version: 66.03
glider: 5
mission: 3
dive: 286
start: 8 6 108 23 26 30
data:
$ID,5
$MISSION,3
$DIVE,286
$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,-82080.961
$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,27
$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
$GPS1,231431,6252.874,-916.377,38,1.1,38,-9.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-56.8
$GPS2,232539,6253.003,-916.101,16,1.8,16,-9.9
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,IFRVAL
$TGT_LATLONG,6312.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.114,0.190
$KALMAN_X,-152922.7,589.3,802.8,235849.2,-9497.6
$KALMAN_Y,-20668.5,-745.3,1130.6,101273.3,-3923.5
$MHEAD_RNG_PITCHd_Wd,40.8,37664,-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,-111.20,0.000,6,0.000,0.000,419,2151,3099
$GC,143,-1.30,-117.3,2.1,-1.5,5,158,10.43,2.50,0.00,0.000,4,0.134,0.051,2443,746,3098
$GC,227,-1.05,-117.3,16.2,-12.2,9,234,0.28,2.50,0.00,0.000,6,0.092,0.046,2500,2155,3097
$GC,544,-0.97,-117.3,45.6,-8.4,25,548,0.00,2.50,0.00,0.000,4,0.000,0.056,2500,3558,3098
$GC,758,-0.89,-117.3,67.1,-10.5,34,765,0.17,2.42,0.00,0.000,6,0.090,0.041,2537,2180,3098
$GC,1076,-0.95,-117.3,99.8,-11.9,50,1080,0.00,2.53,0.00,0.000,4,0.000,0.054,2537,749,3098
$GC,1187,-0.95,-117.3,114.5,-12.8,55,1192,0.00,2.58,0.00,0.000,6,0.000,0.048,2536,2192,3098
$GC,1512,-1.00,-117.3,142.7,-6.8,71,1514,0.12,0.00,0.00,0.000,6,0.051,0.000,2498,2192,3098
$GC,1819,-0.95,-117.3,167.3,-7.8,86,1824,0.12,2.62,0.00,0.000,4,0.094,0.057,2523,748,3098
$GC,1892,-0.95,-117.3,172.3,-6.3,89,1897,0.00,2.58,0.00,0.000,6,0.000,0.050,2523,2190,3098
$GC,2208,-0.95,-117.3,188.5,-4.9,104,2213,0.00,2.62,0.00,0.000,4,0.000,0.058,2523,746,3098
$GC,2288,-0.95,-117.3,192.9,-5.7,107,2294,0.00,2.55,0.00,0.000,6,0.000,0.051,2523,2171,3098
$GC,2605,-0.95,-117.3,211.7,-6.7,123,2606,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2171,3097
$GC,2914,-0.95,-117.3,234.5,-7.5,138,2915,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2171,3097
$GC,3224,-0.95,-117.3,258.3,-7.8,153,3228,0.00,2.60,0.00,0.000,4,0.000,0.061,2523,745,3096
$GC,3308,-0.95,-117.3,265.4,-8.7,157,3312,0.00,2.55,0.00,0.000,6,0.000,0.052,2523,2168,3097
$GC,3634,-0.95,-117.3,292.4,-8.2,173,3639,0.00,2.58,0.00,0.000,4,0.000,0.061,2523,747,3096
$GC,3782,-0.95,-117.3,305.1,-8.7,179,3788,0.00,2.53,0.00,0.000,6,0.000,0.052,2523,2149,3096
$GC,4098,-0.95,-117.3,329.5,-7.7,195,4103,0.00,2.55,0.00,0.000,4,0.000,0.064,2523,3565,3096
$GC,4200,-0.95,-117.3,337.7,-8.2,199,4206,0.00,2.53,0.00,0.000,6,0.000,0.049,2523,2149,3096
$GC,4516,-0.95,-117.3,360.9,-7.3,215,4520,0.00,2.53,0.00,0.000,4,0.000,0.063,2523,742,3095
$GC,4731,-0.95,-117.3,378.1,-8.2,224,4737,0.00,2.53,0.00,0.000,6,0.000,0.054,2523,2142,3095
$GC,5048,-1.02,-117.3,401.2,-7.8,240,5049,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2142,3094
$STATE,5106,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5106,begin apogee
$GC,5113,-0.33,0.0,405.8,7.5,243,5213,0.62,0.00,96.55,1.068,6,0.081,0.000,2653,2078,2620
$STATE,5214,end apogee,CONTROL_FINISHED_OK
$STATE,5214,begin climb
$GC,5218,1.30,117.3,408.4,0.0,248,5321,1.65,2.60,95.62,1.042,4,0.071,0.064,3009,718,2141
$GC,5327,1.25,135.8,401.3,7.2,253,5351,0.00,2.55,16.60,0.954,6,0.000,0.054,3009,2123,2066
$GC,5674,1.25,135.8,370.1,9.7,270,5678,0.00,2.55,0.00,0.000,4,0.000,0.063,3009,716,2065
$GC,5693,1.19,135.8,368.3,9.6,271,5697,0.00,2.47,0.00,0.000,6,0.000,0.054,3009,2079,2065
$GC,6019,1.19,135.8,341.1,8.3,287,6023,0.00,2.50,0.00,0.000,4,0.000,0.063,3009,717,2064
$GC,6053,1.14,135.8,338.0,9.0,288,6059,0.17,2.50,0.00,0.000,6,0.087,0.054,2976,2092,2064
$GC,6369,1.22,150.5,315.3,7.3,304,6390,0.00,2.65,13.07,0.932,4,0.000,0.063,2976,3504,2006
$GC,6397,1.27,150.5,313.0,8.2,305,6402,0.15,2.53,0.00,0.000,6,0.048,0.052,3015,2117,2005
$GC,6719,1.22,150.5,282.5,9.5,321,6724,0.00,2.58,0.00,0.000,4,0.000,0.062,3015,3511,2005
$GC,6764,1.16,150.5,277.7,10.4,323,6770,0.17,2.55,0.00,0.000,6,0.088,0.049,2981,2090,2005
$GC,7087,1.22,153.9,252.3,7.8,339,7097,0.00,2.62,4.55,0.696,4,0.000,0.061,2981,3509,1992
$GC,7164,1.27,153.9,245.5,8.3,342,7171,0.12,2.50,0.00,0.000,6,0.052,0.048,3016,2113,1992
$GC,7481,1.23,153.9,213.5,10.5,358,7485,0.00,2.55,0.00,0.000,4,0.000,0.061,3016,3508,1992
$GC,7526,1.17,153.9,208.7,10.4,360,7531,0.15,2.45,0.00,0.000,6,0.090,0.048,2986,2123,1992
$GC,7848,1.23,153.9,180.5,8.8,376,7852,0.00,2.50,0.00,0.000,4,0.000,0.061,2986,3506,1992
$GC,7898,1.27,153.9,175.6,9.9,378,7902,0.00,2.47,0.00,0.000,6,0.000,0.048,2986,2125,1991
$GC,8215,1.33,153.9,146.9,8.8,393,8220,0.15,2.53,0.00,0.000,4,0.050,0.060,3032,3509,1992
$GC,8279,1.23,153.9,139.7,11.9,396,8284,0.17,2.45,0.00,0.000,6,0.089,0.048,2999,2135,1991
$GC,8608,1.23,153.9,109.2,9.0,412,8612,0.00,2.53,0.00,0.000,4,0.000,0.059,2999,3512,1992
$GC,8658,1.23,153.9,104.3,8.5,414,8662,0.00,2.42,0.00,0.000,6,0.000,0.047,2999,2153,1991
$GC,8975,1.23,153.9,78.6,8.1,429,8976,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2152,1992
$GC,9284,1.23,153.9,52.0,9.0,444,9285,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2152,1992
$GC,9592,1.23,153.9,26.2,8.4,459,9596,0.00,2.47,0.00,0.000,4,0.000,0.058,2999,3508,1992
$GC,9620,1.27,153.9,23.5,10.5,460,9624,0.00,2.40,0.00,0.000,6,0.000,0.045,2999,2148,1991
$STATE,9891,end climb,SURFACE_DEPTH_REACHED
$STATE,9892,begin surface coast
$FINISH,0.1,1.026894
$STATE,9914,end surface coast,CONTROL_FINISHED_OK
$STATE,9914,begin surface
$SM_CCo,9937,230.62,0.767,0,0,389,547.02
$SM_GC,0.62,0.00,0.00,230.62,0.000,0.000,0.767,419,2118,389,-10.63,-0.90,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1686
$TCM_TEMP,17.70
$XPDR_PINGS,361
$ALTIM_TOP_PING,19.5,999.0
$ALTIM_BOTTOM_PING,375.2,39.6
$24V_AH,23.9,53.497
$10V_AH,10.1,25.766
$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,25.650,101.250,226.400,230.625,0.000,114.645,96.034,201.554,93.250,0.000,0.000,16.642,949.427,7449.634,628.185,1165.159,648.099,33.356,1216.626,0.000,1140.777,0.000,23.765
$DEVICE_MAMPS,134.225,69.797,1067.664,767.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,323.243,352.884,380.330,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25377,474
$CAP_FILE_SIZE,89273,0
$CFSIZE,254472192,233488384
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,15,0,0
$GPS,070808,021708,6255.207,-909.007,29,1.3,29,-9.8