version: 66.02
glider: 119
mission: 3
dive: 25
start: 1 19 108 14 58 24
data:
$ID,119
$MISSION,3
$DIVE,25
$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,597.30548
$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,-15059.7
$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,27
$R_STBD_OVSHOOT,33
$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
$GPS1,144531,4800.167,-12546.072,40,1.1,41,18.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-64.8
$GPS2,145733,4800.128,-12546.030,12,1.1,12,18.8
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.224,0.140
$KALMAN_X,14037.4,-5812.7,-2113.6,-12945.3,40410.3
$KALMAN_Y,3744.9,-3515.2,-1095.1,-2960.2,21384.4
$MHEAD_RNG_PITCHd_Wd,283.2,202566,-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,17,-1.00,-146.6,0.0,0.0,0,121,0.00,0.00,-102.28,0.000,2,0.000,0.000,1376,2231,2553
$GC,123,-1.00,-146.6,3.5,-4.4,10,166,12.45,0.00,-23.10,0.000,6,0.173,0.000,3140,2231,3460
$GC,494,-1.00,-146.6,71.8,-18.2,59,500,0.00,2.40,0.00,0.000,4,0.000,0.061,3141,819,3460
$GC,566,-1.00,-146.6,85.1,-17.3,69,574,0.00,2.33,0.00,0.000,6,0.000,0.051,3141,2209,3460
$GC,891,-1.00,-146.6,133.8,-14.5,100,895,0.00,2.33,0.00,0.000,4,0.000,0.060,3141,817,3460
$GC,939,-1.00,-146.6,141.0,-14.0,104,947,0.00,2.33,0.00,0.000,6,0.000,0.051,3141,2215,3459
$GC,1257,-1.00,-146.6,183.2,-13.7,123,1258,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2215,3460
$GC,1568,-1.00,-146.6,226.1,-13.7,138,1572,0.00,2.35,0.00,0.000,4,0.000,0.060,3141,815,3460
$GC,1589,-1.00,-146.6,229.4,-13.3,139,1594,0.00,2.35,0.00,0.000,6,0.000,0.051,3141,2218,3460
$GC,1916,-1.00,-146.6,271.8,-12.9,155,1917,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2218,3460
$GC,2264,-1.00,-146.6,315.2,-12.0,168,2265,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2218,3460
$STATE,2386,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2387,begin apogee
$GC,2390,-0.23,0.0,329.6,12.0,170,2511,1.00,0.00,116.97,0.984,6,0.100,0.000,3307,2165,2860
$STATE,2511,end apogee,CONTROL_FINISHED_OK
$STATE,2511,begin climb
$GC,2513,1.00,146.6,334.6,0.0,172,2640,1.62,2.58,119.80,0.943,4,0.059,0.061,3577,781,2262
$GC,2864,1.02,157.8,319.9,9.5,177,2880,0.00,2.40,10.77,0.871,6,0.000,0.051,3577,2177,2215
$GC,3197,1.06,193.8,291.2,8.4,185,3231,0.00,2.55,29.45,0.934,4,0.000,0.079,3577,3585,2069
$GC,3360,1.06,193.8,273.6,11.6,192,3364,0.00,2.40,0.00,0.000,6,0.000,0.045,3577,2186,2069
$GC,3681,1.06,193.8,239.5,10.7,208,3685,0.00,2.45,0.00,0.000,4,0.000,0.077,3577,3586,2068
$GC,3847,1.06,193.8,220.8,10.8,215,3852,0.00,2.35,0.00,0.000,6,0.000,0.046,3577,2187,2068
$GC,4169,1.08,207.8,190.1,9.4,231,4191,0.00,2.53,12.25,0.871,4,0.000,0.077,3577,3594,2012
$GC,4245,1.08,207.8,181.6,11.4,234,4250,0.00,2.38,0.00,0.000,6,0.000,0.046,3577,2187,2012
$GC,4567,1.08,207.8,146.4,10.6,251,4571,0.00,2.45,0.00,0.000,4,0.000,0.077,3577,3589,2012
$GC,4628,1.08,207.8,139.4,11.5,256,4633,0.00,2.35,0.00,0.000,6,0.000,0.046,3577,2168,2012
$GC,4953,1.11,231.7,107.4,8.9,286,4979,0.15,2.40,19.38,0.853,4,0.062,0.062,3613,785,1914
$GC,5007,1.11,231.7,101.8,10.7,291,5011,0.00,2.35,0.00,0.000,6,0.000,0.051,3612,2188,1914
$GC,5336,1.13,249.4,69.8,9.2,330,5359,0.00,2.47,15.32,0.816,4,0.000,0.060,3613,775,1842
$GC,5612,1.14,254.7,43.5,9.8,379,5625,0.00,2.33,5.85,0.686,6,0.000,0.051,3613,2184,1821
$GC,5950,1.16,270.8,12.1,9.3,414,5971,0.00,0.00,14.10,0.779,6,0.000,0.000,3613,2184,1755
$STATE,6053,end climb,SURFACE_DEPTH_REACHED
$STATE,6053,begin surface coast
$FINISH,0.6,1.024647
$STATE,6076,end surface coast,CONTROL_FINISHED_OK
$STATE,6076,begin surface
$SM_CCo,6095,149.07,0.729,0,0,425,597.31
$SM_GC,1.19,0.00,0.00,149.07,0.000,0.000,0.729,1375,2233,425,-9.14,0.28,597.31
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.027612
$HUMID,1861
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,16.60
$XPDR_PINGS,15
$ALTIM_BOTTOM_PING,329.6,5.8
$24V_AH,23.9,6.291
$10V_AH,10.7,2.651
$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,27.575,48.150,343.900,149.075,0.000,185.610,225.503,0.000,6.250,0.000,0.000,14.078,760.828,4108.612,612.855,1016.862,480.292,33.338,1102.056,0.000,1008.652,0.000,19.503
$DEVICE_MAMPS,172.575,204.789,984.061,728.650,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,300.918,321.110,690.140,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22212,426
$CFSIZE,260165632,257773568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,190108,164338,4800.349,-12547.369,35,1.4,36,18.8