3097
$GC,3695,-0.94,-117.3,281.5,-7.3,175,3701,0.00,2.55,0.00,0.000,6,0.000,0.052,2521,2169,3097
$GC,4012,-0.94,-117.3,303.2,-7.0,191,4016,0.00,2.60,0.00,0.000,4,0.000,0.061,2521,744,3096
$GC,4097,-0.94,-117.3,309.4,-7.5,195,4102,0.00,2.55,0.00,0.000,6,0.000,0.053,2521,2167,3096
$GC,4425,-0.94,-117.3,334.2,-7.7,211,4429,0.00,2.58,0.00,0.000,4,0.000,0.062,2521,750,3096
$GC,4498,-0.94,-117.3,339.9,-7.5,214,4502,0.00,2.53,0.00,0.000,6,0.000,0.052,2521,2154,3096
$GC,4815,-0.99,-117.3,359.3,-5.4,229,4819,0.00,2.58,0.00,0.000,4,0.000,0.061,2521,743,3096
$GC,4887,-0.99,-117.3,363.2,-5.2,232,4891,0.00,2.50,0.00,0.000,6,0.000,0.054,2521,2129,3096
$GC,5204,-1.03,-117.3,380.0,-5.3,247,5208,0.00,2.58,0.00,0.000,4,0.000,0.065,2521,3562,3095
$GC,5282,-1.03,-117.3,385.0,-6.6,250,5288,0.00,2.53,0.00,0.000,6,0.000,0.051,2521,2147,3095
$GC,5600,-1.08,-117.3,405.7,-6.8,266,5601,0.12,0.00,0.00,0.000,6,0.054,0.000,2485,2131,3095
$GC,5907,-1.01,-117.3,430.7,-8.1,281,5912,0.12,2.60,0.00,0.000,4,0.100,0.066,2510,3556,3094
$GC,5929,-1.01,-117.3,432.5,-7.9,282,5934,0.00,2.55,0.00,0.000,6,0.000,0.054,2510,2141,3095
$GC,6251,-1.01,-117.3,458.8,-9.6,298,6256,0.00,2.50,0.00,0.000,4,0.000,0.064,2510,745,3095
$GC,6341,-1.01,-117.3,467.4,-9.9,302,6345,0.00,2.50,0.00,0.000,6,0.000,0.057,2510,2132,3094
$GC,6663,-1.01,-117.3,492.7,-7.2,318,6667,0.00,2.58,0.00,0.000,4,0.000,0.067,2510,737,3094
$GC,6817,-1.01,-117.3,503.7,-7.6,325,6821,0.00,2.50,0.00,0.000,6,0.000,0.059,2510,2122,3094
$GC,7145,-1.01,-117.3,523.0,-5.8,341,7146,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2123,3093
$GC,7454,-1.48,-117.3,528.8,-0.0,356,7456,0.45,0.00,0.00,0.000,6,0.047,0.000,2397,2121,3092
$GC,7763,-1.83,-117.3,528.9,-0.1,371,7765,0.30,0.00,0.00,0.000,6,0.047,0.000,2325,2121,3091
$STATE,7945,end dive,NO_VERTICAL_VELOCITY
$STATE,7945,begin apogee
$GC,7952,-0.33,0.0,528.9,0.0,380,8054,1.52,0.00,97.88,1.210,6,0.065,0.000,2658,2122,2620
$STATE,8055,end apogee,CONTROL_FINISHED_OK
$STATE,8055,begin climb
$GC,8058,1.30,117.3,528.1,0.0,385,8163,1.62,2.65,97.35,1.175,4,0.069,0.072,3009,3499,2141
$GC,8418,1.21,117.3,496.1,10.4,401,8422,0.00,2.58,0.00,0.000,6,0.000,0.061,3009,2103,2139
$GC,8734,1.13,117.3,463.8,9.9,416,8736,0.17,0.00,0.00,0.000,6,0.096,0.000,2976,2102,2138
$GC,9044,1.13,119.9,439.8,7.9,431,9048,0.00,2.65,0.00,0.000,4,0.000,0.074,2976,3507,2138
$GC,9128,1.13,119.9,432.4,8.6,435,9133,0.00,2.60,0.00,0.000,6,0.000,0.061,2976,2089,2138
$GC,9457,1.20,163.7,411.1,6.0,451,9501,0.00,2.72,38.53,1.128,4,0.000,0.069,2976,3501,1952
$GC,9537,1.31,201.5,406.5,6.3,454,9577,0.17,2.60,32.10,1.104,6,0.052,0.058,3019,2096,1798
$GC,9896,1.26,201.5,374.7,10.0,472,9900,0.00,2.65,0.00,0.000,4,0.000,0.067,3019,3509,1797
$GC,9946,1.19,201.5,368.5,10.9,474,9951,0.15,2.55,0.00,0.000,6,0.096,0.055,2991,2110,1796
$GC,10262,1.19,201.5,338.2,9.7,489,10263,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2107,1796
$GC,10572,1.24,201.5,305.6,10.5,504,10576,0.00,2.60,0.00,0.000,4,0.000,0.064,2991,3514,1796
$GC,10645,1.29,201.5,297.4,11.1,507,10649,0.00,2.50,0.00,0.000,6,0.000,0.052,2991,2130,1796
$GC,10961,1.33,201.5,264.7,10.4,522,10966,0.15,2.50,0.00,0.000,4,0.052,0.062,3036,3508,1796
$GC,11006,1.23,201.5,258.6,14.2,524,11011,0.20,2.45,0.00,0.000,6,0.091,0.050,2998,2144,1796
$GC,11327,1.23,201.5,222.5,11.2,540,11331,0.00,2.50,0.00,0.000,4,0.000,0.061,2998,3509,1797
$GC,11367,1.23,201.5,217.9,11.7,542,11372,0.00,2.42,0.00,0.000,6,0.000,0.050,2997,2158,1797
$GC,11694,1.23,201.5,182.4,10.7,558,11696,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2158,1797
$GC,12004,1.23,201.5,152.0,9.3,573,12008,0.00,2.45,0.00,0.000,4,0.000,0.061,2997,3509,1797
$GC,12067,1.23,201.5,145.9,9.7,576,12071,0.00,2.38,0.00,0.000,6,0.000,0.048,2998,2173,1798
$GC,12400,1.29,207.3,118.2,7.7,592,12409,0.00,0.00,6.62,0.758,6,0.000,0.000,2998,2173,1775
$GC,12711,1.34,208.0,94.1,8.0,607,12716,0.10,2.45,0.00,0.000,4,0.054,0.060,3028,3514,1775
$GC,12745,1.29,208.0,90.8,9.1,608,12751,0.00,2.40,0.00,0.000,6,0.000,0.048,3028,2172,1775
$GC,13061,1.31,217.9,64.4,7.5,624,13073,0.00,0.00,10.25,0.784,6,0.000,0.000,3028,2171,1730
$GC,13372,1.31,217.9,41.5,8.0,639,13376,0.00,2.65,0.00,0.000,4,0.000,0.061,3028,692,1730
$GC,13416,1.31,217.9,37.0,9.0,641,13420,0.00,2.67,0.00,0.000,6,0.000,0.050,3028,2191,1730
$GC,13737,1.31,217.9,3.9,12.3,657,13741,0.00,2.70,0.00,0.000,4,0.000,0.057,3028,691,1730
$STATE,13751,end climb,SURFACE_DEPTH_REACHED
$STATE,13751,begin surface coast
$FINISH,1.1,1.026868
$STATE,13757,end surface coast,CONTROL_FINISHED_OK
$STATE,13757,begin surface
$SM_CCo,13783,194.77,0.782,0,0,389,547.02
$SM_GC,0.55,0.00,0.00,194.77,0.000,0.000,0.782,420,2172,389,-10.62,0.65,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1698
$TCM_TEMP,19.50
$XPDR_PINGS,367
$ALTIM_TOP_PING,18.4,999.0
$24V_AH,23.8,49.743
$10V_AH,10.1,24.123
$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,27.275,117.050,282.725,194.775,0.000,37.762,26.390,156.487,96.250,0.000,0.000,34.751,1262.135,10409.340,630.315,1554.979,487.383,33.355,1400.058,0.000,1502.109,0.000,31.130
$DEVICE_MAMPS,140.361,73.632,1210.326,782.340,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,451.229,487.649,463.330,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34816,658
$CAP_FILE_SIZE,109090,0
$CFSIZE,254472192,234770432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,0,0
$GPS,030808,062508,6243.021,-1025.958,35,1.8,35,-10.5