version: 66.02
glider: 119
mission: 3
dive: 51
start: 1 21 108 23 30 25
data:
$ID,119
$MISSION,3
$DIVE,51
$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,-15618.317
$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
$GPS1,232050,4757.905,-12621.082,32,1.8,32,18.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-63.5
$GPS2,232933,4757.906,-12621.089,11,2.0,11,18.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.207,-0.163
$KALMAN_X,28712.2,-1982.4,-700.1,-76294.8,18895.5
$KALMAN_Y,4361.5,-2063.9,-287.4,-9946.7,4186.7
$MHEAD_RNG_PITCHd_Wd,212.9,164646,-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,-112.03,0.000,2,0.000,0.000,1378,2235,2711
$GC,134,-1.00,-146.6,3.7,-4.5,11,170,12.35,2.45,-18.20,0.000,4,0.169,0.074,3135,805,3460
$GC,406,-1.00,-146.6,57.0,-19.1,43,412,0.00,2.33,0.00,0.000,6,0.000,0.049,3135,2211,3460
$GC,743,-1.00,-146.6,112.3,-13.6,85,747,0.00,2.35,0.00,0.000,4,0.000,0.058,3135,817,3460
$GC,815,-1.00,-146.6,122.8,-15.2,91,819,0.00,2.33,0.00,0.000,6,0.000,0.050,3135,2224,3460
$GC,1135,-1.00,-146.6,169.0,-14.2,115,1137,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2224,3460
$GC,1445,-1.00,-146.6,210.8,-12.8,130,1446,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2224,3460
$GC,1755,-1.00,-146.6,250.4,-12.7,145,1759,0.00,2.38,0.00,0.000,4,0.000,0.061,3135,813,3460
$GC,1820,-1.00,-146.6,258.7,-11.6,148,1825,0.00,2.33,0.00,0.000,6,0.000,0.051,3135,2214,3460
$GC,2147,-1.00,-146.6,298.7,-12.4,164,2148,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2214,3460
$GC,2470,-1.00,-146.6,339.4,-12.6,170,2472,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2214,3460
$GC,2774,-1.00,-146.6,377.6,-12.6,175,2778,0.00,2.35,0.00,0.000,4,0.000,0.063,3135,817,3460
$GC,2802,-1.00,-146.6,381.1,-13.2,175,2806,0.00,2.33,0.00,0.000,6,0.000,0.055,3135,2218,3460
$GC,3133,-1.00,-146.6,422.4,-12.5,181,3138,0.00,2.38,0.00,0.000,4,0.000,0.064,3135,809,3460
$GC,3204,-1.00,-146.6,431.7,-12.9,182,3209,0.00,2.35,0.00,0.000,6,0.000,0.055,3135,2220,3460
$STATE,3384,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3384,begin apogee
$GC,3389,-0.23,0.0,453.8,12.6,185,3511,1.05,0.00,118.78,1.082,6,0.098,0.000,3310,2170,2860
$STATE,3511,end apogee,CONTROL_FINISHED_OK
$STATE,3512,begin climb
$GC,3513,1.00,146.6,459.5,0.0,187,3643,1.58,2.60,121.07,1.037,4,0.057,0.064,3576,787,2262
$GC,3743,1.00,146.6,455.1,10.1,190,3748,0.00,2.45,0.00,0.000,6,0.000,0.052,3576,2181,2261
$GC,4070,1.03,166.9,424.8,9.1,196,4094,0.00,2.58,17.80,1.009,4,0.000,0.079,3576,3583,2179
$GC,4324,1.03,166.9,396.8,10.8,199,4329,0.00,2.40,0.00,0.000,6,0.000,0.047,3576,2183,2178
$GC,4639,1.03,166.9,363.6,10.7,205,4640,0.00,0.00,0.00,0.000,6,0.000,0.000,3576,2183,2178
$GC,4942,1.03,166.9,331.2,10.7,210,4946,0.00,2.45,0.00,0.000,4,0.000,0.077,3576,3590,2178
$GC,5199,1.03,166.9,302.5,11.4,213,5206,0.00,2.38,0.00,0.000,6,0.000,0.047,3576,2177,2178
$GC,5513,1.05,182.5,272.1,9.3,227,5535,0.00,2.50,13.52,0.955,4,0.000,0.077,3576,3579,2115
$GC,5786,1.05,182.5,243.2,10.1,239,5791,0.00,2.35,0.00,0.000,6,0.000,0.047,3576,2185,2114
$GC,6114,1.08,206.5,214.0,8.9,255,6139,0.00,2.47,19.95,0.938,4,0.000,0.075,3576,3589,2017
$GC,6183,1.08,206.5,206.5,11.5,258,6188,0.00,2.40,0.00,0.000,6,0.000,0.046,3576,2175,2018
$GC,6504,1.08,206.5,172.6,10.4,274,6509,0.00,2.47,0.00,0.000,4,0.000,0.075,3576,3589,2018
$GC,6575,1.08,206.5,164.6,11.0,277,6580,0.00,2.35,0.00,0.000,6,0.000,0.046,3576,2187,2017
$GC,6902,1.08,207.7,133.3,9.9,301,6906,0.00,2.42,0.00,0.000,4,0.000,0.074,3577,3590,2017
$GC,6992,1.08,207.7,123.7,10.1,309,6996,0.00,2.33,0.00,0.000,6,0.000,0.045,3576,2181,2017
$GC,7316,1.11,237.1,93.6,8.7,339,7350,0.15,2.45,24.48,0.867,4,0.064,0.061,3607,775,1893
$GC,7451,1.11,237.1,79.3,10.3,351,7458,0.00,2.35,0.00,0.000,6,0.000,0.050,3607,2191,1893
$GC,7796,1.16,278.5,51.4,8.1,412,7836,0.00,2.47,33.00,0.826,4,0.000,0.074,3607,3590,1724
$GC,7987,1.16,278.5,30.7,11.7,439,7991,0.00,2.38,0.00,0.000,6,0.000,0.044,3607,2172,1724
$STATE,8235,end climb,SURFACE_DEPTH_REACHED
$STATE,8235,begin surface coast
$FINISH,0.8,1.025237
$STATE,8248,end surface coast,CONTROL_FINISHED_OK
$STATE,8248,begin surface
$SM_CCo,8268,146.80,0.739,0,0,425,597.31
$SM_GC,1.32,0.00,0.00,146.80,0.000,0.000,0.739,1378,2226,425,-9.13,0.17,597.31
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1865
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,16.10
$XPDR_PINGS,30
$ALTIM_BOTTOM_PING,453.8,5.6
$24V_AH,23.7,9.911
$10V_AH,10.6,4.259
$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,27.575,67.525,348.600,146.800,0.000,128.689,75.169,0.000,11.250,0.000,0.000,12.662,883.066,5878.947,606.975,1290.955,290.810,33.338,1231.569,0.000,1269.632,0.000,27.575
$DEVICE_MAMPS,168.740,96.642,1082.237,738.621,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,327.901,348.654,692.746,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22283,463
$CFSIZE,260165632,256524288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,220108,015155,4757.025,-12621.678,22,0.8,40,18.9