version: 66.03
glider: 5
mission: 3
dive: 277
start: 8 5 108 13 56 28
data:
$ID,5
$MISSION,3
$DIVE,277
$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,-81897.258
$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,24
$R_STBD_OVSHOOT,21
$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
$GPS1,135014,6246.151,-949.574,43,1.4,43,-10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-53.4
$GPS2,135538,6246.129,-949.542,14,1.4,31,-10.1
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,IFRSILL
$TGT_LATLONG,6250.000,-940.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.218,-0.043
$KALMAN_X,-143553.5,-145.5,1022.9,198030.2,-7482.8
$KALMAN_Y,-16686.2,263.9,-875.3,85572.3,10294.6
$MHEAD_RNG_PITCHd_Wd,111.3,10793,-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,22,begin dive
$GC,25,-1.30,-117.3,0.0,0.0,0,139,0.00,0.00,-111.72,0.000,6,0.000,0.000,419,2176,3100
$GC,143,-1.30,-117.3,2.1,-1.5,5,159,10.48,2.58,0.00,0.000,4,0.137,0.051,2438,740,3098
$GC,389,-1.05,-117.3,36.2,-12.5,15,394,0.30,2.53,0.00,0.000,6,0.093,0.046,2500,2158,3098
$GC,711,-1.00,-117.3,62.6,-7.8,31,715,0.00,2.55,0.00,0.000,4,0.000,0.053,2501,741,3098
$GC,932,-0.94,-117.3,80.2,-8.2,41,937,0.10,2.42,0.00,0.000,6,0.101,0.047,2521,2108,3098
$GC,1259,-0.94,-117.3,100.9,-5.3,57,1263,0.00,2.47,0.00,0.000,4,0.000,0.055,2521,740,3099
$GC,1300,-0.94,-117.3,103.1,-5.2,59,1304,0.00,2.40,0.00,0.000,6,0.000,0.048,2521,2099,3099
$GC,1627,-0.94,-117.3,119.6,-4.9,75,1631,0.00,2.47,0.00,0.000,4,0.000,0.058,2521,739,3099
$GC,1695,-0.94,-117.3,123.5,-6.1,78,1699,0.00,2.40,0.00,0.000,6,0.000,0.049,2521,2078,3099
$GC,2017,-0.94,-117.3,143.5,-6.5,94,2021,0.00,2.42,0.00,0.000,4,0.000,0.058,2521,744,3099
$GC,2036,-0.94,-117.3,144.8,-6.9,95,2040,0.00,2.38,0.00,0.000,6,0.000,0.051,2520,2070,3099
$GC,2364,-0.94,-117.3,168.4,-7.6,111,2368,0.00,2.65,0.00,0.000,4,0.000,0.061,2521,3553,3098
$GC,2376,-0.94,-117.3,169.3,-7.6,111,2382,0.00,2.62,0.00,0.000,6,0.000,0.048,2521,2074,3098
$GC,2692,-0.94,-117.3,193.4,-7.5,127,2696,0.00,2.70,0.00,0.000,4,0.000,0.061,2521,3552,3099
$GC,2719,-0.94,-117.3,195.7,-7.9,128,2724,0.00,2.62,0.00,0.000,6,0.000,0.048,2521,2077,3098
$GC,3036,-0.94,-117.3,217.8,-6.6,143,3041,0.00,2.70,0.00,0.000,4,0.000,0.062,2521,3561,3098
$GC,3070,-0.94,-117.3,220.1,-6.6,144,3076,0.00,2.62,0.00,0.000,6,0.000,0.048,2521,2088,3098
$GC,3387,-0.94,-117.3,238.5,-5.8,160,3391,0.00,2.67,0.00,0.000,4,0.000,0.061,2521,3559,3097
$GC,3397,-0.94,-117.3,239.2,-5.7,160,3404,0.00,2.62,0.00,0.000,6,0.000,0.049,2521,2083,3097
$GC,3714,-0.94,-117.3,258.5,-5.9,176,3718,0.00,2.67,0.00,0.000,4,0.000,0.062,2521,3552,3097
$GC,3731,-0.94,-117.3,259.6,-6.1,177,3735,0.00,2.58,0.00,0.000,6,0.000,0.050,2521,2107,3097
$GC,4058,-0.94,-117.3,279.2,-6.1,193,4060,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2106,3097
$GC,4367,-0.98,-117.3,298.0,-6.3,208,4372,0.00,2.62,0.00,0.000,4,0.000,0.063,2521,3556,3097
$GC,4379,-0.98,-117.3,298.8,-6.4,208,4385,0.00,2.60,0.00,0.000,6,0.000,0.051,2521,2099,3097
$GC,4695,-0.98,-117.3,319.1,-6.4,224,4700,0.00,2.65,0.00,0.000,4,0.000,0.064,2521,3556,3096
$GC,4706,-0.98,-117.3,320.0,-6.2,224,4712,0.00,2.60,0.00,0.000,6,0.000,0.051,2521,2105,3096
$GC,5024,-1.02,-117.3,340.1,-6.3,240,5028,0.00,2.65,0.00,0.000,4,0.000,0.064,2521,3552,3096
$GC,5079,-1.02,-117.3,343.8,-6.1,242,5085,0.00,2.55,0.00,0.000,6,0.000,0.051,2521,2121,3096
$GC,5396,-1.07,-117.3,362.6,-5.8,258,5398,0.12,0.00,0.00,0.000,6,0.056,0.000,2484,2121,3096
$GC,5706,-1.01,-117.3,380.4,-5.4,273,5711,0.12,2.62,0.00,0.000,4,0.096,0.064,2510,3552,3095
$GC,5717,-0.95,-117.3,381.0,-5.1,273,5723,0.00,2.60,0.00,0.000,6,0.000,0.053,2510,2106,3095
$GC,6034,-0.95,-117.3,399.7,-6.6,289,6041,0.00,2.65,0.00,0.000,4,0.000,0.065,2511,3552,3094
$GC,6097,-0.95,-117.3,405.1,-8.9,291,6103,0.00,2.53,0.00,0.000,6,0.000,0.051,2510,2145,3095
$GC,6413,-0.95,-117.3,430.8,-7.9,307,6417,0.00,2.60,0.00,0.000,4,0.000,0.067,2510,3562,3095
$GC,6603,-0.95,-117.3,446.5,-7.4,315,6610,0.00,2.53,0.00,0.000,6,0.000,0.054,2510,2148,3094
$GC,6920,-0.95,-117.3,468.8,-7.1,331,6921,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2140,3094
$STATE,7123,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7123,begin apogee
$GC,7130,-0.33,0.0,482.5,7.0,341,7231,0.70,0.00,97.22,1.141,6,0.081,0.000,2658,2140,2620
$STATE,7231,end apogee,CONTROL_FINISHED_OK
$STATE,7231,begin climb
$GC,7234,1.30,117.3,484.2,0.0,346,7340,1.62,2.60,96.50,1.111,4,0.064,0.067,3012,3501,2141
$GC,7383,1.19,117.3,474.3,10.1,353,7388,0.00,2.55,0.00,0.000,6,0.000,0.057,3011,2113,2140
$GC,7711,1.10,117.3,441.3,10.2,369,7716,0.17,2.60,0.00,0.000,4,0.092,0.067,2975,3506,2139
$GC,7740,1.10,117.3,438.1,10.7,370,7745,0.00,2.58,0.00,0.000,6,0.000,0.057,2975,2101,2139
$GC,8057,1.21,187.0,417.0,4.8,385,8120,0.00,2.72,57.53,1.092,4,0.000,0.067,2975,3502,1857
$GC,8184,1.35,227.8,410.5,6.1,390,8224,0.22,2.53,34.12,1.068,6,0.048,0.058,3030,2131,1691
$GC,8544,1.28,227.8,375.2,10.3,408,8548,0.00,2.58,0.00,0.000,4,0.000,0.067,3029,3508,1690
$GC,8577,1.20,227.8,371.2,11.6,409,8583,0.20,2.50,0.00,0.000,6,0.093,0.055,2992,2142,1690
$GC,8893,1.26,230.7,346.1,7.9,425,8899,0.00,0.00,3.80,0.667,6,0.000,0.000,2992,2141,1679
$GC,9203,1.31,230.7,319.5,9.1,440,9208,0.10,2.53,0.00,0.000,4,0.059,0.063,3020,3504,1679
$GC,9236,1.31,230.7,315.7,11.4,441,9242,0.00,2.42,0.00,0.000,6,0.000,0.051,3020,2158,1679
$GC,9551,1.31,230.7,281.0,11.2,457,9552,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2158,1678
$GC,9861,1.31,230.7,245.2,11.6,472,9862,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2158,1679
$GC,10170,1.31,230.7,207.9,12.5,487,10171,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2158,1679
$GC,10479,1.31,230.7,168.3,12.7,502,10483,0.00,2.47,0.00,0.000,4,0.000,0.061,3020,3504,1679
$GC,10535,1.31,230.7,161.2,12.5,504,10541,0.00,2.42,0.00,0.000,6,0.000,0.048,3020,2153,1679
$GC,10851,1.31,230.7,125.9,10.7,520,10855,0.00,2.62,0.00,0.000,4,0.000,0.061,3020,690,1679
$GC,10878,1.31,230.7,122.9,10.7,521,10883,0.00,2.67,0.00,0.000,6,0.000,0.052,3020,2178,1679
$GC,11196,1.31,230.7,89.3,10.9,536,11198,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2178,1679
$GC,11503,1.31,230.7,58.7,8.9,551,11505,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2178,1679
$GC,11813,1.31,230.7,32.1,9.1,566,11817,0.00,2.70,0.00,0.000,4,0.000,0.058,3020,690,1679
$GC,11840,1.31,230.7,29.2,10.8,567,11845,0.00,2.65,0.00,0.000,6,0.000,0.050,3020,2173,1679
$STATE,12092,end climb,SURFACE_DEPTH_REACHED
$STATE,12092,begin surface coast
$FINISH,0.0,1.015225
$STATE,12114,end surface coast,CONTROL_FINISHED_OK
$STATE,12114,begin surface
$SM_CCo,12137,188.57,0.776,0,0,390,547.02
$SM_GC,0.52,0.00,0.00,188.57,0.000,0.000,0.776,417,2115,390,-10.64,-1.02,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1712
$TCM_TEMP,17.70
$XPDR_PINGS,381
$ALTIM_TOP_PING,19.5,999.0
$ALTIM_BOTTOM_PING,400.4,91.4
$24V_AH,23.8,52.171
$10V_AH,10.1,25.170
$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,25.350,123.525,289.175,188.575,0.000,37.762,29.309,124.548,98.500,0.000,0.000,31.347,1110.837,9111.060,646.393,1340.122,444.914,33.355,1330.746,0.000,1297.632,0.000,23.434
$DEVICE_MAMPS,137.293,79.768,1140.529,776.204,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,395.993,431.081,432.247,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28432,580
$CAP_FILE_SIZE,98843,0
$CFSIZE,254472192,233951232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,21,0,0
$GPS,050808,172308,6245.767,-947.454,34,1.3,34,-10.1