version: 66.03
glider: 5
mission: 3
dive: 316
start: 8 11 108 9 17 16
data:
$ID,5
$MISSION,3
$DIVE,316
$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,-82650.406
$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,20
$R_STBD_OVSHOOT,16
$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
$GPS1,091108,6318.390,-830.775,39,1.1,39,-9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.25
$_SM_ANGLEo,-47.6
$GPS2,091626,6318.349,-830.737,10,1.6,10,-9.6
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,IFRN1K
$TGT_LATLONG,6345.000,-800.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.075,0.209
$KALMAN_X,-127450.0,-77.9,-257.0,251357.0,5249.9
$KALMAN_Y,-77977.4,1117.1,260.6,204521.8,-9660.4
$MHEAD_RNG_PITCHd_Wd,29.5,55409,-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,-117.3,0.0,0.0,0,149,0.00,0.00,-116.50,0.000,6,0.000,0.000,423,2149,3097
$GC,153,-1.30,-117.3,3.1,-3.2,6,169,10.43,2.55,0.00,0.000,4,0.137,0.057,2436,3564,3096
$GC,255,-0.99,-117.3,20.7,-13.8,9,262,0.35,2.53,0.00,0.000,6,0.088,0.044,2512,2136,3095
$GC,571,-0.94,-117.3,49.6,-8.4,25,575,0.00,2.45,0.00,0.000,4,0.000,0.054,2512,745,3096
$GC,703,-0.89,-117.3,61.8,-8.9,31,708,0.12,2.50,0.00,0.000,6,0.096,0.048,2536,2155,3096
$GC,1032,-0.89,-117.3,86.4,-7.4,47,1033,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2153,3096
$GC,1340,-0.93,-117.3,111.7,-8.4,62,1344,0.00,2.55,0.00,0.000,4,0.000,0.056,2536,750,3097
$GC,1413,-0.93,-117.3,118.2,-9.4,65,1417,0.00,2.47,0.00,0.000,6,0.000,0.049,2536,2133,3097
$GC,1730,-0.98,-117.3,143.6,-7.7,80,1734,0.00,2.55,0.00,0.000,4,0.000,0.060,2536,3557,3096
$GC,1847,-0.98,-117.3,153.1,-7.8,85,1852,0.00,2.50,0.00,0.000,6,0.000,0.045,2536,2143,3096
$GC,2165,-1.03,-117.3,175.8,-6.9,100,2169,0.15,2.50,0.00,0.000,4,0.051,0.058,2488,744,3096
$GC,2250,-0.93,-117.3,183.0,-9.3,104,2255,0.17,2.50,0.00,0.000,6,0.091,0.051,2524,2139,3096
$GC,2578,-0.93,-117.3,206.2,-7.1,120,2582,0.00,2.55,0.00,0.000,4,0.000,0.061,2524,3557,3096
$GC,2678,-0.93,-117.3,214.0,-7.5,124,2684,0.00,2.53,0.00,0.000,6,0.000,0.047,2524,2138,3096
$GC,2995,-0.93,-117.3,238.4,-7.9,140,2999,0.00,2.47,0.00,0.000,4,0.000,0.058,2524,746,3096
$GC,3151,-0.93,-117.3,252.5,-9.3,147,3156,0.00,2.47,0.00,0.000,6,0.000,0.051,2524,2124,3096
$GC,3474,-0.93,-117.3,279.1,-7.9,163,3478,0.00,2.58,0.00,0.000,4,0.000,0.063,2524,3557,3096
$GC,3608,-0.93,-117.3,290.6,-8.5,169,3612,0.00,2.55,0.00,0.000,6,0.000,0.049,2524,2130,3095
$GC,3929,-0.93,-117.3,314.1,-6.7,185,3934,0.00,2.50,0.00,0.000,4,0.000,0.062,2524,737,3095
$GC,4030,-0.93,-117.3,321.3,-7.1,189,4036,0.00,2.53,0.00,0.000,6,0.000,0.053,2524,2141,3095
$GC,4347,-0.98,-117.3,341.8,-7.0,205,4351,0.00,2.58,0.00,0.000,4,0.000,0.064,2524,3564,3096
$GC,4531,-0.98,-117.3,355.1,-7.5,213,4535,0.00,2.53,0.00,0.000,6,0.000,0.051,2524,2148,3094
$GC,4847,-0.98,-117.3,372.9,-5.0,228,4851,0.00,2.53,0.00,0.000,4,0.000,0.063,2524,742,3095
$GC,5078,-0.98,-117.3,385.7,-6.0,238,5082,0.00,2.55,0.00,0.000,6,0.000,0.056,2524,2148,3094
$GC,5395,-1.02,-117.3,405.3,-6.5,253,5400,0.00,2.58,0.00,0.000,4,0.000,0.065,2524,741,3094
$GC,5463,-1.02,-117.3,410.0,-6.8,256,5467,0.00,2.53,0.00,0.000,6,0.000,0.058,2524,2132,3094
$GC,5784,-1.06,-117.3,430.3,-6.1,272,5789,0.12,2.62,0.00,0.000,4,0.058,0.071,2488,3564,3094
$GC,6014,-0.98,-117.3,449.5,-8.5,282,6019,0.12,2.55,0.00,0.000,6,0.102,0.058,2513,2151,3093
$GC,6331,-0.98,-117.3,470.9,-6.9,297,6335,0.00,2.55,0.00,0.000,4,0.000,0.073,2513,749,3092
$GC,6431,-0.98,-117.3,478.2,-7.3,301,6437,0.00,2.55,0.00,0.000,6,0.000,0.064,2513,2135,3092
$GC,6747,-0.98,-117.3,499.7,-6.6,317,6748,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2135,3091
$GC,7057,-0.98,-117.3,520.5,-6.5,332,7058,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2135,3090
$GC,7366,-0.98,-117.3,541.3,-7.0,347,7367,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2135,3090
$STATE,7589,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7590,begin apogee
$GC,7596,-0.33,0.0,556.9,6.9,358,7698,0.68,0.00,98.35,1.264,6,0.095,0.000,2651,2135,2620
$STATE,7698,end apogee,CONTROL_FINISHED_OK
$STATE,7699,begin climb
$GC,7702,1.30,117.3,559.8,0.0,363,7808,1.73,2.65,97.95,1.227,4,0.077,0.081,3013,3507,2140
$GC,7817,1.20,117.3,553.2,8.2,368,7821,0.00,2.67,0.00,0.000,6,0.000,0.069,3013,2103,2140
$GC,8139,1.13,117.3,524.1,8.9,384,8144,0.15,2.70,0.00,0.000,4,0.100,0.081,2981,3511,2138
$GC,8217,1.14,120.5,517.7,7.9,387,8226,0.00,2.62,4.15,0.802,6,0.000,0.069,2980,2116,2127
$GC,8555,1.15,128.9,491.0,7.6,404,8569,0.00,2.72,8.50,1.063,4,0.000,0.081,2981,3501,2094
$GC,8637,1.15,128.9,484.0,8.8,407,8643,0.00,2.60,0.00,0.000,6,0.000,0.071,2981,2120,2093
$GC,8954,1.15,128.9,457.9,8.4,423,8959,0.00,2.65,0.00,0.000,4,0.000,0.082,2981,3507,2092
$GC,9005,1.15,128.9,453.1,8.9,425,9009,0.00,2.58,0.00,0.000,6,0.000,0.068,2981,2133,2092
$GC,9321,1.15,128.9,427.6,8.1,440,9325,0.00,2.65,0.00,0.000,4,0.000,0.081,2981,3512,2090
$GC,9410,1.15,128.9,419.8,8.9,444,9414,0.00,2.58,0.00,0.000,6,0.000,0.066,2981,2133,2090
$GC,9732,1.21,165.0,396.3,6.4,460,9767,0.00,2.67,30.33,1.191,4,0.000,0.077,2981,3507,1947
$GC,9824,1.29,190.8,390.2,6.8,463,9856,0.15,2.53,22.80,1.153,6,0.061,0.064,3017,2136,1842
$GC,10170,1.29,190.8,360.0,9.6,480,10174,0.00,2.60,0.00,0.000,4,0.000,0.077,3017,3508,1840
$GC,10203,1.25,190.8,356.1,10.9,481,10209,0.00,2.50,0.00,0.000,6,0.000,0.063,3017,2166,1840
$GC,10519,1.25,190.8,325.5,9.8,497,10523,0.00,2.53,0.00,0.000,4,0.000,0.073,3017,3508,1840
$GC,10530,1.25,190.8,324.2,10.1,497,10536,0.00,2.45,0.00,0.000,6,0.000,0.059,3017,2176,1839
$GC,10846,1.25,190.8,290.7,10.5,513,10850,0.00,2.53,0.00,0.000,4,0.000,0.071,3017,3516,1840
$GC,10924,1.25,190.8,282.0,11.4,516,10930,0.00,2.42,0.00,0.000,6,0.000,0.057,3017,2193,1839
$GC,11241,1.25,190.8,249.0,10.5,532,11242,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2179,1839
$GC,11549,1.25,190.8,216.8,10.2,547,11553,0.00,2.45,0.00,0.000,4,0.000,0.066,3017,3518,1840
$GC,11559,1.25,190.8,215.6,10.4,547,11565,0.00,2.40,0.00,0.000,6,0.000,0.053,3017,2194,1840
$GC,11876,1.25,190.8,184.3,9.6,563,11880,0.00,2.42,0.00,0.000,4,0.000,0.064,3017,3511,1841
$GC,11893,1.25,190.8,182.5,9.5,564,11897,0.00,2.35,0.00,0.000,6,0.000,0.051,3017,2203,1841
$GC,12219,1.25,190.8,150.5,10.0,580,12224,0.00,2.40,0.00,0.000,4,0.000,0.064,3017,3510,1841
$GC,12230,1.25,190.8,149.3,10.2,580,12237,0.00,2.33,0.00,0.000,6,0.000,0.050,3017,2205,1842
$GC,12547,1.25,190.8,117.4,10.2,596,12552,0.00,2.40,0.00,0.000,4,0.000,0.062,3017,3515,1842
$GC,12581,1.25,190.8,113.5,10.9,597,12587,0.00,2.35,0.00,0.000,6,0.000,0.048,3017,2204,1842
$GC,12898,1.25,190.8,80.2,10.0,613,12903,0.00,2.40,0.00,0.000,4,0.000,0.061,3017,3515,1843
$GC,12932,1.25,190.8,76.6,10.1,614,12939,0.00,2.33,0.00,0.000,6,0.000,0.048,3017,2214,1843
$GC,13248,1.25,190.8,46.4,10.2,630,13250,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2214,1844
$GC,13558,1.25,190.8,16.2,9.9,645,13562,0.00,2.38,0.00,0.000,4,0.000,0.061,3017,3514,1844
$GC,13577,1.25,190.8,14.3,10.5,646,13581,0.00,2.30,0.00,0.000,6,0.000,0.047,3017,2221,1845
$STATE,13721,end climb,SURFACE_DEPTH_REACHED
$STATE,13721,begin surface coast
$FINISH,-0.2,1.026888
$STATE,13744,end surface coast,CONTROL_FINISHED_OK
$STATE,13744,begin surface
$SM_CCo,13766,204.98,0.792,0,0,390,547.02
$SM_GC,0.20,0.00,0.00,204.98,0.000,0.000,0.792,423,2193,390,-10.61,1.19,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1702
$TCM_TEMP,16.40
$XPDR_PINGS,322
$ALTIM_TOP_PING,18.4,17.4
$ALTIM_BOTTOM_PING,501.1,65.7
$24V_AH,23.7,57.997
$10V_AH,10.1,27.744
$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,25.450,145.975,262.075,204.975,0.000,37.762,27.155,133.627,84.750,0.000,0.000,10.065,1281.795,10208.934,653.165,1659.299,487.461,33.356,1494.024,0.000,1627.121,0.000,29.757
$DEVICE_MAMPS,136.526,82.069,1264.016,791.544,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,449.033,485.208,442.606,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34843,654
$CAP_FILE_SIZE,114888,0
$CFSIZE,254472192,231956480
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,19,0,0
$GPS,110808,131151,6319.131,-828.551,43,3.6,62,-9.6