version: 66.02
glider: 119
mission: 3
dive: 46
start: 1 21 108 10 59 59
data:
$ID,119
$MISSION,3
$DIVE,46
$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,-15523.901
$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,27
$R_STBD_OVSHOOT,26
$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
$GPS1,104855,4758.476,-12614.603,23,1.1,42,18.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-57.6
$GPS2,105909,4758.506,-12614.637,11,1.2,11,18.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.208,-0.162
$KALMAN_X,21882.3,-1516.3,-701.0,-61946.4,18513.7
$KALMAN_Y,4295.8,1024.8,-606.9,-11557.4,8111.2
$MHEAD_RNG_PITCHd_Wd,213.1,171613,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.00,-146.6,0.0,0.0,0,133,0.00,0.00,-112.55,0.000,2,0.000,0.000,1376,2189,2728
$GC,135,-1.00,-146.6,3.9,-5.1,11,171,12.38,2.40,-17.10,0.000,4,0.170,0.075,3142,819,3460
$GC,424,-1.00,-146.6,57.5,-22.0,45,430,0.00,2.33,0.00,0.000,6,0.000,0.049,3142,2229,3460
$GC,755,-1.00,-146.6,108.8,-14.8,87,759,0.00,2.40,0.00,0.000,4,0.000,0.060,3142,813,3460
$GC,855,-1.00,-146.6,123.5,-14.9,96,860,0.00,2.33,0.00,0.000,6,0.000,0.051,3142,2218,3460
$GC,1175,-1.00,-146.6,167.1,-13.5,120,1180,0.00,2.38,0.00,0.000,4,0.000,0.060,3142,809,3460
$GC,1239,-1.00,-146.6,175.3,-13.5,123,1243,0.00,2.35,0.00,0.000,6,0.000,0.051,3142,2224,3460
$GC,1565,-1.00,-146.6,216.7,-12.6,139,1569,0.00,2.38,0.00,0.000,4,0.000,0.061,3142,812,3460
$GC,1591,-1.00,-146.6,220.1,-12.6,140,1596,0.00,2.35,0.00,0.000,6,0.000,0.051,3142,2219,3460
$GC,1918,-1.00,-146.6,260.1,-12.5,156,1922,0.00,2.38,0.00,0.000,4,0.000,0.061,3142,807,3460
$GC,1967,-1.00,-146.6,266.3,-12.6,158,1972,0.00,2.35,0.00,0.000,6,0.000,0.053,3142,2219,3459
$GC,2328,-1.00,-146.6,308.0,-11.3,174,2332,0.00,2.38,0.00,0.000,4,0.000,0.062,3142,810,3460
$GC,2389,-1.00,-146.6,314.7,-11.3,175,2393,0.00,2.33,0.00,0.000,6,0.000,0.054,3142,2221,3460
$GC,2754,-1.00,-146.6,354.7,-11.0,181,2755,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2221,3460
$GC,3057,-1.00,-146.6,387.8,-10.9,186,3061,0.00,2.38,0.00,0.000,4,0.000,0.064,3142,812,3459
$GC,3089,-1.00,-146.6,391.7,-11.0,186,3094,0.00,2.35,0.00,0.000,6,0.000,0.056,3142,2215,3459
$STATE,3181,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3181,begin apogee
$GC,3185,-0.23,0.0,401.9,11.5,188,3307,1.00,0.00,118.32,1.045,6,0.098,0.000,3309,2216,2860
$STATE,3307,end apogee,CONTROL_FINISHED_OK
$STATE,3307,begin climb
$GC,3309,1.00,146.6,407.3,0.0,190,3439,1.60,2.67,120.90,0.997,4,0.061,0.061,3576,777,2262
$GC,3578,1.02,159.8,400.3,9.4,194,3596,0.00,2.45,12.60,0.937,6,0.000,0.051,3576,2182,2208
$GC,3927,1.02,159.9,366.1,10.0,200,3931,0.00,2.50,0.00,0.000,4,0.000,0.081,3576,3590,2208
$GC,4183,1.02,159.9,337.9,10.7,203,4190,0.00,2.40,0.00,0.000,6,0.000,0.046,3576,2175,2207
$GC,4492,1.02,163.1,307.6,9.9,209,4501,0.00,2.50,4.43,0.712,4,0.000,0.077,3576,3593,2193
$GC,4619,1.02,163.1,294.6,10.4,210,4626,0.00,2.38,0.00,0.000,6,0.000,0.046,3577,2183,2193
$GC,4935,1.05,181.2,265.3,9.2,226,4957,0.00,2.47,15.20,0.951,4,0.000,0.075,3576,3586,2120
$GC,5073,1.05,181.2,250.5,10.3,232,5078,0.00,2.38,0.00,0.000,6,0.000,0.047,3576,2185,2121
$GC,5400,1.05,181.2,217.1,10.5,248,5404,0.00,2.45,0.00,0.000,4,0.000,0.076,3576,3586,2120
$GC,5432,1.05,181.2,213.4,11.0,249,5440,0.00,2.35,0.00,0.000,6,0.000,0.046,3577,2185,2120
$GC,5748,1.05,181.2,181.1,10.3,265,5752,0.00,2.42,0.00,0.000,4,0.000,0.075,3576,3586,2120
$GC,5847,1.05,181.2,170.5,11.0,269,5851,0.00,2.35,0.00,0.000,6,0.000,0.046,3576,2176,2120
$GC,6171,1.08,211.3,140.7,8.6,290,6203,0.12,0.00,24.35,0.897,6,0.071,0.000,3601,2176,1997
$GC,6520,1.08,211.3,104.2,10.1,323,6524,0.00,2.47,0.00,0.000,4,0.000,0.074,3601,3593,1998
$GC,6553,1.08,211.3,100.5,11.1,326,6557,0.00,2.35,0.00,0.000,6,0.000,0.046,3601,2179,1998
$GC,6882,1.10,223.0,71.9,9.5,364,6900,0.00,2.45,10.80,0.818,4,0.000,0.073,3601,3586,1950
$GC,7153,1.16,271.1,51.9,7.8,412,7198,0.00,2.33,37.72,0.824,6,0.000,0.045,3601,2172,1754
$GC,7527,1.20,304.4,18.0,8.5,460,7561,0.12,2.53,26.85,0.795,4,0.072,0.072,3626,3586,1618
$STATE,7662,end climb,SURFACE_DEPTH_REACHED
$STATE,7662,begin surface coast
$FINISH,1.0,1.025256
$STATE,7673,end surface coast,CONTROL_FINISHED_OK
$STATE,7673,begin surface
$SM_CCo,7694,133.50,0.731,0,0,424,597.31
$SM_GC,1.14,0.00,0.00,133.50,0.000,0.000,0.731,1378,2217,424,-9.13,-0.08,597.31
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1854
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,16.20
$XPDR_PINGS,20
$ALTIM_BOTTOM_PING,401.9,5.6
$24V_AH,23.7,9.155
$10V_AH,10.6,3.925
$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,27.875,76.850,371.175,133.500,0.000,142.287,155.818,0.000,8.250,0.000,0.000,13.115,878.112,5301.836,638.580,1251.082,383.238,33.335,1241.184,0.000,1235.409,0.000,24.345
$DEVICE_MAMPS,169.507,80.535,1044.654,730.951,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,334.965,358.364,729.621,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22287,473
$CFSIZE,260165632,256778240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,210108,131129,4757.961,-12615.049,8,2.6,28,18.9