version: 66.02
glider: 119
mission: 3
dive: 43
start: 1 21 108 4 8 16
data:
$ID,119
$MISSION,3
$DIVE,43
$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,-15480.672
$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,28
$R_STBD_OVSHOOT,22
$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
$GPS1,035052,4758.724,-12610.683,6,1.9,8,18.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-60.5
$GPS2,040726,4758.732,-12610.846,41,1.6,41,18.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.211,-0.159
$KALMAN_X,18935.3,-1507.4,-1010.5,-53997.6,17941.9
$KALMAN_Y,2500.2,-2061.3,-17.7,-6854.5,6664.9
$MHEAD_RNG_PITCHd_Wd,214.1,175610,-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,-146.6,0.0,0.0,0,137,0.00,0.00,-117.10,0.000,2,0.000,0.000,1376,2219,2768
$GC,139,-1.00,-146.6,3.4,-3.0,12,175,12.35,2.45,-16.62,0.000,4,0.169,0.073,3140,819,3459
$GC,428,-1.00,-146.6,57.7,-17.8,47,434,0.00,2.33,0.00,0.000,6,0.000,0.051,3140,2222,3459
$GC,764,-1.00,-146.6,111.7,-13.5,89,768,0.00,2.38,0.00,0.000,4,0.000,0.060,3140,817,3459
$GC,796,-1.00,-146.6,116.1,-13.0,91,803,0.00,2.35,0.00,0.000,6,0.000,0.051,3140,2219,3459
$GC,1131,-1.00,-146.6,155.6,-12.1,121,1135,0.00,2.38,0.00,0.000,4,0.000,0.060,3139,810,3459
$GC,1179,-1.00,-146.6,161.7,-12.2,123,1184,0.00,2.35,0.00,0.000,6,0.000,0.051,3140,2220,3459
$GC,1503,-1.00,-146.6,200.8,-12.3,139,1507,0.00,2.38,0.00,0.000,4,0.000,0.061,3140,810,3459
$GC,1530,-1.00,-146.6,204.5,-13.2,140,1534,0.00,2.33,0.00,0.000,6,0.000,0.051,3140,2229,3459
$GC,1844,-1.00,-146.6,244.4,-13.0,155,1848,0.00,2.38,0.00,0.000,4,0.000,0.061,3140,817,3459
$GC,1893,-1.00,-146.6,251.0,-13.1,157,1898,0.00,2.33,0.00,0.000,6,0.000,0.052,3140,2214,3459
$GC,2215,-1.00,-146.6,293.9,-13.2,173,2218,0.00,2.35,0.00,0.000,4,0.000,0.061,3140,815,3459
$GC,2283,-1.00,-146.6,302.8,-12.7,176,2287,0.00,2.30,0.00,0.000,6,0.000,0.053,3140,2218,3459
$GC,2646,-1.00,-146.6,347.9,-12.2,182,2651,0.00,2.35,0.00,0.000,4,0.000,0.063,3140,817,3459
$GC,2678,-1.00,-146.6,352.0,-12.9,182,2683,0.00,2.33,0.00,0.000,6,0.000,0.054,3140,2213,3459
$GC,3010,-1.00,-146.6,391.6,-11.9,188,3014,0.00,2.35,0.00,0.000,4,0.000,0.064,3140,819,3459
$GC,3071,-1.00,-146.6,399.3,-11.9,189,3075,0.00,2.33,0.00,0.000,6,0.000,0.057,3140,2228,3459
$STATE,3083,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3083,begin apogee
$GC,3087,-0.23,0.0,400.6,12.0,189,3208,0.98,0.00,117.68,1.045,6,0.101,0.000,3304,2177,2860
$STATE,3209,end apogee,CONTROL_FINISHED_OK
$STATE,3209,begin climb
$GC,3210,1.00,146.6,406.4,0.0,191,3341,1.62,2.70,120.22,0.997,4,0.064,0.077,3575,3589,2262
$GC,3594,1.00,148.0,388.7,9.9,196,3600,0.00,2.40,0.00,0.000,6,0.000,0.046,3575,2174,2262
$GC,3902,1.03,165.5,360.2,9.2,202,3926,0.00,2.60,16.50,0.976,4,0.000,0.077,3575,3592,2185
$GC,4037,1.03,165.5,345.9,11.3,204,4042,0.00,2.42,0.00,0.000,6,0.000,0.046,3575,2175,2185
$GC,4403,1.04,179.5,311.5,9.4,210,4422,0.00,2.58,12.43,0.947,4,0.000,0.077,3575,3603,2128
$GC,4568,1.04,179.5,294.0,10.6,213,4573,0.00,2.40,0.00,0.000,6,0.000,0.048,3575,2174,2128
$GC,4890,1.04,179.8,261.8,10.0,229,4891,0.00,0.00,0.00,0.000,6,0.000,0.000,3575,2174,2128
$GC,5199,1.05,183.7,231.6,9.8,244,5209,0.00,2.50,5.00,0.746,4,0.000,0.076,3575,3596,2111
$GC,5237,1.05,183.7,227.6,11.0,246,5241,0.00,2.35,0.00,0.000,6,0.000,0.047,3575,2180,2111
$GC,5562,1.05,183.7,193.2,10.5,262,5566,0.00,2.45,0.00,0.000,4,0.000,0.077,3575,3587,2111
$GC,5690,1.05,183.7,178.8,11.4,268,5694,0.00,2.33,0.00,0.000,6,0.000,0.047,3575,2179,2111
$GC,6006,1.07,204.8,148.4,9.0,284,6028,0.12,0.00,17.75,0.898,6,0.069,0.000,3601,2179,2024
$GC,6345,1.07,204.8,112.3,10.5,316,6348,0.00,2.45,0.00,0.000,4,0.000,0.075,3601,3587,2025
$GC,6524,1.07,204.8,92.6,11.1,332,6528,0.00,2.33,0.00,0.000,6,0.000,0.046,3601,2179,2024
$GC,6860,1.23,332.0,67.2,4.2,379,6965,0.15,2.50,97.60,0.822,4,0.067,0.061,3635,776,1505
$GC,7010,1.23,332.0,52.6,13.5,406,7016,0.00,2.42,0.00,0.000,6,0.000,0.050,3635,2188,1505
$GC,7339,1.23,332.0,3.3,16.2,445,7340,0.00,0.00,0.00,0.000,6,0.000,0.000,3635,2188,1505
$STATE,7359,end climb,SURFACE_DEPTH_REACHED
$STATE,7359,begin surface coast
$FINISH,0.6,1.023020
$STATE,7371,end surface coast,CONTROL_FINISHED_OK
$STATE,7371,begin surface
$SM_CCo,7390,120.60,0.741,0,0,424,597.31
$SM_GC,1.19,0.00,0.00,120.60,0.000,0.000,0.741,1376,2189,424,-9.14,-0.88,597.31
$IRIDIUM_FIX,4742.09,-12612.98,210108,070707
$TT8_MAMPS,0.028379
$HUMID,1873
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,16.00
$XPDR_PINGS,22
$ALTIM_BOTTOM_PING,400.6,5.6
$24V_AH,23.8,8.733
$10V_AH,10.6,3.734
$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,27.900,72.125,387.175,120.600,0.000,195.206,327.606,117.728,8.750,0.000,0.000,43.318,832.804,5093.417,596.336,1263.367,729.968,33.337,1215.961,0.000,1211.503,0.000,24.347
$DEVICE_MAMPS,168.740,97.409,1045.421,740.922,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,315.304,337.312,691.082,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22312,448
$CFSIZE,260165632,256921600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
$GPS,210108,061434,4758.320,-12612.213,13,1.9,33,18.9