version: 66.02
glider: 119
mission: 3
dive: 36
start: 1 20 108 13 0 57
data:
$ID,119
$MISSION,3
$DIVE,36
$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,-15323.806
$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,29
$R_STBD_OVSHOOT,28
$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
$GPS1,124938,4759.066,-12601.548,24,1.9,25,18.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-65.3
$GPS2,130007,4759.094,-12601.587,14,1.3,30,18.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.216,-0.152
$KALMAN_X,13912.8,-1478.2,-990.0,-37562.2,20377.5
$KALMAN_Y,836.1,-1405.9,-528.1,-4642.3,8050.2
$MHEAD_RNG_PITCHd_Wd,216.0,185329,-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,-146.6,0.0,0.0,0,132,0.00,0.00,-111.85,0.000,2,0.000,0.000,1378,2230,2701
$GC,134,-1.00,-146.6,4.0,-6.0,11,173,12.95,2.47,-17.67,0.000,4,0.190,0.090,3134,3620,3460
$GC,311,-1.00,-146.6,39.9,-18.2,27,320,0.00,2.35,0.00,0.000,6,0.000,0.044,3134,2223,3460
$GC,655,-1.00,-146.6,99.8,-14.3,77,659,0.00,2.38,0.00,0.000,4,0.000,0.061,3134,814,3460
$GC,686,-1.00,-146.6,104.7,-14.5,79,694,0.00,2.33,0.00,0.000,6,0.000,0.050,3135,2209,3460
$GC,1012,-1.00,-146.6,148.5,-13.8,110,1016,0.00,2.35,0.00,0.000,4,0.000,0.061,3135,816,3460
$GC,1034,-1.00,-146.6,151.5,-14.1,112,1038,0.00,2.33,0.00,0.000,6,0.000,0.051,3135,2216,3460
$GC,1359,-1.00,-146.6,196.4,-13.9,128,1360,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2217,3460
$GC,1668,-1.00,-146.6,238.3,-13.3,143,1672,0.00,2.38,0.00,0.000,4,0.000,0.061,3135,806,3460
$GC,1711,-1.00,-146.6,243.9,-12.2,145,1716,0.00,2.38,0.00,0.000,6,0.000,0.054,3135,2223,3460
$GC,2038,-1.00,-146.6,283.1,-11.9,161,2042,0.00,2.38,0.00,0.000,4,0.000,0.063,3135,814,3460
$GC,2100,-1.00,-146.6,290.6,-11.7,164,2104,0.00,2.33,0.00,0.000,6,0.000,0.055,3134,2221,3460
$GC,2441,-1.00,-146.6,333.5,-12.8,173,2445,0.00,2.38,0.00,0.000,4,0.000,0.063,3134,813,3460
$GC,2467,-1.00,-146.6,337.0,-13.4,173,2472,0.00,2.35,0.00,0.000,6,0.000,0.056,3135,2218,3460
$STATE,2806,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2806,begin apogee
$GC,2810,-0.23,0.0,377.6,11.9,179,2931,1.05,0.00,117.82,1.024,6,0.101,0.000,3309,2166,2860
$STATE,2932,end apogee,CONTROL_FINISHED_OK
$STATE,2932,begin climb
$GC,2934,1.00,146.6,381.8,0.0,181,3064,1.60,2.53,120.12,0.976,4,0.059,0.061,3577,784,2261
$GC,3102,1.06,192.7,381.8,7.9,183,3148,0.00,2.47,39.00,0.958,6,0.000,0.052,3577,2180,2073
$GC,3485,1.06,192.7,336.5,12.1,190,3489,0.00,2.50,0.00,0.000,4,0.000,0.080,3577,3585,2072
$GC,3573,1.06,192.7,325.8,12.2,191,3578,0.00,2.38,0.00,0.000,6,0.000,0.047,3577,2193,2072
$GC,3897,1.06,192.7,289.5,11.7,198,3901,0.00,2.47,0.00,0.000,4,0.000,0.078,3577,3592,2072
$GC,3945,1.06,192.7,283.1,13.1,200,3950,0.00,2.38,0.00,0.000,6,0.000,0.048,3577,2187,2072
$GC,4266,1.06,192.7,245.3,11.4,216,4271,0.00,2.45,0.00,0.000,4,0.000,0.078,3577,3586,2072
$GC,4328,1.06,192.7,237.9,12.3,219,4332,0.00,2.33,0.00,0.000,6,0.000,0.048,3577,2179,2072
$GC,4654,1.06,197.2,203.0,9.8,235,4664,0.00,2.47,4.97,0.726,4,0.000,0.077,3577,3589,2054
$GC,4804,1.06,197.2,185.7,12.8,242,4809,0.00,2.35,0.00,0.000,6,0.000,0.048,3577,2172,2055
$GC,5130,1.07,204.9,153.0,9.6,258,5140,0.00,0.00,7.70,0.819,6,0.000,0.000,3577,2172,2024
$GC,5447,1.07,204.9,121.2,10.3,286,5452,0.00,2.47,0.00,0.000,4,0.000,0.077,3577,3591,2024
$GC,5610,1.07,204.9,103.5,11.4,300,5614,0.00,2.33,0.00,0.000,6,0.000,0.047,3577,2181,2024
$GC,5936,1.15,264.2,76.8,7.3,334,5992,0.17,2.58,45.53,0.847,4,0.062,0.075,3617,3593,1783
$GC,6087,1.15,264.2,60.9,10.8,361,6094,0.00,2.38,0.00,0.000,6,0.000,0.045,3616,2171,1783
$GC,6424,1.15,269.0,28.3,9.8,411,6436,0.00,2.47,6.03,0.693,4,0.000,0.072,3617,3586,1762
$GC,6481,1.15,269.0,22.2,11.6,416,6485,0.00,2.35,0.00,0.000,6,0.000,0.045,3616,2169,1762
$STATE,6676,end climb,SURFACE_DEPTH_REACHED
$STATE,6676,begin surface coast
$FINISH,0.5,1.025223
$STATE,6688,end surface coast,CONTROL_FINISHED_OK
$STATE,6688,begin surface
$SM_CCo,6707,148.82,0.736,0,0,424,597.31
$SM_GC,1.12,0.00,0.00,148.82,0.000,0.000,0.736,1374,2238,424,-9.15,0.48,597.31
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1877
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,16.30
$XPDR_PINGS,19
$ALTIM_BOTTOM_PING,377.6,5.7
$24V_AH,23.8,7.750
$10V_AH,10.6,3.299
$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,28.200,67.475,341.175,148.825,0.000,144.534,150.337,0.000,7.500,0.000,0.000,32.088,790.235,4627.703,609.637,1102.137,367.142,33.339,1143.330,0.000,1071.435,0.000,19.913
$DEVICE_MAMPS,190.216,98.943,1023.945,736.320,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,308.479,328.085,684.568,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22195,435
$CFSIZE,260165632,257257472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,200108,145625,4758.785,-12602.859,37,1.4,38,18.9