version: 66.02
glider: 119
mission: 3
dive: 47
start: 1 21 108 13 27 29
data:
$ID,119
$MISSION,3
$DIVE,47
$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,-15560.438
$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,24
$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
$GPS1,131129,4757.961,-12615.049,8,2.6,28,18.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-54.8
$GPS2,132638,4757.947,-12615.069,34,1.5,34,18.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.209,-0.161
$KALMAN_X,23423.6,-1261.4,-895.2,-64080.8,18046.1
$KALMAN_Y,5200.5,970.2,-58.9,-13986.5,6493.3
$MHEAD_RNG_PITCHd_Wd,213.5,170535,-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,-146.6,0.0,0.0,0,122,0.00,0.00,-102.57,0.000,2,0.000,0.000,1377,2217,2502
$GC,124,-1.00,-146.6,3.1,-3.6,10,166,12.40,2.47,-24.60,0.000,4,0.170,0.087,3135,3629,3460
$GC,288,-1.00,-146.6,34.2,-19.7,25,296,0.00,2.38,0.00,0.000,6,0.000,0.046,3135,2220,3460
$GC,625,-1.00,-146.6,93.4,-14.9,75,629,0.00,2.35,0.00,0.000,4,0.000,0.061,3135,813,3460
$GC,646,-1.00,-146.6,96.4,-13.7,77,650,0.00,2.35,0.00,0.000,6,0.000,0.050,3135,2229,3460
$GC,976,-1.00,-146.6,142.6,-13.9,108,980,0.00,2.40,0.00,0.000,4,0.000,0.060,3134,810,3460
$GC,1038,-1.00,-146.6,151.3,-13.2,113,1042,0.00,2.33,0.00,0.000,6,0.000,0.051,3135,2220,3460
$GC,1363,-1.00,-146.6,195.7,-13.4,129,1367,0.00,2.38,0.00,0.000,4,0.000,0.061,3135,812,3460
$GC,1383,-1.00,-146.6,198.7,-13.9,130,1388,0.00,2.35,0.00,0.000,6,0.000,0.051,3135,2219,3460
$GC,1710,-1.00,-146.6,243.2,-13.9,146,1714,0.00,2.38,0.00,0.000,4,0.000,0.061,3135,807,3460
$GC,1771,-1.00,-146.6,251.6,-13.3,149,1775,0.00,2.35,0.00,0.000,6,0.000,0.052,3135,2221,3460
$GC,2097,-1.00,-146.6,295.3,-13.3,165,2101,0.00,2.38,0.00,0.000,4,0.000,0.062,3135,812,3460
$GC,2117,-1.00,-146.6,298.2,-12.7,166,2122,0.00,2.35,0.00,0.000,6,0.000,0.054,3135,2217,3460
$GC,2439,-1.00,-146.6,338.8,-12.6,172,2443,0.00,2.38,0.00,0.000,4,0.000,0.063,3135,805,3460
$GC,2504,-1.00,-146.6,347.1,-12.0,173,2509,0.00,2.38,0.00,0.000,6,0.000,0.054,3135,2214,3460
$GC,2869,-1.00,-146.6,391.6,-12.2,179,2871,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2215,3460
$STATE,2994,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2994,begin apogee
$GC,2998,-0.23,0.0,406.1,12.0,181,3119,1.05,0.00,118.20,1.046,6,0.097,0.000,3310,2173,2860
$STATE,3120,end apogee,CONTROL_FINISHED_OK
$STATE,3120,begin climb
$GC,3122,1.00,146.6,411.1,0.0,183,3252,1.58,2.62,120.50,1.001,4,0.060,0.061,3574,775,2262
$GC,3402,1.00,146.6,399.0,10.9,187,3407,0.00,2.45,0.00,0.000,6,0.000,0.052,3575,2178,2262
$GC,3746,1.01,155.7,365.8,9.6,193,3760,0.00,2.53,9.10,0.910,4,0.000,0.080,3574,3586,2225
$GC,3973,1.01,155.7,341.3,10.6,196,3978,0.00,2.38,0.00,0.000,6,0.000,0.046,3574,2186,2225
$GC,4316,1.04,173.2,309.0,9.2,202,4336,0.00,2.50,15.12,0.965,4,0.000,0.075,3574,3586,2153
$GC,4368,1.04,173.2,303.7,10.8,202,4375,0.00,2.40,0.00,0.000,6,0.000,0.046,3574,2181,2153
$GC,4683,1.05,183.5,273.3,9.5,216,4698,0.00,2.50,9.52,0.904,4,0.000,0.077,3574,3591,2112
$GC,4765,1.05,183.5,264.7,10.7,219,4770,0.00,2.38,0.00,0.000,6,0.000,0.047,3574,2175,2112
$GC,5091,1.06,196.6,233.4,9.4,235,5113,0.00,2.55,12.20,0.915,4,0.000,0.076,3574,3588,2058
$GC,5145,1.06,196.6,227.9,10.5,237,5150,0.00,2.40,0.00,0.000,6,0.000,0.047,3574,2179,2058
$GC,5467,1.06,196.6,196.4,10.0,253,5471,0.00,2.47,0.00,0.000,4,0.000,0.077,3574,3587,2058
$GC,5577,1.06,196.6,184.4,11.2,258,5581,0.00,2.38,0.00,0.000,6,0.000,0.047,3574,2176,2058
$GC,5904,1.09,221.6,153.0,8.9,274,5930,0.15,2.50,20.52,0.898,4,0.070,0.074,3607,3586,1955
$GC,5979,1.09,221.6,144.0,13.2,279,5987,0.00,2.40,0.00,0.000,6,0.000,0.047,3607,2179,1955
$GC,6306,1.09,221.6,106.3,11.4,310,6311,0.00,2.47,0.00,0.000,4,0.000,0.074,3607,3592,1955
$GC,6507,1.09,221.6,83.1,11.7,327,6514,0.00,2.38,0.00,0.000,6,0.000,0.045,3607,2174,1955
$GC,6849,1.18,292.8,53.0,6.8,385,6910,0.00,2.55,55.00,0.825,4,0.000,0.071,3607,3592,1666
$GC,7039,1.18,292.8,32.7,13.4,414,7044,0.00,2.38,0.00,0.000,6,0.000,0.044,3607,2183,1665
$STATE,7309,end climb,SURFACE_DEPTH_REACHED
$STATE,7309,begin surface coast
$FINISH,0.5,1.024890
$STATE,7321,end surface coast,CONTROL_FINISHED_OK
$STATE,7321,begin surface
$SM_CCo,7341,138.77,0.739,0,0,425,597.31
$SM_GC,1.25,0.00,0.00,138.77,0.000,0.000,0.739,1378,2240,425,-9.13,0.57,597.31
$IRIDIUM_FIX,4742.09,-12549.83,210108,171752
$TT8_MAMPS,0.028379
$HUMID,1863
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,16.00
$XPDR_PINGS,21
$ALTIM_BOTTOM_PING,406.1,5.6
$24V_AH,23.7,9.306
$10V_AH,10.6,3.991
$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,27.675,77.575,360.175,138.775,0.000,193.009,375.839,0.000,8.500,0.000,0.000,35.907,830.844,5087.459,611.458,1222.848,647.435,33.344,1205.781,0.000,1178.056,0.000,25.003
$DEVICE_MAMPS,170.274,122.720,1046.188,739.388,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,311.663,329.880,675.942,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22221,440
$CFSIZE,260165632,256729088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,210108,153307,4757.225,-12616.084,23,1.1,24,18.9