version: 66.02
glider: 119
mission: 3
dive: 49
start: 1 21 108 18 42 55
data:
$ID,119
$MISSION,3
$DIVE,49
$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,-15589.903
$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,33
$R_STBD_OVSHOOT,22
$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
$GPS1,182707,4757.594,-12618.053,42,1.3,42,18.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-59.8
$GPS2,184203,4757.550,-12618.154,13,1.2,13,18.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.263,0.011
$KALMAN_X,24700.6,-1206.5,-888.4,-69235.6,13834.6
$KALMAN_Y,7265.6,-1297.1,-834.4,-13731.9,7064.0
$MHEAD_RNG_PITCHd_Wd,253.5,167055,-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,-112.15,0.000,2,0.000,0.000,1378,2212,2669
$GC,134,-1.00,-146.6,3.0,-2.4,11,177,12.35,2.55,-20.62,0.000,4,0.170,0.088,3138,3629,3459
$GC,364,-1.00,-146.6,46.0,-18.9,34,370,0.00,2.33,0.00,0.000,6,0.000,0.046,3138,2224,3459
$GC,698,-1.00,-146.6,102.7,-14.3,81,702,0.00,2.45,0.00,0.000,4,0.000,0.074,3138,3633,3459
$GC,729,-1.00,-146.6,107.6,-15.7,83,737,0.00,2.35,0.00,0.000,6,0.000,0.045,3138,2225,3459
$GC,1065,-1.00,-146.6,153.7,-12.9,114,1069,0.00,2.38,0.00,0.000,4,0.000,0.061,3137,809,3459
$GC,1130,-1.00,-146.6,162.4,-12.5,117,1135,0.00,2.35,0.00,0.000,6,0.000,0.049,3138,2218,3459
$GC,1457,-1.00,-146.6,205.2,-13.3,133,1461,0.00,2.38,0.00,0.000,4,0.000,0.061,3138,806,3459
$GC,1477,-1.00,-146.6,208.0,-12.7,134,1482,0.00,2.38,0.00,0.000,6,0.000,0.051,3138,2219,3459
$GC,1807,-1.00,-146.6,250.5,-12.5,150,1811,0.00,2.38,0.00,0.000,4,0.000,0.061,3138,807,3459
$GC,1839,-1.00,-146.6,255.0,-12.9,151,1846,0.00,2.35,0.00,0.000,6,0.000,0.051,3138,2218,3459
$GC,2154,-1.00,-146.6,293.8,-12.4,167,2158,0.00,2.38,0.00,0.000,4,0.000,0.061,3138,807,3459
$GC,2186,-1.00,-146.6,297.9,-12.7,168,2193,0.00,2.35,0.00,0.000,6,0.000,0.053,3138,2218,3459
$GC,2516,-1.00,-146.6,338.6,-12.3,175,2520,0.00,2.38,0.00,0.000,4,0.000,0.062,3138,810,3459
$GC,2548,-1.00,-146.6,342.7,-12.2,175,2553,0.00,2.35,0.00,0.000,6,0.000,0.054,3138,2218,3459
$GC,2880,-1.00,-146.6,383.4,-12.3,181,2884,0.00,2.38,0.00,0.000,4,0.000,0.064,3138,809,3459
$GC,2928,-1.00,-146.6,389.3,-11.8,181,2933,0.00,2.35,0.00,0.000,6,0.000,0.055,3138,2215,3458
$STATE,3245,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3245,begin apogee
$GC,3248,-0.23,0.0,425.2,11.3,187,3370,1.02,0.00,118.43,1.061,6,0.098,0.000,3309,2215,2860
$STATE,3371,end apogee,CONTROL_FINISHED_OK
$STATE,3371,begin climb
$GC,3372,1.00,146.6,430.4,0.0,189,3503,1.58,2.65,120.65,1.012,4,0.061,0.078,3573,3589,2262
$GC,3757,1.02,160.1,411.2,9.4,194,3776,0.00,2.40,12.60,0.957,6,0.000,0.045,3573,2174,2207
$GC,4131,1.04,176.4,376.3,9.3,201,4150,0.00,2.55,14.50,0.977,4,0.000,0.077,3573,3588,2140
$GC,4379,1.04,176.4,350.0,10.7,204,4384,0.00,2.40,0.00,0.000,6,0.000,0.047,3573,2184,2140
$GC,4695,1.05,181.8,319.3,9.8,210,4706,0.00,2.50,6.15,0.834,4,0.000,0.076,3573,3591,2117
$GC,4805,1.05,181.8,307.4,10.4,211,4810,0.00,2.38,0.00,0.000,6,0.000,0.046,3573,2185,2117
$GC,5130,1.05,181.8,275.6,10.0,223,5134,0.00,2.47,0.00,0.000,4,0.000,0.077,3573,3594,2117
$GC,5214,1.05,181.8,266.7,10.8,227,5219,0.00,2.35,0.00,0.000,6,0.000,0.045,3573,2178,2117
$GC,5540,1.06,195.0,234.6,9.4,243,5562,0.00,2.53,11.77,0.923,4,0.000,0.077,3573,3587,2065
$GC,5594,1.06,195.0,229.1,10.0,245,5599,0.00,2.38,0.00,0.000,6,0.000,0.046,3573,2182,2065
$GC,5915,1.06,195.0,196.7,10.2,261,5919,0.00,2.47,0.00,0.000,4,0.000,0.077,3573,3594,2065
$GC,6031,1.06,195.0,184.2,10.6,266,6036,0.00,2.35,0.00,0.000,6,0.000,0.045,3573,2186,2065
$GC,6353,1.07,205.0,153.0,9.5,282,6368,0.12,2.45,9.35,0.854,4,0.071,0.075,3600,3590,2024
$GC,6502,1.07,205.0,134.3,12.8,293,6509,0.00,2.35,0.00,0.000,6,0.000,0.045,3599,2186,2024
$GC,6829,1.08,212.6,98.2,9.7,324,6841,0.00,2.50,7.57,0.795,4,0.000,0.074,3599,3596,1993
$GC,6897,1.08,212.6,90.9,10.3,330,6901,0.00,2.35,0.00,0.000,6,0.000,0.044,3598,2174,1992
$GC,7232,1.21,317.6,68.3,5.2,378,7320,0.15,2.58,80.62,0.821,4,0.079,0.071,3626,3588,1565
$GC,7545,1.21,317.6,28.7,15.2,428,7549,0.00,2.38,0.00,0.000,6,0.000,0.044,3627,2181,1565
$STATE,7740,end climb,SURFACE_DEPTH_REACHED
$STATE,7740,begin surface coast
$FINISH,0.5,1.010018
$STATE,7752,end surface coast,CONTROL_FINISHED_OK
$STATE,7752,begin surface
$SM_CCo,7772,126.60,0.739,0,0,425,597.31
$SM_GC,1.34,0.00,0.00,126.60,0.000,0.000,0.739,1377,2235,425,-9.13,0.45,597.31
$IRIDIUM_FIX,4738.89,-12615.58,210108,222225
$TT8_MAMPS,0.028379
$HUMID,1867
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,16.20
$XPDR_PINGS,18
$ALTIM_BOTTOM_PING,425.2,5.6
$24V_AH,23.7,9.620
$10V_AH,10.6,4.129
$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,27.900,82.175,381.650,126.600,0.000,197.524,375.841,0.000,7.750,0.000,0.000,14.864,848.297,5419.222,626.534,1246.618,664.745,33.348,1252.729,0.000,1230.495,0.000,23.148
$DEVICE_MAMPS,170.274,89.739,1060.761,738.621,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,316.466,337.788,675.955,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22199,447
$CFSIZE,260165632,256618496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,210108,205537,4757.650,-12619.777,29,1.0,29,18.9