version: 66.02
glider: 119
mission: 3
dive: 24
start: 1 19 108 13 7 52
data:
$ID,119
$MISSION,3
$DIVE,24
$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,-15044.993
$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,25
$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
$GPS1,125032,4800.847,-12544.946,8,1.9,14,18.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-61.6
$GPS2,130702,4800.869,-12544.822,31,1.7,32,18.8
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.223,-0.141
$KALMAN_X,13764.8,-5275.3,-1501.7,-12347.1,35095.4
$KALMAN_Y,2223.8,-2382.7,-513.0,-1799.9,15140.4
$MHEAD_RNG_PITCHd_Wd,218.9,204595,-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,-146.6,0.0,0.0,0,127,0.00,0.00,-107.32,0.000,2,0.000,0.000,1378,2200,2658
$GC,129,-1.00,-146.6,4.0,-4.8,11,168,12.45,2.53,-17.83,0.000,4,0.171,0.089,3134,3620,3459
$GC,246,-1.00,-146.6,28.9,-17.4,22,250,0.00,2.33,0.00,0.000,6,0.000,0.045,3135,2219,3459
$GC,581,-1.00,-146.6,89.2,-16.1,71,585,0.00,2.38,0.00,0.000,4,0.000,0.061,3135,810,3459
$GC,641,-1.00,-146.6,99.3,-16.4,76,649,0.00,2.35,0.00,0.000,6,0.000,0.051,3135,2213,3459
$GC,967,-1.00,-146.6,148.4,-13.6,107,971,0.00,2.38,0.00,0.000,4,0.000,0.060,3135,807,3459
$GC,1073,-1.00,-146.6,163.5,-14.0,112,1077,0.00,2.35,0.00,0.000,6,0.000,0.051,3135,2225,3459
$GC,1398,-1.00,-146.6,205.5,-13.4,128,1402,0.00,2.38,0.00,0.000,4,0.000,0.061,3135,812,3459
$GC,1413,-1.00,-146.6,207.7,-13.8,129,1418,0.00,2.33,0.00,0.000,6,0.000,0.053,3135,2224,3459
$GC,1740,-1.00,-146.6,251.8,-13.5,145,1744,0.00,2.38,0.00,0.000,4,0.000,0.062,3135,812,3459
$GC,1765,-1.00,-146.6,255.4,-13.6,146,1770,0.00,2.38,0.00,0.000,6,0.000,0.054,3135,2218,3459
$GC,2087,-1.00,-146.6,296.8,-12.6,162,2088,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2218,3459
$STATE,2131,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2131,begin apogee
$GC,2135,-0.23,0.0,301.9,12.5,164,2255,1.05,0.00,116.38,0.966,6,0.097,0.000,3310,2166,2860
$STATE,2256,end apogee,CONTROL_FINISHED_OK
$STATE,2256,begin climb
$GC,2257,1.00,146.6,307.0,0.0,166,2384,1.58,2.50,118.90,0.927,4,0.060,0.059,3575,782,2261
$GC,2552,1.03,172.9,297.9,8.8,170,2579,0.00,2.42,21.88,0.906,6,0.000,0.051,3575,2182,2154
$GC,2899,1.04,180.0,264.5,9.7,187,2913,0.00,2.58,7.38,0.801,4,0.000,0.081,3575,3591,2126
$GC,2992,1.04,180.0,254.6,10.4,191,2997,0.00,2.40,0.00,0.000,6,0.000,0.046,3575,2185,2126
$GC,3319,1.07,198.1,224.3,9.2,207,3341,0.00,2.50,16.05,0.896,4,0.000,0.076,3575,3587,2051
$GC,3446,1.07,198.1,210.7,11.0,212,3454,0.00,2.38,0.00,0.000,6,0.000,0.045,3575,2186,2052
$GC,3762,1.07,204.6,179.7,9.7,228,3776,0.00,2.50,6.72,0.779,4,0.000,0.077,3575,3593,2025
$GC,3921,1.07,204.6,162.2,10.9,235,3926,0.00,2.38,0.00,0.000,6,0.000,0.045,3575,2183,2025
$GC,4243,1.09,218.1,131.6,9.4,259,4265,0.12,2.45,11.70,0.841,4,0.069,0.061,3601,775,1970
$GC,4314,1.09,218.1,123.7,11.1,265,4321,0.00,2.38,0.00,0.000,6,0.000,0.051,3601,2181,1970
$GC,4641,1.10,228.4,90.1,9.5,296,4656,0.00,2.42,9.65,0.800,4,0.000,0.060,3601,774,1928
$GC,4786,1.10,228.4,74.8,10.4,313,4792,0.00,2.35,0.00,0.000,6,0.000,0.051,3601,2188,1928
$GC,5129,1.15,268.2,45.2,8.2,374,5168,0.00,2.50,31.38,0.812,4,0.000,0.077,3601,3578,1766
$GC,5313,1.15,268.2,27.2,10.3,396,5320,0.00,2.35,0.00,0.000,6,0.000,0.044,3601,2186,1766
$STATE,5584,end climb,SURFACE_DEPTH_REACHED
$STATE,5584,begin surface coast
$FINISH,0.5,1.023774
$STATE,5608,end surface coast,CONTROL_FINISHED_OK
$STATE,5608,begin surface
$SM_CCo,5627,157.23,0.732,0,0,425,597.31
$SM_GC,1.24,0.00,0.00,157.23,0.000,0.000,0.732,1375,2230,425,-9.14,0.28,597.31
$IRIDIUM_FIX,4745.30,-12547.22,190108,161658
$TT8_MAMPS,0.027612
$HUMID,1843
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,16.60
$XPDR_PINGS,8
$ALTIM_BOTTOM_PING,301.9,5.9
$24V_AH,23.9,6.154
$10V_AH,10.6,2.592
$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,27.550,58.000,340.025,157.225,0.000,211.977,337.984,101.377,4.000,0.000,0.000,34.282,763.960,3593.134,613.229,1097.023,719.675,33.331,1132.994,0.000,1065.308,0.000,15.067
$DEVICE_MAMPS,171.041,104.312,966.420,732.485,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,300.170,312.392,702.042,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22287,424
$CFSIZE,260165632,257810432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,190108,144531,4800.167,-12546.072,40,1.1,41,18.8