version: 66.02
glider: 119
mission: 3
dive: 59
start: 1 22 108 22 9 25
data:
$ID,119
$MISSION,3
$DIVE,59
$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,-15754.159
$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,34
$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
$GPS1,215931,4801.076,-12621.762,36,1.3,36,18.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-71.0
$GPS2,220833,4801.027,-12621.769,9,1.7,9,18.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,CAPE_FLATTERY
$TGT_LATLONG,4809.000,-12540.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.257,0.061
$KALMAN_X,12969.2,427.6,-143.7,-64382.1,-9958.7
$KALMAN_Y,-1573.6,945.6,-316.6,-1234.5,-2590.9
$MHEAD_RNG_PITCHd_Wd,57.8,53681,-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,16,begin dive
$GC,17,-1.00,-146.6,0.0,0.0,0,122,0.00,0.00,-101.65,0.000,2,0.000,0.000,1376,2232,2474
$GC,124,-1.00,-146.6,3.0,-4.0,10,172,12.35,2.42,-29.88,0.000,4,0.169,0.074,3140,818,3458
$GC,255,-1.00,-146.6,24.7,-19.2,21,262,0.00,2.35,0.00,0.000,6,0.000,0.049,3140,2212,3458
$GC,596,-1.00,-146.6,87.1,-15.8,71,600,0.00,2.38,0.00,0.000,4,0.000,0.061,3140,817,3458
$GC,679,-1.00,-146.6,99.9,-15.2,78,683,0.00,2.33,0.00,0.000,6,0.000,0.050,3140,2223,3458
$GC,1003,-1.00,-146.6,147.1,-13.6,108,1004,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2223,3458
$GC,1324,-1.00,-146.6,186.3,-12.0,125,1328,0.00,2.38,0.00,0.000,4,0.000,0.061,3140,815,3458
$GC,1400,-1.00,-146.6,195.6,-11.6,128,1408,0.00,2.33,0.00,0.000,6,0.000,0.050,3140,2214,3458
$GC,1716,-1.00,-146.6,235.2,-13.2,144,1717,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2214,3458
$GC,2028,-1.00,-146.6,277.2,-13.6,159,2032,0.00,2.35,0.00,0.000,4,0.000,0.061,3140,816,3458
$GC,2076,-1.00,-146.6,284.1,-12.8,161,2081,0.00,2.33,0.00,0.000,6,0.000,0.053,3140,2213,3458
$GC,2396,-1.00,-146.6,326.2,-13.4,171,2400,0.00,2.35,0.00,0.000,4,0.000,0.061,3140,814,3458
$GC,2444,-1.00,-146.6,333.2,-13.5,171,2449,0.00,2.33,0.00,0.000,6,0.000,0.054,3140,2211,3458
$GC,2761,-1.00,-146.6,372.1,-12.2,177,2762,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2211,3458
$STATE,3003,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3003,begin apogee
$GC,3007,-0.23,0.0,401.3,12.1,181,3128,1.00,0.00,118.07,1.041,6,0.097,0.000,3306,2211,2860
$STATE,3129,end apogee,CONTROL_FINISHED_OK
$STATE,3129,begin climb
$GC,3131,1.00,146.6,407.3,0.0,183,3261,1.60,2.67,120.28,0.999,4,0.058,0.061,3576,778,2262
$GC,3282,1.14,256.0,410.9,5.0,185,3379,0.12,2.50,90.25,0.983,6,0.058,0.051,3607,2181,1815
$GC,3744,1.14,256.0,339.5,16.8,193,3748,0.00,2.50,0.00,0.000,4,0.000,0.077,3607,3586,1816
$GC,3826,1.14,256.0,324.8,17.6,194,3831,0.00,2.40,0.00,0.000,6,0.000,0.046,3607,2187,1816
$GC,4158,1.14,256.0,270.0,16.4,205,4162,0.00,2.47,0.00,0.000,4,0.000,0.076,3607,3587,1816
$GC,4189,1.14,256.0,264.6,16.6,206,4197,0.00,2.38,0.00,0.000,6,0.000,0.046,3607,2185,1816
$GC,4505,1.14,256.0,216.7,14.5,222,4509,0.00,2.45,0.00,0.000,4,0.000,0.073,3607,3587,1816
$GC,4548,1.14,256.0,209.8,15.6,224,4553,0.00,2.38,0.00,0.000,6,0.000,0.045,3607,2174,1816
$GC,4876,1.14,256.0,162.3,14.4,240,4880,0.00,2.47,0.00,0.000,4,0.000,0.075,3607,3591,1815
$GC,5015,1.14,256.0,140.2,16.4,249,5019,0.00,2.35,0.00,0.000,6,0.000,0.046,3607,2171,1815
$GC,5340,1.14,256.0,95.7,13.6,279,5344,0.00,2.45,0.00,0.000,4,0.000,0.073,3607,3586,1815
$GC,5383,1.14,256.0,89.1,14.5,282,5390,0.00,2.35,0.00,0.000,6,0.000,0.046,3607,2178,1815
$GC,5722,1.17,281.3,56.1,8.8,335,5750,0.00,2.42,20.62,0.841,4,0.000,0.063,3607,778,1712
$GC,5761,1.17,281.3,52.2,10.0,342,5768,0.00,2.35,0.00,0.000,6,0.000,0.051,3607,2190,1713
$GC,6098,1.17,281.3,17.5,10.4,384,6102,0.00,2.40,0.00,0.000,4,0.000,0.075,3608,3581,1713
$GC,6140,1.17,281.3,12.5,12.1,387,6148,0.00,2.33,0.00,0.000,6,0.000,0.044,3608,2184,1713
$STATE,6241,end climb,SURFACE_DEPTH_REACHED
$STATE,6241,begin surface coast
$FINISH,0.7,1.013490
$STATE,6253,end surface coast,CONTROL_FINISHED_OK
$STATE,6253,begin surface
$SM_CCo,6273,141.77,0.751,0,0,425,597.31
$SM_GC,1.33,0.00,0.00,141.77,0.000,0.000,0.751,1376,2230,425,-9.14,0.28,597.31
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1846
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,16.00
$XPDR_PINGS,14
$ALTIM_BOTTOM_PING,401.3,5.7
$24V_AH,23.6,11.079
$10V_AH,10.6,4.784
$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,27.475,62.475,349.225,141.775,0.000,131.708,90.227,0.000,6.500,0.000,0.000,11.168,733.293,4330.478,604.256,998.788,303.330,33.349,1108.546,0.000,986.622,0.000,21.523
$DEVICE_MAMPS,168.740,107.380,1040.819,750.893,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,282.701,294.387,619.020,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19135,398
$CFSIZE,260165632,256106496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,220108,235737,4801.403,-12620.725,31,1.1,43,18.9