version: 66.02
glider: 119
mission: 3
dive: 28
start: 1 19 108 20 40 43
data:
$ID,119
$MISSION,3
$DIVE,28
$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,-15119.646
$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,34
$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
$GPS1,203245,4759.410,-12550.598,36,3.3,56,18.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-63.9
$GPS2,203951,4759.401,-12550.678,10,1.4,10,18.8
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.264,0.005
$KALMAN_X,5022.6,-427.8,-924.7,-16281.9,16080.0
$KALMAN_Y,-2633.5,-1030.5,23.9,-1544.2,7363.8
$MHEAD_RNG_PITCHd_Wd,252.3,196934,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,16,-1.00,-146.6,0.0,0.0,0,121,0.00,0.00,-102.10,0.000,2,0.000,0.000,1378,2204,2526
$GC,123,-1.00,-146.6,3.4,-4.9,10,165,12.48,0.00,-24.12,0.000,6,0.173,0.000,3140,2200,3458
$GC,493,-1.00,-146.6,72.9,-18.1,59,499,0.00,2.47,0.00,0.000,4,0.000,0.077,3140,3628,3459
$GC,521,-1.00,-146.6,78.5,-18.4,64,528,0.00,2.30,0.00,0.000,6,0.000,0.047,3140,2227,3458
$GC,852,-1.00,-146.6,127.7,-13.5,96,856,0.00,2.38,0.00,0.000,4,0.000,0.061,3140,812,3458
$GC,883,-1.00,-146.6,132.5,-14.4,98,890,0.00,2.38,0.00,0.000,6,0.000,0.049,3141,2223,3458
$GC,1213,-1.00,-146.6,174.1,-12.4,121,1217,0.00,2.38,0.00,0.000,4,0.000,0.061,3141,813,3458
$GC,1262,-1.00,-146.6,180.4,-12.8,123,1267,0.00,2.33,0.00,0.000,6,0.000,0.051,3141,2212,3458
$GC,1584,-1.00,-146.6,219.3,-11.9,139,1588,0.00,2.35,0.00,0.000,4,0.000,0.061,3141,813,3458
$GC,1622,-1.00,-146.6,223.9,-11.7,141,1627,0.00,2.33,0.00,0.000,6,0.000,0.053,3141,2218,3458
$GC,1948,-1.00,-146.6,262.6,-11.8,157,1952,0.00,2.35,0.00,0.000,4,0.000,0.063,3140,817,3458
$GC,1979,-1.00,-146.6,266.5,-11.5,158,1987,0.00,2.33,0.00,0.000,6,0.000,0.053,3141,2214,3458
$GC,2335,-1.00,-146.6,310.3,-12.9,174,2338,0.00,2.35,0.00,0.000,4,0.000,0.063,3140,817,3458
$GC,2378,-1.00,-146.6,316.1,-13.2,174,2383,0.00,2.33,0.00,0.000,6,0.000,0.055,3140,2213,3458
$STATE,2646,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2646,begin apogee
$GC,2650,-0.23,0.0,351.7,13.5,179,2770,1.02,0.00,117.20,1.003,6,0.101,0.000,3310,2213,2860
$STATE,2771,end apogee,CONTROL_FINISHED_OK
$STATE,2771,begin climb
$GC,2772,1.00,146.6,358.6,0.0,181,2902,1.58,2.60,120.10,0.962,4,0.059,0.082,3575,3586,2261
$GC,3154,1.05,187.4,345.0,8.1,186,3195,0.00,2.40,33.67,0.957,6,0.000,0.045,3575,2186,2095
$GC,3526,1.05,187.4,307.6,10.3,193,3531,0.00,2.50,0.00,0.000,4,0.000,0.079,3576,3590,2095
$GC,3783,1.05,187.4,279.2,10.9,200,3791,0.00,2.40,0.00,0.000,6,0.000,0.046,3575,2175,2095
$GC,4099,1.08,209.8,249.2,9.0,216,4124,0.10,2.55,18.67,0.930,4,0.076,0.078,3597,3585,2004
$GC,4201,1.08,209.8,237.5,12.5,220,4209,0.00,2.40,0.00,0.000,6,0.000,0.047,3597,2176,2004
$GC,4517,1.08,209.8,199.0,12.7,236,4519,0.00,0.00,0.00,0.000,6,0.000,0.000,3597,2177,2004
$GC,4827,1.08,209.8,161.4,12.1,251,4831,0.00,2.47,0.00,0.000,4,0.000,0.077,3597,3591,2004
$GC,4858,1.08,209.8,157.1,13.2,252,4866,0.00,2.38,0.00,0.000,6,0.000,0.047,3597,2175,2004
$GC,5181,1.08,209.8,119.3,11.8,280,5185,0.00,2.35,0.00,0.000,4,0.000,0.064,3597,777,2004
$GC,5203,1.08,209.8,116.6,12.5,282,5207,0.00,2.33,0.00,0.000,6,0.000,0.052,3597,2184,2004
$GC,5533,1.10,225.1,85.0,9.3,313,5555,0.00,2.45,13.00,0.832,4,0.000,0.060,3597,774,1942
$GC,5571,1.14,257.1,81.6,8.5,316,5605,0.00,2.35,26.10,0.830,6,0.000,0.052,3597,2174,1810
$GC,5942,1.18,287.5,48.4,8.6,380,5976,0.00,2.55,24.65,0.809,4,0.000,0.076,3597,3585,1687
$GC,6155,1.18,287.5,24.3,11.7,407,6159,0.00,2.35,0.00,0.000,6,0.000,0.044,3597,2178,1687
$STATE,6393,end climb,SURFACE_DEPTH_REACHED
$STATE,6393,begin surface coast
$FINISH,0.4,1.022558
$STATE,6416,end surface coast,CONTROL_FINISHED_OK
$STATE,6416,begin surface
$SM_CCo,6435,140.05,0.736,0,0,424,597.31
$SM_GC,1.06,0.00,0.00,140.05,0.000,0.000,0.736,1375,2233,424,-9.14,0.28,597.31
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.027612
$HUMID,1860
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,16.50
$XPDR_PINGS,15
$ALTIM_BOTTOM_PING,351.7,5.8
$24V_AH,23.8,6.672
$10V_AH,10.6,2.823
$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,27.600,62.425,353.400,140.050,0.000,116.038,0.000,0.000,6.250,0.000,0.000,12.045,778.455,4341.479,613.450,1101.510,180.517,33.334,1155.713,0.000,1087.012,0.000,18.298
$DEVICE_MAMPS,173.342,93.574,1003.236,735.553,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,305.999,318.601,687.210,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22283,431
$CFSIZE,260165632,257634304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,190108,223103,4759.429,-12552.285,10,1.6,11,18.8