version: 66.02
glider: 119
mission: 3
dive: 35
start: 1 20 108 10 49 43
data:
$ID,119
$MISSION,3
$DIVE,35
$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,-15291.089
$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,26
$R_STBD_OVSHOOT,30
$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
$GPS1,103950,4758.827,-12600.045,6,2.0,12,18.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-65.4
$GPS2,104853,4758.813,-12600.044,15,2.1,34,18.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.263,0.021
$KALMAN_X,13409.7,-2080.3,-884.9,-34654.8,21760.8
$KALMAN_Y,2468.4,-2127.0,-91.7,-6511.8,11715.7
$MHEAD_RNG_PITCHd_Wd,255.8,186600,-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,-146.6,0.0,0.0,0,132,0.00,0.00,-112.03,0.000,2,0.000,0.000,1377,2230,2689
$GC,134,-1.00,-146.6,3.5,-4.2,11,170,12.48,2.42,-18.75,0.000,4,0.175,0.089,3140,3617,3458
$GC,193,-1.00,-146.6,16.3,-18.8,16,197,0.00,2.33,0.00,0.000,6,0.000,0.045,3140,2219,3458
$GC,527,-1.00,-146.6,78.9,-16.3,64,534,0.00,2.38,0.00,0.000,4,0.000,0.062,3140,807,3458
$GC,550,-1.00,-146.6,82.6,-16.4,67,554,0.00,2.33,0.00,0.000,6,0.000,0.051,3140,2214,3458
$GC,874,-1.00,-146.6,127.4,-13.6,97,879,0.00,2.45,0.00,0.000,4,0.000,0.079,3140,3629,3458
$GC,917,-1.00,-146.6,133.3,-12.9,100,925,0.00,2.35,0.00,0.000,6,0.000,0.045,3140,2217,3458
$GC,1248,-1.00,-146.6,174.9,-13.0,123,1253,0.00,2.35,0.00,0.000,4,0.000,0.061,3140,812,3459
$GC,1315,-1.00,-146.6,183.5,-12.1,126,1319,0.00,2.35,0.00,0.000,6,0.000,0.051,3140,2226,3458
$GC,1640,-1.00,-146.6,224.6,-12.6,142,1645,0.00,2.38,0.00,0.000,4,0.000,0.061,3140,812,3459
$GC,1662,-1.00,-146.6,227.4,-12.7,143,1666,0.00,2.33,0.00,0.000,6,0.000,0.053,3140,2222,3458
$GC,1993,-1.00,-146.6,266.7,-12.0,159,1997,0.00,2.38,0.00,0.000,4,0.000,0.062,3140,810,3458
$GC,2058,-1.00,-146.6,274.8,-11.9,162,2064,0.00,2.35,0.00,0.000,6,0.000,0.054,3140,2216,3458
$GC,2403,-1.00,-146.6,316.5,-12.1,175,2407,0.00,2.35,0.00,0.000,4,0.000,0.062,3140,807,3458
$GC,2463,-1.00,-146.6,323.6,-11.5,176,2467,0.00,2.35,0.00,0.000,6,0.000,0.056,3140,2231,3458
$GC,2833,-1.00,-146.6,367.9,-12.0,182,2837,0.00,2.38,0.00,0.000,4,0.000,0.064,3140,816,3458
$GC,2865,-1.00,-146.6,372.0,-11.9,182,2870,0.00,2.35,0.00,0.000,6,0.000,0.057,3140,2219,3458
$STATE,2896,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2896,begin apogee
$GC,2900,-0.23,0.0,375.2,11.7,183,3021,1.00,0.00,117.53,1.022,6,0.098,0.000,3307,2171,2860
$STATE,3022,end apogee,CONTROL_FINISHED_OK
$STATE,3022,begin climb
$GC,3023,1.00,146.6,380.7,0.0,185,3151,1.62,2.55,120.60,0.977,4,0.058,0.061,3578,779,2261
$GC,3386,1.01,154.4,364.1,9.6,190,3399,0.00,2.42,8.07,0.860,6,0.000,0.052,3578,2187,2229
$GC,3700,1.03,167.0,334.5,9.4,196,3718,0.00,2.55,11.45,0.925,4,0.000,0.081,3578,3581,2179
$GC,3865,1.03,167.0,316.6,11.1,198,3869,0.00,2.38,0.00,0.000,6,0.000,0.047,3578,2190,2179
$GC,4184,1.04,180.7,286.1,9.4,207,4206,0.00,2.53,12.18,0.930,4,0.000,0.078,3578,3581,2123
$GC,4238,1.04,180.7,280.5,10.7,209,4243,0.00,2.40,0.00,0.000,6,0.000,0.047,3578,2179,2123
$GC,4559,1.05,181.3,248.6,10.0,225,4561,0.00,0.00,0.00,0.000,6,0.000,0.000,3578,2179,2123
$GC,4869,1.05,181.9,217.4,10.0,240,4873,0.00,2.38,0.00,0.000,4,0.000,0.065,3578,777,2122
$GC,4895,1.05,181.9,214.6,10.4,241,4900,0.00,2.38,0.00,0.000,6,0.000,0.054,3578,2171,2122
$GC,5216,1.05,183.9,182.5,9.9,257,5225,0.00,2.50,4.45,0.685,4,0.000,0.081,3578,3594,2109
$GC,5383,1.05,183.9,165.7,10.3,264,5387,0.00,2.38,0.00,0.000,6,0.000,0.048,3578,2175,2109
$GC,5708,1.12,239.3,138.7,7.5,286,5761,0.15,2.60,43.15,0.885,4,0.070,0.077,3611,3593,1884
$GC,5884,1.12,239.3,115.3,14.7,302,5888,0.00,2.38,0.00,0.000,6,0.000,0.047,3611,2183,1884
$GC,6210,1.12,239.3,73.9,10.2,336,6216,0.00,2.45,0.00,0.000,4,0.000,0.075,3611,3585,1884
$GC,6469,1.15,266.7,50.7,8.8,382,6498,0.00,2.33,22.60,0.825,6,0.000,0.045,3611,2173,1772
$GC,6826,1.15,266.7,15.1,10.3,425,6830,0.00,2.47,0.00,0.000,4,0.000,0.074,3611,3586,1771
$GC,6908,1.15,266.7,6.2,10.1,432,6916,0.00,2.35,0.00,0.000,6,0.000,0.044,3612,2186,1771
$STATE,6956,end climb,SURFACE_DEPTH_REACHED
$STATE,6956,begin surface coast
$FINISH,0.4,1.003421
$STATE,6969,end surface coast,CONTROL_FINISHED_OK
$STATE,6969,begin surface
$SM_CCo,6988,148.07,0.734,0,0,425,597.31
$SM_GC,1.14,0.00,0.00,148.07,0.000,0.000,0.734,1378,2228,425,-9.13,0.23,597.31
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.027612
$HUMID,1861
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,16.10
$XPDR_PINGS,25
$ALTIM_BOTTOM_PING,375.2,5.7
$24V_AH,23.8,7.615
$10V_AH,10.6,3.240
$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,27.650,76.975,340.025,148.075,0.000,130.568,75.167,0.000,9.000,0.000,0.000,36.409,820.173,4784.771,627.926,1171.561,286.880,33.338,1190.879,0.000,1138.026,0.000,19.947
$DEVICE_MAMPS,174.876,109.681,1021.644,734.019,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,310.286,334.323,686.177,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22254,438
$CFSIZE,260165632,257302528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,200108,124938,4759.066,-12601.548,24,1.9,25,18.9