version: 66.02
glider: 119
mission: 3
dive: 71
start: 1 24 108 3 45 37
data:
$ID,119
$MISSION,3
$DIVE,71
$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,-15978.188
$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,30
$R_STBD_OVSHOOT,29
$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
$GPS1,033726,4807.402,-12609.163,36,1.4,37,18.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-69.7
$GPS2,034445,4807.421,-12609.138,10,1.1,10,18.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,CAPE_FLATTERY
$TGT_LATLONG,4809.000,-12540.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.261,-0.037
$KALMAN_X,-6726.2,1614.3,710.4,-31151.9,-19228.5
$KALMAN_Y,7572.5,-1122.5,-696.6,3929.8,10807.0
$MHEAD_RNG_PITCHd_Wd,79.2,36122,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.00,-146.6,0.0,0.0,0,133,0.00,0.00,-112.32,0.000,2,0.000,0.000,1377,2225,2673
$GC,135,-1.00,-146.6,3.7,-4.7,11,172,12.38,2.42,-19.33,0.000,4,0.169,0.086,3141,3618,3458
$GC,278,-1.00,-146.6,31.7,-18.7,23,285,0.00,2.30,0.00,0.000,6,0.000,0.044,3142,2223,3459
$GC,619,-1.00,-146.6,93.6,-15.6,73,623,0.00,2.38,0.00,0.000,4,0.000,0.062,3142,816,3458
$GC,679,-1.00,-146.6,103.2,-14.6,78,686,0.00,2.33,0.00,0.000,6,0.000,0.049,3142,2210,3458
$GC,1004,-1.00,-146.6,146.7,-13.0,109,1005,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2209,3458
$GC,1324,-1.00,-146.6,187.8,-12.8,126,1326,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2209,3458
$GC,1636,-1.00,-146.6,226.4,-12.5,141,1640,0.00,2.35,0.00,0.000,4,0.000,0.061,3142,812,3458
$GC,1685,-1.00,-146.6,233.2,-12.7,143,1690,0.00,2.35,0.00,0.000,6,0.000,0.051,3142,2211,3458
$GC,2006,-1.00,-146.6,274.0,-12.7,159,2008,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2211,3458
$GC,2354,-1.00,-146.6,316.5,-12.3,172,2358,0.00,2.35,0.00,0.000,4,0.000,0.061,3142,810,3458
$GC,2454,-1.00,-146.6,328.9,-12.3,173,2459,0.00,2.38,0.00,0.000,6,0.000,0.054,3142,2216,3458
$GC,2792,-1.00,-146.6,370.0,-12.2,179,2796,0.00,2.35,0.00,0.000,4,0.000,0.062,3142,815,3458
$GC,2864,-1.00,-146.6,378.7,-11.4,180,2868,0.00,2.38,0.00,0.000,6,0.000,0.055,3142,2220,3458
$GC,3225,-1.00,-146.6,419.5,-11.4,186,3226,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2221,3457
$GC,3527,-1.00,-146.6,453.8,-11.3,191,3529,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2221,3457
$GC,3830,-1.00,-146.6,486.6,-10.9,196,3834,0.00,2.40,0.00,0.000,4,0.000,0.068,3142,807,3457
$GC,3900,-1.00,-146.6,494.3,-10.8,197,3905,0.00,2.38,0.00,0.000,6,0.000,0.058,3142,2219,3457
$GC,4260,-1.00,-146.6,531.9,-10.5,203,4264,0.00,2.40,0.00,0.000,4,0.000,0.068,3142,808,3457
$GC,4322,-1.00,-146.6,538.4,-10.8,204,4326,0.00,2.35,0.00,0.000,6,0.000,0.061,3142,2219,3456
$GC,4686,-1.00,-146.6,577.5,-10.8,210,4690,0.00,2.40,0.00,0.000,4,0.000,0.071,3142,813,3456
$GC,4763,-1.00,-146.6,586.0,-10.4,211,4768,0.00,2.38,0.00,0.000,6,0.000,0.061,3142,2218,3456
$STATE,4937,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4937,begin apogee
$GC,4942,-0.23,0.0,604.1,10.5,214,5066,1.00,0.00,120.72,1.190,6,0.099,0.000,3309,2173,2860
$STATE,5066,end apogee,CONTROL_FINISHED_OK
$STATE,5066,begin climb
$GC,5068,1.00,146.6,609.5,0.0,216,5200,1.58,2.60,123.70,1.144,4,0.056,0.067,3575,781,2262
$GC,5228,1.08,207.3,611.1,7.2,218,5288,0.12,2.53,52.33,1.123,6,0.072,0.054,3597,2196,2014
$GC,5613,1.08,207.3,560.6,13.4,225,5618,0.00,2.53,0.00,0.000,4,0.000,0.084,3597,3588,2014
$GC,5651,1.08,207.3,555.4,14.2,225,5656,0.00,2.42,0.00,0.000,6,0.000,0.048,3597,2189,2014
$GC,5977,1.08,207.3,512.2,13.2,231,5981,0.00,2.50,0.00,0.000,4,0.000,0.081,3597,3596,2013
$GC,6116,1.08,207.3,491.2,16.0,233,6121,0.00,2.42,0.00,0.000,6,0.000,0.048,3597,2175,2013
$GC,6476,1.08,207.3,443.2,13.2,239,6480,0.00,2.50,0.00,0.000,4,0.000,0.077,3597,3593,2013
$GC,6546,1.08,207.3,433.2,14.3,240,6551,0.00,2.40,0.00,0.000,6,0.000,0.048,3597,2178,2013
$GC,6906,1.08,207.3,387.6,12.7,246,6911,0.00,2.45,0.00,0.000,4,0.000,0.078,3597,3590,2013
$GC,7112,1.08,207.3,359.1,14.2,249,7117,0.00,2.38,0.00,0.000,6,0.000,0.048,3597,2181,2012
$GC,7472,1.08,207.3,314.3,12.3,255,7474,0.00,0.00,0.00,0.000,6,0.000,0.000,3597,2181,2012
$GC,7780,1.08,207.3,274.4,13.4,266,7784,0.00,2.45,0.00,0.000,4,0.000,0.078,3597,3590,2012
$GC,7856,1.08,207.3,263.4,14.0,269,7863,0.00,2.35,0.00,0.000,6,0.000,0.048,3597,2185,2012
$GC,8172,1.08,207.3,223.9,12.0,285,8176,0.00,2.45,0.00,0.000,4,0.000,0.077,3597,3597,2012
$GC,8327,1.08,207.3,204.4,13.0,292,8332,0.00,2.35,0.00,0.000,6,0.000,0.045,3597,2183,2012
$GC,8654,1.08,207.3,168.0,11.4,308,8658,0.00,2.42,0.00,0.000,4,0.000,0.076,3597,3590,2012
$GC,8760,1.08,207.3,155.5,12.1,313,8764,0.00,2.33,0.00,0.000,6,0.000,0.045,3597,2172,2012
$GC,9084,1.08,207.3,119.5,10.9,341,9086,0.00,0.00,0.00,0.000,6,0.000,0.000,3597,2172,2012
$GC,9402,1.11,234.7,87.5,8.8,371,9429,0.00,2.50,21.92,0.872,4,0.000,0.072,3598,3597,1902
$GC,9682,1.17,281.8,63.9,7.9,413,9726,0.00,2.33,37.17,0.841,6,0.000,0.044,3598,2179,1710
$GC,10057,1.18,287.2,28.4,9.8,470,10069,0.00,2.47,6.32,0.707,4,0.000,0.071,3597,3590,1688
$STATE,10297,end climb,SURFACE_DEPTH_REACHED
$STATE,10297,begin surface coast
$FINISH,0.6,1.025221
$STATE,10309,end surface coast,CONTROL_FINISHED_OK
$STATE,10309,begin surface
$SM_CCo,10331,138.23,0.751,0,0,425,597.31
$SM_GC,1.28,0.00,0.00,138.23,0.000,0.000,0.751,1378,2211,425,-9.13,-0.25,597.31
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1863
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,18.10
$XPDR_PINGS,44
$ALTIM_BOTTOM_PING,604.1,6.0
$24V_AH,23.5,12.788
$10V_AH,10.6,5.548
$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,27.500,86.650,362.175,138.225,0.000,116.445,0.000,0.000,16.000,0.000,0.000,11.612,969.302,7661.314,621.549,1445.828,223.107,33.338,1327.412,0.000,1417.716,0.000,34.452
$DEVICE_MAMPS,168.740,102.778,1190.384,750.893,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,347.890,372.188,679.719,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25375,492
$CFSIZE,260165632,255471616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,240108,064107,4807.943,-12607.186,25,1.3,25,18.9