version: 66.02
glider: 119
mission: 3
dive: 6
start: 1 18 108 5 7 12
data:
$ID,119
$MISSION,3
$DIVE,6
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$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,330
$T_MISSION,360
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51528
$NAV_MODE,1
$FERRY_MAX,30
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,90
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,48.150002
$TGT_DEFAULT_LON,-125.67
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-14624.089
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,1379
$PITCH_MAX,3813
$C_PITCH,3363
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,125
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,175
$ROLL_MAX,3878
$C_ROLL_DIVE,2220
$C_ROLL_CLIMB,2180
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,17
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,425
$VBD_MAX,3879
$C_VBD,2860
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,147
$AH0_10V,122.2
$PRESSURE_YINT,-2.3287585
$PRESSURE_SLOPE,0.0001159777
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$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,3
$ALTIM_SENSITIVITY,2
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004348367
$SEABIRD_T_H,0.00063394889
$SEABIRD_T_I,2.4089732e-05
$SEABIRD_T_J,2.5198262e-06
$SEABIRD_C_G,-10.04077
$SEABIRD_C_H,1.1285373
$SEABIRD_C_I,-0.0022196125
$SEABIRD_C_J,0.00025642588
$GPS1,050155,4803.913,-12541.316,40,1.5,40,18.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-72.1
$GPS2,050621,4803.930,-12541.355,15,1.8,15,18.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,CAPE_FLATTERY
$TGT_LATLONG,4809.000,-12540.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.230,0.129
$KALMAN_X,-5100.4,-379.1,444.1,3934.6,-4754.8
$KALMAN_Y,-3667.2,210.9,-252.2,6902.0,-3684.7
$MHEAD_RNG_PITCHd_Wd,41.8,9539,-18.1,-10.000
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,16,-1.00,-146.6,0.0,0.0,0,75,0.00,0.00,-57.08,0.000,2,0.000,0.000,1377,2208,2470
$GC,77,-1.00,-146.6,3.8,-5.1,6,121,12.70,2.42,-23.12,0.000,4,0.176,0.076,3139,815,3461
$GC,278,-1.00,-146.6,38.0,-15.7,24,282,0.00,2.38,0.00,0.000,6,0.000,0.052,3138,2230,3461
$GC,622,-1.00,-146.6,88.0,-14.2,79,623,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,2230,3461
$GC,941,-1.00,-146.6,127.8,-12.0,109,945,0.00,2.42,0.00,0.000,4,0.000,0.080,3139,3628,3461
$GC,985,-1.00,-146.6,133.1,-12.1,112,991,0.00,2.33,0.00,0.000,6,0.000,0.048,3139,2214,3461
$GC,1304,-1.00,-146.6,170.3,-12.1,135,1308,0.00,2.35,0.00,0.000,4,0.000,0.063,3139,811,3461
$GC,1391,-1.00,-146.6,181.1,-13.1,139,1396,0.00,2.35,0.00,0.000,6,0.000,0.053,3139,2218,3461
$GC,1718,-1.00,-146.6,217.5,-10.4,155,1720,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,2218,3461
$GC,2029,-1.00,-146.6,251.9,-12.4,170,2030,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,2218,3461
$GC,2337,-1.00,-146.6,287.8,-11.0,185,2341,0.00,2.35,0.00,0.000,4,0.000,0.064,3139,819,3461
$GC,2476,-1.00,-146.6,303.3,-11.0,191,2481,0.00,2.35,0.00,0.000,6,0.000,0.057,3139,2218,3461
$GC,2835,-1.00,-146.6,342.8,-11.2,197,2837,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,2218,3461
$GC,3143,-1.00,-146.6,375.8,-10.8,202,3147,0.00,2.38,0.00,0.000,4,0.000,0.066,3139,814,3461
$GC,3241,-1.00,-146.6,386.9,-11.6,203,3246,0.00,2.38,0.00,0.000,6,0.000,0.059,3139,2214,3461
$GC,3573,-1.00,-146.6,421.2,-10.4,209,3574,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,2214,3461
$GC,3876,-1.00,-146.6,451.2,-10.0,214,3880,0.00,2.35,0.00,0.000,4,0.000,0.066,3140,819,3461
$STATE,4019,end dive,NO_VERTICAL_VELOCITY
$STATE,4020,begin apogee
$GC,4025,-0.23,0.0,451.2,0.0,216,4147,0.95,0.00,118.68,1.071,6,0.071,0.000,3308,2187,2860
$STATE,4148,end apogee,CONTROL_FINISHED_OK
$STATE,4148,begin climb
$GC,4149,1.00,146.6,451.5,0.0,218,4280,1.70,2.62,122.03,1.031,4,0.091,0.065,3573,785,2261
$GC,4532,1.01,153.7,430.6,9.7,223,4544,0.00,2.42,7.43,0.866,6,0.000,0.057,3573,2180,2233
$GC,4903,1.01,153.7,392.2,11.1,230,4904,0.00,0.00,0.00,0.000,6,0.000,0.000,3574,2181,2233
$GC,5206,1.04,176.8,364.1,9.0,235,5231,0.00,2.55,19.30,0.990,4,0.000,0.085,3573,3589,2138
$GC,5354,1.04,176.8,348.1,10.2,237,5359,0.00,2.42,0.00,0.000,6,0.000,0.051,3573,2181,2139
$GC,5708,1.05,187.1,313.8,9.5,243,5723,0.00,2.53,9.95,0.920,4,0.000,0.084,3573,3592,2097
$GC,5789,1.05,187.1,304.9,11.4,244,5794,0.00,2.42,0.00,0.000,6,0.000,0.051,3573,2176,2097
$GC,6122,1.05,187.1,271.3,10.2,257,6126,0.00,2.40,0.00,0.000,4,0.000,0.066,3573,769,2096
$GC,6199,1.05,187.1,263.4,10.4,260,6207,0.00,2.40,0.00,0.000,6,0.000,0.057,3574,2174,2097
$GC,6515,1.05,187.1,230.4,10.2,276,6519,0.00,2.40,0.00,0.000,4,0.000,0.065,3573,769,2097
$GC,6541,1.05,187.1,227.4,10.8,277,6546,0.00,2.40,0.00,0.000,6,0.000,0.058,3573,2185,2096
$GC,6862,1.05,187.1,194.6,10.3,293,6866,0.00,2.45,0.00,0.000,4,0.000,0.086,3574,3587,2096
$GC,7006,1.05,187.1,178.8,10.4,299,7014,0.00,2.35,0.00,0.000,6,0.000,0.050,3573,2183,2097
$GC,7322,1.07,202.2,150.2,9.3,315,7345,0.12,2.42,13.23,0.871,4,0.074,0.064,3599,781,2034
$GC,7356,1.07,202.2,146.1,12.7,317,7360,0.00,2.38,0.00,0.000,6,0.000,0.056,3599,2187,2035
$GC,7680,1.14,259.5,113.7,7.4,347,7733,0.00,2.58,44.55,0.866,4,0.000,0.082,3599,3585,1801
$GC,7987,1.14,259.5,78.9,11.9,375,7994,0.00,2.35,0.00,0.000,6,0.000,0.048,3599,2174,1801
$GC,8331,1.15,267.8,45.1,9.6,436,8348,0.00,2.50,8.43,0.749,4,0.000,0.077,3599,3576,1768
$GC,8392,1.17,282.6,39.0,9.3,446,8410,0.00,2.35,12.85,0.779,6,0.000,0.047,3599,2182,1708
$GC,8727,1.23,331.8,6.0,7.8,478,8770,0.15,2.47,34.28,0.781,4,0.070,0.061,3632,781,1506
$STATE,8784,end climb,SURFACE_DEPTH_REACHED
$STATE,8784,begin surface coast
$FINISH,0.5,1.023888
$STATE,8804,end surface coast,CONTROL_FINISHED_OK
$STATE,8804,begin surface
$SM_CCo,8825,33.47,0.752,0,0,1229,400.08
$SM_GC,1.04,0.00,0.00,33.47,0.000,0.000,0.752,1376,2215,1229,-9.14,-0.17,400.08
$IRIDIUM_FIX,4745.30,-12540.12,180108,050518
$TT8_MAMPS,0.028379
$HUMID,1926
$INTERNAL_PRESSURE,9.54138
$TCM_TEMP,15.20
$XPDR_PINGS,63
$ALTIM_BOTTOM_PING,375.8,110.9
$24V_AH,23.7,3.864
$10V_AH,10.6,1.567
$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,28.450,77.300,390.700,33.475,0.000,40.829,40.289,109.100,18.500,0.000,0.000,16.727,922.122,6072.574,487.335,1393.074,258.507,33.350,1167.731,0.000,1367.402,0.000,20.199
$DEVICE_MAMPS,175.643,85.904,1070.732,752.427,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,342.478,364.316,724.141,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25378,485
$CFSIZE,260165632,258453504
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,180108,073602,4804.504,-12540.799,37,1.8,37,18.9