version: 66.02
glider: 119
mission: 3
dive: 65
start: 1 23 108 12 36 31
data:
$ID,119
$MISSION,3
$DIVE,65
$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,-15868.683
$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,26
$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
$GPS1,122507,4805.757,-12617.273,9,1.4,26,18.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-68.0
$GPS2,123539,4805.770,-12617.303,14,1.6,14,18.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,CAPE_FLATTERY
$TGT_LATLONG,4809.000,-12540.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.263,-0.021
$KALMAN_X,288.5,1584.1,1019.7,-48556.3,-20686.0
$KALMAN_Y,-2589.1,-40.5,42.4,9177.3,-1592.3
$MHEAD_RNG_PITCHd_Wd,75.6,46479,-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,-112.35,0.000,2,0.000,0.000,1379,2234,2692
$GC,135,-1.00,-146.6,3.5,-3.1,11,172,12.35,2.40,-19.08,0.000,4,0.170,0.086,3137,3617,3459
$GC,262,-1.00,-146.6,28.8,-18.8,22,266,0.00,2.33,0.00,0.000,6,0.000,0.044,3137,2216,3459
$GC,602,-1.00,-146.6,95.0,-17.1,70,606,0.00,2.38,0.00,0.000,4,0.000,0.062,3137,810,3459
$GC,701,-1.00,-146.6,110.4,-14.1,78,709,0.00,2.35,0.00,0.000,6,0.000,0.049,3137,2212,3460
$GC,1026,-1.00,-146.6,154.0,-13.4,108,1028,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2212,3459
$GC,1335,-1.00,-146.6,194.5,-13.2,123,1339,0.00,2.35,0.00,0.000,4,0.000,0.059,3137,816,3459
$GC,1379,-1.00,-146.6,200.5,-13.2,125,1383,0.00,2.30,0.00,0.000,6,0.000,0.051,3137,2219,3459
$GC,1705,-1.00,-146.6,242.9,-12.6,141,1706,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2219,3459
$GC,2014,-1.00,-146.6,281.7,-12.8,156,2015,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2219,3459
$GC,2361,-1.00,-146.6,323.8,-11.8,167,2365,0.00,2.35,0.00,0.000,4,0.000,0.061,3137,816,3459
$GC,2460,-1.00,-146.6,336.0,-12.3,168,2465,0.00,2.35,0.00,0.000,6,0.000,0.055,3137,2221,3459
$GC,2793,-1.00,-146.6,375.6,-12.1,174,2797,0.00,2.38,0.00,0.000,4,0.000,0.063,3137,810,3459
$GC,2869,-1.00,-146.6,385.2,-11.6,175,2874,0.00,2.35,0.00,0.000,6,0.000,0.056,3137,2212,3459
$STATE,3045,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3045,begin apogee
$GC,3049,-0.23,0.0,405.7,11.9,178,3170,1.02,0.00,118.05,1.050,6,0.100,0.000,3306,2214,2860
$STATE,3171,end apogee,CONTROL_FINISHED_OK
$STATE,3171,begin climb
$GC,3173,1.00,146.6,411.3,0.0,180,3303,1.60,2.65,120.45,1.012,4,0.061,0.077,3575,3592,2262
$GC,3556,1.00,148.6,391.3,9.9,185,3562,0.00,2.40,0.00,0.000,6,0.000,0.044,3575,2175,2262
$GC,3864,1.04,178.6,364.3,8.6,191,3898,0.00,2.58,26.67,0.998,4,0.000,0.076,3575,3588,2131
$GC,4066,1.04,178.6,340.7,11.8,194,4071,0.00,2.40,0.00,0.000,6,0.000,0.045,3575,2186,2131
$GC,4432,1.04,178.6,301.5,10.6,200,4433,0.00,0.00,0.00,0.000,6,0.000,0.000,3575,2186,2130
$GC,4740,1.07,200.1,272.2,9.0,213,4761,0.00,0.00,18.30,0.960,6,0.000,0.000,3575,2186,2044
$GC,5069,1.07,200.1,238.9,10.5,229,5073,0.00,2.47,0.00,0.000,4,0.000,0.076,3575,3596,2044
$GC,5231,1.07,200.1,220.2,12.1,236,5235,0.00,2.38,0.00,0.000,6,0.000,0.044,3575,2182,2044
$GC,5558,1.07,200.1,185.4,10.2,252,5561,0.00,2.45,0.00,0.000,4,0.000,0.074,3575,3592,2044
$GC,5708,1.07,200.1,168.3,11.4,258,5715,0.00,2.35,0.00,0.000,6,0.000,0.045,3575,2185,2044
$GC,6027,1.07,200.1,134.6,11.1,280,6028,0.00,0.00,0.00,0.000,6,0.000,0.000,3575,2185,2044
$GC,6346,1.07,200.1,102.6,10.2,310,6350,0.00,2.42,0.00,0.000,4,0.000,0.073,3575,3590,2044
$GC,6422,1.08,206.7,95.0,9.7,316,6434,0.00,2.33,6.78,0.772,6,0.000,0.044,3575,2183,2017
$GC,6760,1.23,329.2,73.7,4.4,358,6860,0.25,2.58,93.78,0.833,4,0.054,0.061,3630,771,1518
$GC,6877,1.23,329.2,63.0,13.8,379,6883,0.00,2.42,0.00,0.000,6,0.000,0.048,3630,2187,1518
$GC,7216,1.23,329.2,15.4,14.9,425,7220,0.00,2.45,0.00,0.000,4,0.000,0.073,3630,3587,1518
$GC,7299,1.23,329.2,2.8,15.6,432,7304,0.00,2.35,0.00,0.000,6,0.000,0.042,3629,2168,1518
$STATE,7314,end climb,SURFACE_DEPTH_REACHED
$STATE,7314,begin surface coast
$FINISH,0.7,1.007222
$STATE,7326,end surface coast,CONTROL_FINISHED_OK
$STATE,7326,begin surface
$SM_CCo,7346,121.07,0.745,0,0,425,597.31
$SM_GC,1.32,0.00,0.00,121.07,0.000,0.000,0.745,1376,2224,425,-9.14,0.11,597.31
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.027612
$HUMID,1875
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,16.20
$XPDR_PINGS,12
$ALTIM_BOTTOM_PING,405.7,5.7
$24V_AH,23.7,11.944
$10V_AH,10.6,5.164
$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,27.850,57.850,384.025,121.075,0.000,156.534,150.335,0.000,6.000,0.000,0.000,15.764,800.915,5133.568,598.977,1176.427,402.548,33.332,1181.732,0.000,1163.517,0.000,21.530
$DEVICE_MAMPS,169.507,85.904,1050.023,744.757,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,308.074,329.791,666.031,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22250,434
$CFSIZE,260165632,255815680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,230108,144208,4806.098,-12616.038,34,0.9,35,18.9