version: 66.02
glider: 119
mission: 3
dive: 19
start: 1 19 108 2 58 18
data:
$ID,119
$MISSION,3
$DIVE,19
$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,-14895.824
$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,25
$R_STBD_OVSHOOT,23
$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
$GPS1,024204,4804.949,-12540.300,8,4.2,28,18.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-71.5
$GPS2,025727,4804.782,-12540.183,13,1.6,13,18.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.225,-0.137
$KALMAN_X,-10965.8,3045.1,488.1,7773.4,-844.2
$KALMAN_Y,-15603.9,1675.7,801.6,17877.9,-15211.3
$MHEAD_RNG_PITCHd_Wd,219.8,213498,-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,16,-1.00,-146.6,0.0,0.0,0,60,0.00,0.00,-42.03,0.000,2,0.000,0.000,1378,2208,2110
$GC,62,-1.00,-146.6,3.1,-5.3,4,126,12.50,2.47,-45.75,0.000,4,0.171,0.091,3137,3625,3458
$GC,250,-1.00,-146.6,29.9,-18.1,21,254,0.00,2.35,0.00,0.000,6,0.000,0.047,3137,2212,3458
$GC,585,-1.00,-146.6,91.8,-17.8,70,586,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2212,3458
$GC,904,-1.00,-146.6,142.6,-14.9,100,908,0.00,2.35,0.00,0.000,4,0.000,0.062,3137,810,3458
$GC,1065,-1.00,-146.6,168.4,-14.7,109,1070,0.00,2.38,0.00,0.000,6,0.000,0.053,3138,2215,3458
$GC,1386,-1.00,-146.6,213.4,-13.1,125,1390,0.00,2.45,0.00,0.000,4,0.000,0.083,3138,3632,3458
$GC,1451,-1.00,-146.6,222.4,-13.6,128,1456,0.00,2.33,0.00,0.000,6,0.000,0.046,3138,2225,3458
$GC,1778,-1.00,-146.6,263.9,-11.8,144,1779,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2225,3458
$GC,2087,-1.00,-146.6,299.9,-12.2,159,2091,0.00,2.35,0.00,0.000,4,0.000,0.064,3137,807,3458
$GC,2108,-1.00,-146.6,302.6,-12.8,160,2112,0.00,2.35,0.00,0.000,6,0.000,0.055,3138,2215,3458
$GC,2450,-1.00,-146.6,342.7,-11.8,166,2454,0.00,2.38,0.00,0.000,4,0.000,0.064,3137,807,3458
$GC,2477,-1.00,-146.6,346.0,-11.9,166,2482,0.00,2.38,0.00,0.000,6,0.000,0.058,3138,2211,3458
$STATE,2576,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2577,begin apogee
$GC,2580,-0.23,0.0,357.9,12.1,168,2701,1.02,0.00,117.40,1.007,6,0.097,0.000,3309,2212,2860
$STATE,2701,end apogee,CONTROL_FINISHED_OK
$STATE,2701,begin climb
$GC,2703,1.00,146.6,362.3,0.0,170,2832,1.62,2.67,120.18,0.966,4,0.057,0.061,3580,777,2262
$GC,2994,1.02,159.1,351.0,9.4,174,3011,0.00,2.45,11.77,0.897,6,0.000,0.053,3581,2187,2211
$GC,3313,1.02,161.9,320.3,9.9,179,3323,0.00,2.53,4.03,0.642,4,0.000,0.082,3581,3582,2200
$GC,3372,1.02,161.9,314.0,10.7,179,3380,0.00,2.40,0.00,0.000,6,0.000,0.048,3581,2176,2200
$GC,3685,1.03,165.3,282.1,9.8,189,3694,0.00,2.50,4.50,0.700,4,0.000,0.080,3581,3590,2186
$GC,3745,1.03,165.3,275.8,10.9,192,3749,0.00,2.38,0.00,0.000,6,0.000,0.048,3581,2171,2186
$GC,4070,1.03,165.3,240.9,11.0,208,4074,0.00,2.50,0.00,0.000,4,0.000,0.080,3581,3590,2186
$GC,4326,1.03,165.3,211.7,11.5,219,4334,0.00,2.38,0.00,0.000,6,0.000,0.048,3581,2175,2185
$GC,4643,1.07,198.9,183.7,8.5,235,4677,0.00,2.58,27.15,0.913,4,0.000,0.079,3581,3592,2049
$GC,4873,1.08,206.9,161.5,9.6,245,4887,0.00,2.40,7.75,0.804,6,0.000,0.048,3581,2175,2016
$GC,5199,1.16,270.6,135.8,7.1,269,5256,0.17,2.47,50.30,0.865,4,0.063,0.064,3614,775,1755
$GC,5293,1.16,270.6,126.5,12.6,277,5301,0.00,2.42,0.00,0.000,6,0.000,0.051,3615,2178,1755
$GC,5619,1.16,270.6,87.7,10.5,308,5623,0.00,2.42,0.00,0.000,4,0.000,0.062,3614,774,1755
$GC,5798,1.18,290.3,66.9,9.1,333,5821,0.00,2.35,16.77,0.813,6,0.000,0.052,3615,2189,1675
$GC,6154,1.18,290.3,31.8,10.8,390,6158,0.00,2.45,0.00,0.000,4,0.000,0.079,3615,3591,1675
$GC,6237,1.18,290.3,21.9,12.3,397,6241,0.00,2.35,0.00,0.000,6,0.000,0.045,3615,2171,1676
$STATE,6485,end climb,SURFACE_DEPTH_REACHED
$STATE,6485,begin surface coast
$FINISH,0.6,1.011032
$STATE,6519,end surface coast,CONTROL_FINISHED_OK
$STATE,6519,begin surface
$SM_CCo,6538,150.15,0.739,0,0,425,597.31
$SM_GC,1.35,0.00,0.00,150.15,0.000,0.000,0.739,1375,2239,425,-9.14,0.54,597.31
$IRIDIUM_FIX,4748.51,-12539.38,190108,060657
$TT8_MAMPS,0.028379
$HUMID,1860
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,16.60
$XPDR_PINGS,12
$ALTIM_BOTTOM_PING,251.6,109.4
$24V_AH,23.8,5.434
$10V_AH,10.7,2.281
$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,27.775,63.150,359.850,150.150,0.000,198.365,333.374,75.321,4.500,0.000,0.000,14.609,791.549,4425.531,597.942,1130.842,679.099,33.334,1135.164,0.000,1122.850,0.000,12.115
$DEVICE_MAMPS,171.041,90.506,1007.071,739.388,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,299.582,314.974,673.190,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22282,423
$CFSIZE,260165632,258031616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,190108,045055,4804.035,-12541.022,30,1.6,36,18.9