version: 66.03
glider: 5
mission: 3
dive: 282
start: 8 6 108 8 52 1
data:
$ID,5
$MISSION,3
$DIVE,282
$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,-81998.242
$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,22
$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
$GPS1,084527,6250.247,-931.594,39,3.9,58,-10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.65
$_SM_ANGLEo,-56.8
$GPS2,085111,6250.308,-931.698,14,2.6,33,-10.0
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,IFRVAL
$TGT_LATLONG,6312.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.219,-0.037
$KALMAN_X,-148206.5,940.8,10.8,218094.3,-6123.3
$KALMAN_Y,-19858.0,-1328.3,-309.4,97567.7,-119.6
$MHEAD_RNG_PITCHd_Wd,109.7,48110,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-1.30,-117.3,0.0,0.0,0,141,0.00,0.00,-111.30,0.000,6,0.000,0.000,422,2156,3098
$GC,145,-1.30,-117.3,2.1,-1.7,5,161,10.38,2.55,0.00,0.000,4,0.133,0.050,2439,734,3098
$GC,335,-1.05,-117.3,27.9,-12.4,12,342,0.30,2.53,0.00,0.000,6,0.092,0.046,2502,2159,3097
$GC,651,-0.98,-117.3,55.5,-8.1,28,656,0.00,2.50,0.00,0.000,4,0.000,0.057,2502,3560,3097
$GC,686,-0.89,-117.3,58.5,-8.5,29,693,0.15,2.45,0.00,0.000,6,0.093,0.042,2533,2167,3097
$GC,1002,-0.93,-117.3,88.3,-11.5,45,1007,0.00,2.53,0.00,0.000,4,0.000,0.056,2533,3556,3097
$GC,1133,-0.93,-117.3,103.8,-11.7,51,1137,0.00,2.42,0.00,0.000,6,0.000,0.041,2533,2180,3098
$GC,1461,-0.98,-117.3,130.3,-6.1,67,1465,0.00,2.50,0.00,0.000,4,0.000,0.057,2533,3556,3098
$GC,1474,-0.98,-117.3,131.0,-5.8,67,1480,0.00,2.42,0.00,0.000,6,0.000,0.044,2533,2184,3098
$GC,1791,-1.03,-117.3,146.7,-4.8,83,1796,0.12,2.55,0.00,0.000,4,0.051,0.055,2493,747,3098
$GC,1814,-1.03,-117.3,148.1,-5.4,84,1818,0.00,2.58,0.00,0.000,6,0.000,0.049,2493,2190,3098
$GC,2136,-0.97,-117.3,169.4,-7.6,100,2137,0.12,0.00,0.00,0.000,6,0.097,0.000,2519,2189,3098
$GC,2445,-0.97,-117.3,194.5,-8.5,115,2449,0.00,2.62,0.00,0.000,4,0.000,0.059,2519,746,3097
$GC,2466,-0.97,-117.3,196.8,-9.7,116,2471,0.00,2.58,0.00,0.000,6,0.000,0.051,2519,2192,3098
$GC,2787,-0.97,-117.3,224.7,-8.4,132,2792,0.00,2.62,0.00,0.000,4,0.000,0.058,2519,747,3097
$GC,2812,-0.97,-117.3,226.6,-8.5,133,2816,0.00,2.58,0.00,0.000,6,0.000,0.051,2519,2189,3097
$GC,3138,-0.97,-117.3,251.9,-7.5,149,3143,0.00,2.62,0.00,0.000,4,0.000,0.060,2519,747,3097
$GC,3179,-0.97,-117.3,255.0,-7.7,151,3183,0.00,2.58,0.00,0.000,6,0.000,0.052,2519,2189,3097
$GC,3506,-0.97,-117.3,277.5,-6.7,167,3511,0.00,2.62,0.00,0.000,4,0.000,0.061,2519,751,3096
$GC,3534,-0.97,-117.3,279.4,-6.6,168,3539,0.00,2.58,0.00,0.000,6,0.000,0.052,2519,2187,3097
$GC,3851,-0.97,-117.3,299.0,-5.9,183,3856,0.00,2.60,0.00,0.000,4,0.000,0.061,2519,752,3096
$GC,3892,-0.97,-117.3,301.5,-6.7,185,3897,0.00,2.55,0.00,0.000,6,0.000,0.052,2519,2176,3096
$GC,4220,-0.97,-117.3,319.8,-5.5,201,4225,0.00,2.58,0.00,0.000,4,0.000,0.060,2519,752,3096
$GC,4254,-0.97,-117.3,321.9,-6.2,202,4260,0.00,2.55,0.00,0.000,6,0.000,0.052,2519,2171,3095
$GC,4571,-0.97,-117.3,341.7,-6.6,218,4575,0.00,2.58,0.00,0.000,4,0.000,0.061,2519,749,3095
$GC,4604,-0.97,-117.3,344.3,-7.0,219,4610,0.00,2.55,0.00,0.000,6,0.000,0.052,2519,2167,3095
$GC,4921,-0.97,-117.3,364.4,-6.3,235,4925,0.00,2.53,0.00,0.000,4,0.000,0.064,2519,3566,3095
$GC,4940,-0.97,-117.3,365.6,-6.4,236,4944,0.00,2.47,0.00,0.000,6,0.000,0.051,2519,2170,3095
$GC,5267,-0.97,-117.3,384.9,-5.9,252,5271,0.00,2.53,0.00,0.000,4,0.000,0.062,2519,751,3094
$GC,5345,-0.97,-117.3,389.7,-5.7,255,5352,0.00,2.53,0.00,0.000,6,0.000,0.053,2519,2155,3094
$GC,5662,-0.97,-117.3,412.1,-8.0,271,5667,0.00,2.53,0.00,0.000,4,0.000,0.064,2519,3557,3094
$GC,5685,-0.97,-117.3,413.8,-7.0,272,5689,0.00,2.53,0.00,0.000,6,0.000,0.052,2519,2133,3093
$GC,6007,-1.01,-117.3,434.6,-6.4,288,6011,0.00,2.65,0.00,0.000,4,0.000,0.066,2519,3565,3093
$GC,6096,-1.01,-117.3,440.4,-6.2,292,6101,0.00,2.53,0.00,0.000,6,0.000,0.052,2519,2151,3093
$GC,6419,-1.01,-117.3,458.2,-5.7,308,6423,0.00,2.62,0.00,0.000,4,0.000,0.068,2519,3565,3093
$GC,6503,-1.01,-117.3,463.9,-6.3,312,6508,0.00,2.50,0.00,0.000,6,0.000,0.054,2519,2169,3093
$GC,6831,-1.01,-117.3,484.7,-6.5,328,6835,0.00,2.60,0.00,0.000,4,0.000,0.071,2519,3563,3093
$GC,6916,-1.01,-117.3,490.3,-6.1,332,6921,0.00,2.50,0.00,0.000,6,0.000,0.057,2519,2175,3092
$GC,7243,-1.49,-117.3,496.9,0.0,348,7249,0.47,2.58,0.00,0.000,4,0.042,0.071,2395,3553,3092
$GC,7502,-1.79,-117.3,496.8,0.8,359,7508,0.25,2.42,0.00,0.000,6,0.046,0.058,2331,2194,3091
$STATE,7711,end dive,NO_VERTICAL_VELOCITY
$STATE,7711,begin apogee
$GC,7719,-0.33,0.0,496.9,0.0,370,7820,1.50,0.00,96.75,1.160,6,0.066,0.000,2659,2092,2620
$STATE,7821,end apogee,CONTROL_FINISHED_OK
$STATE,7821,begin climb
$GC,7824,1.30,117.3,496.7,0.0,375,7930,1.62,2.67,96.10,1.134,4,0.066,0.069,3011,704,2140
$GC,8089,1.22,117.3,473.3,10.4,387,8093,0.00,2.55,0.00,0.000,6,0.000,0.057,3011,2100,2140
$GC,8410,1.15,117.3,441.7,9.3,403,8415,0.17,2.60,0.00,0.000,4,0.091,0.069,2976,3511,2139
$GC,8576,1.19,140.9,428.9,6.9,410,8601,0.00,2.50,20.17,1.067,6,0.000,0.056,2976,2140,2045
$GC,8915,1.23,141.4,403.1,8.0,426,8919,0.00,2.55,0.00,0.000,4,0.000,0.067,2976,3506,2044
$GC,8977,1.27,141.4,397.5,8.9,429,8982,0.15,2.47,0.00,0.000,6,0.051,0.054,3014,2144,2044
$GC,9305,1.21,141.4,364.7,9.8,445,9309,0.00,2.53,0.00,0.000,4,0.000,0.067,3014,3507,2043
$GC,9383,1.13,141.4,356.4,10.2,448,9390,0.20,2.42,0.00,0.000,6,0.090,0.053,2976,2168,2043
$GC,9700,1.18,141.4,329.7,8.6,464,9704,0.00,2.47,0.00,0.000,4,0.000,0.065,2976,3512,2042
$GC,9733,1.23,141.4,326.8,8.7,465,9740,0.10,2.40,0.00,0.000,6,0.058,0.052,3004,2179,2042
$GC,10049,1.23,141.4,295.5,10.0,481,10051,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2170,2042
$GC,10359,1.23,141.4,265.2,9.6,496,10363,0.00,2.45,0.00,0.000,4,0.000,0.062,3004,3507,2043
$GC,10422,1.23,141.4,258.8,10.5,499,10426,0.00,2.35,0.00,0.000,6,0.000,0.049,3004,2192,2043
$GC,10754,1.23,141.4,227.8,9.2,515,10755,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2192,2043
$GC,11064,1.23,141.4,199.3,9.3,530,11068,0.00,2.40,0.00,0.000,4,0.000,0.061,3004,3508,2043
$GC,11126,1.19,141.4,193.5,9.9,533,11130,0.00,2.33,0.00,0.000,6,0.000,0.048,3004,2198,2043
$GC,11454,1.19,141.4,163.8,9.0,549,11455,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2198,2043
$GC,11763,1.19,141.4,137.2,8.3,564,11767,0.00,2.40,0.00,0.000,4,0.000,0.061,3004,3513,2043
$GC,11803,1.19,141.4,133.8,9.2,566,11807,0.00,2.30,0.00,0.000,6,0.000,0.048,3004,2210,2043
$GC,12136,1.19,141.4,104.8,9.0,582,12141,0.00,2.70,0.00,0.000,4,0.000,0.059,3004,690,2043
$GC,12164,1.19,141.4,102.0,10.4,583,12168,0.00,2.72,0.00,0.000,6,0.000,0.051,3004,2214,2044
$GC,12482,1.19,141.4,73.4,9.2,598,12486,0.00,2.33,0.00,0.000,4,0.000,0.060,3004,3511,2044
$GC,12522,1.19,141.4,69.0,10.0,600,12526,0.00,2.33,0.00,0.000,6,0.000,0.046,3004,2199,2044
$GC,12850,1.19,141.4,42.1,8.3,616,12854,0.00,2.38,0.00,0.000,4,0.000,0.058,3004,3509,2044
$GC,12899,1.19,141.4,37.2,9.1,618,12904,0.00,2.28,0.00,0.000,6,0.000,0.044,3004,2223,2044
$GC,13217,1.19,141.4,9.9,8.4,633,13221,0.00,2.72,0.00,0.000,4,0.000,0.058,3003,687,2045
$GC,13272,1.19,141.4,4.7,8.3,635,13278,0.00,2.70,0.00,0.000,6,0.000,0.048,3004,2214,2045
$STATE,13318,end climb,SURFACE_DEPTH_REACHED
$STATE,13318,begin surface coast
$FINISH,-0.0,1.002585
$STATE,13339,end surface coast,CONTROL_FINISHED_OK
$STATE,13339,begin surface
$SM_CCo,13362,240.77,0.765,0,0,390,547.02
$SM_GC,0.57,0.00,0.00,240.77,0.000,0.000,0.765,418,2104,390,-10.64,-1.30,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1708
$TCM_TEMP,17.90
$XPDR_PINGS,439
$ALTIM_TOP_PING,18.5,999.0
$24V_AH,23.8,52.907
$10V_AH,10.1,25.516
$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,26.725,156.575,213.025,240.775,0.000,37.764,28.481,132.734,113.500,0.000,0.000,34.627,1268.613,9943.419,648.004,1599.164,489.747,33.360,1449.571,0.000,1545.073,0.000,25.218
$DEVICE_MAMPS,132.691,70.564,1160.471,765.466,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,437.461,469.476,452.836,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31737,639
$CAP_FILE_SIZE,115978,0
$CFSIZE,254472192,233660416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,27,0,0
$GPS,060808,124007,6251.669,-926.221,38,1.3,43,-10.0