version: 66.02
glider: 119
mission: 3
dive: 30
start: 1 20 108 0 29 54
data:
$ID,119
$MISSION,3
$DIVE,30
$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,-15153.632
$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,33
$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
$GPS1,001338,4758.987,-12553.559,37,1.1,38,18.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-64.1
$GPS2,002903,4759.005,-12553.667,14,1.4,14,18.8
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.220,-0.145
$KALMAN_X,7579.8,-419.4,-543.1,-22940.7,18588.8
$KALMAN_Y,-3031.9,1171.3,-593.5,-3474.7,5781.3
$MHEAD_RNG_PITCHd_Wd,217.9,193399,-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,-102.28,0.000,2,0.000,0.000,1374,2235,2495
$GC,124,-1.00,-146.6,3.3,-5.0,10,167,12.57,2.47,-25.65,0.000,4,0.174,0.090,3139,3616,3459
$GC,261,-1.00,-146.6,28.9,-17.3,22,269,0.00,2.33,0.00,0.000,6,0.000,0.045,3139,2228,3459
$GC,603,-1.00,-146.6,90.8,-16.3,72,607,0.00,2.38,0.00,0.000,4,0.000,0.060,3139,815,3459
$GC,620,-1.00,-146.6,93.0,-14.3,73,624,0.00,2.33,0.00,0.000,6,0.000,0.049,3139,2212,3459
$GC,944,-1.00,-146.6,138.3,-13.4,103,948,0.00,2.35,0.00,0.000,4,0.000,0.059,3139,815,3459
$GC,986,-1.00,-146.6,144.4,-13.7,106,994,0.00,2.35,0.00,0.000,6,0.000,0.049,3139,2215,3459
$GC,1303,-1.00,-146.6,186.2,-13.3,124,1307,0.00,2.35,0.00,0.000,4,0.000,0.059,3139,815,3459
$GC,1369,-1.00,-146.6,194.6,-12.5,127,1374,0.00,2.35,0.00,0.000,6,0.000,0.051,3139,2216,3459
$GC,1696,-1.00,-146.6,236.3,-13.2,143,1700,0.00,2.35,0.00,0.000,4,0.000,0.061,3139,814,3459
$GC,1721,-1.00,-146.6,239.8,-13.2,144,1726,0.00,2.33,0.00,0.000,6,0.000,0.051,3139,2213,3459
$GC,2043,-1.00,-146.6,280.1,-12.2,160,2044,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,2213,3459
$GC,2349,-1.00,-146.6,316.0,-11.5,171,2353,0.00,2.35,0.00,0.000,4,0.000,0.061,3139,813,3458
$GC,2381,-1.00,-146.6,319.7,-11.1,171,2386,0.00,2.38,0.00,0.000,6,0.000,0.056,3139,2219,3459
$STATE,2478,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2478,begin apogee
$GC,2482,-0.23,0.0,330.2,11.0,173,2602,1.02,0.00,116.97,0.986,6,0.099,0.000,3310,2167,2860
$STATE,2603,end apogee,CONTROL_FINISHED_OK
$STATE,2603,begin climb
$GC,2604,1.00,146.6,334.8,0.0,175,2732,1.58,2.67,119.35,0.940,4,0.055,0.077,3577,3592,2262
$GC,2984,1.01,155.8,314.9,9.6,180,2999,0.00,2.40,9.07,0.851,6,0.000,0.044,3577,2173,2224
$GC,3322,1.05,185.4,284.9,8.7,191,3351,0.00,2.58,24.35,0.937,4,0.000,0.077,3577,3596,2104
$GC,3603,1.05,185.4,255.1,10.4,203,3611,0.00,2.40,0.00,0.000,6,0.000,0.044,3577,2181,2103
$GC,3919,1.05,185.4,223.3,10.7,219,3923,0.00,2.47,0.00,0.000,4,0.000,0.076,3577,3590,2103
$GC,4028,1.05,185.4,210.9,11.4,224,4033,0.00,2.38,0.00,0.000,6,0.000,0.045,3577,2172,2103
$GC,4356,1.06,191.1,178.8,9.7,240,4369,0.00,2.53,6.45,0.781,4,0.000,0.076,3576,3590,2080
$GC,4435,1.06,191.1,170.0,11.0,243,4443,0.00,2.38,0.00,0.000,6,0.000,0.046,3577,2178,2080
$GC,4755,1.08,212.7,137.6,9.0,265,4777,0.00,0.00,17.75,0.874,6,0.000,0.000,3576,2177,1992
$GC,5096,1.09,214.6,104.0,9.9,297,5101,0.12,2.38,0.00,0.000,4,0.070,0.061,3603,772,1991
$GC,5269,1.12,242.3,84.5,8.7,312,5302,0.00,2.35,23.92,0.841,6,0.000,0.051,3603,2191,1871
$GC,5636,1.16,271.4,54.7,8.7,372,5664,0.00,2.53,23.70,0.814,4,0.000,0.076,3603,3585,1753
$GC,5743,1.16,271.4,44.1,10.1,391,5749,0.00,2.35,0.00,0.000,6,0.000,0.044,3603,2176,1753
$GC,6076,1.17,284.6,12.7,9.4,426,6093,0.00,2.38,11.93,0.765,4,0.000,0.060,3603,776,1698
$GC,6127,1.18,294.2,7.8,9.6,430,6141,0.00,2.35,8.95,0.723,6,0.000,0.050,3603,2182,1659
$STATE,6200,end climb,SURFACE_DEPTH_REACHED
$STATE,6200,begin surface coast
$FINISH,0.4,1.014809
$STATE,6222,end surface coast,CONTROL_FINISHED_OK
$STATE,6222,begin surface
$SM_CCo,6242,137.98,0.721,0,0,426,597.31
$SM_GC,1.13,0.00,0.00,137.98,0.000,0.000,0.721,1376,2235,426,-9.14,0.40,597.31
$IRIDIUM_FIX,4742.09,-12556.92,200108,040415
$TT8_MAMPS,0.027612
$HUMID,1867
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,16.50
$XPDR_PINGS,15
$ALTIM_BOTTOM_PING,330.2,5.9
$24V_AH,23.9,6.944
$10V_AH,10.6,2.940
$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,27.825,62.550,362.450,137.975,0.000,200.177,348.818,52.764,6.000,0.000,0.000,15.919,803.361,4069.357,609.403,1159.402,677.280,33.336,1169.852,0.000,1139.207,0.000,16.685
$DEVICE_MAMPS,174.109,137.293,986.362,720.980,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,311.086,325.433,711.916,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22292,439
$CFSIZE,260165632,257544192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,200108,021717,4758.627,-12554.854,9,4.0,29,18.8