version: 66.02
glider: 119
mission: 3
dive: 67
start: 1 23 108 17 55 54
data:
$ID,119
$MISSION,3
$DIVE,67
$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,-15898.175
$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,30
$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
$GPS1,174738,4806.546,-12614.421,33,1.4,33,18.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-69.9
$GPS2,175503,4806.527,-12614.459,11,1.4,11,18.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,CAPE_FLATTERY
$TGT_LATLONG,4809.000,-12540.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.262,-0.027
$KALMAN_X,-1166.0,909.2,1033.4,-42918.4,-14779.6
$KALMAN_Y,-922.4,1326.7,176.9,7413.4,-496.9
$MHEAD_RNG_PITCHd_Wd,77.0,42824,-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,18,-1.00,-146.6,0.0,0.0,0,132,0.00,0.00,-111.50,0.000,2,0.000,0.000,1377,2226,2675
$GC,134,-1.00,-146.6,3.5,-4.0,11,171,12.55,2.42,-19.48,0.000,4,0.176,0.087,3139,3618,3459
$GC,262,-1.00,-146.6,28.6,-20.1,22,266,0.00,2.33,0.00,0.000,6,0.000,0.044,3140,2221,3459
$GC,597,-1.00,-146.6,93.2,-15.8,70,600,0.00,2.38,0.00,0.000,4,0.000,0.061,3140,817,3459
$GC,690,-1.00,-146.6,107.8,-15.0,78,698,0.00,2.33,0.00,0.000,6,0.000,0.049,3140,2210,3459
$GC,1026,-1.00,-146.6,157.0,-14.2,108,1027,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2210,3459
$GC,1336,-1.00,-146.6,198.5,-13.2,123,1340,0.00,2.35,0.00,0.000,4,0.000,0.060,3140,816,3459
$GC,1362,-1.00,-146.6,202.4,-12.9,124,1366,0.00,2.35,0.00,0.000,6,0.000,0.052,3140,2219,3459
$GC,1683,-1.00,-146.6,243.8,-12.6,140,1687,0.00,2.38,0.00,0.000,4,0.000,0.061,3140,807,3459
$GC,1733,-1.00,-146.6,250.1,-12.6,142,1737,0.00,2.33,0.00,0.000,6,0.000,0.051,3140,2222,3459
$GC,2059,-1.00,-146.6,289.2,-12.0,158,2063,0.00,2.35,0.00,0.000,4,0.000,0.061,3140,814,3459
$GC,2147,-1.00,-146.6,299.8,-11.0,162,2156,0.00,2.35,0.00,0.000,6,0.000,0.054,3140,2218,3460
$GC,2471,-1.00,-146.6,337.9,-12.0,168,2472,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2218,3459
$GC,2774,-1.00,-146.6,376.3,-12.6,173,2778,0.00,2.38,0.00,0.000,4,0.000,0.063,3140,807,3459
$GC,2834,-1.00,-146.6,383.9,-12.0,174,2838,0.00,2.35,0.00,0.000,6,0.000,0.057,3140,2228,3459
$STATE,3018,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3018,begin apogee
$GC,3023,-0.23,0.0,406.3,12.3,177,3145,1.00,0.00,118.35,1.056,6,0.094,0.000,3308,2165,2860
$STATE,3145,end apogee,CONTROL_FINISHED_OK
$STATE,3145,begin climb
$GC,3147,1.00,146.6,412.7,0.0,179,3277,1.60,2.60,120.53,1.014,4,0.057,0.061,3577,781,2262
$GC,3394,1.05,186.7,409.0,8.2,182,3435,0.00,2.42,34.15,0.996,6,0.000,0.051,3577,2184,2098
$GC,3767,1.05,186.7,367.6,11.5,189,3771,0.00,2.50,0.00,0.000,4,0.000,0.078,3577,3586,2097
$GC,3866,1.05,186.7,354.8,12.8,190,3871,0.00,2.40,0.00,0.000,6,0.000,0.046,3577,2185,2097
$GC,4198,1.05,186.7,316.4,11.4,196,4202,0.00,2.47,0.00,0.000,4,0.000,0.075,3577,3587,2096
$GC,4420,1.05,186.7,289.5,11.4,200,4425,0.00,2.38,0.00,0.000,6,0.000,0.045,3577,2173,2096
$GC,4748,1.05,186.7,255.2,10.4,216,4752,0.00,2.47,0.00,0.000,4,0.000,0.076,3577,3590,2096
$GC,4813,1.05,186.7,247.5,11.5,219,4817,0.00,2.35,0.00,0.000,6,0.000,0.046,3577,2186,2096
$GC,5140,1.05,186.7,212.8,10.7,235,5144,0.00,2.45,0.00,0.000,4,0.000,0.075,3578,3593,2096
$GC,5184,1.05,186.7,208.2,10.9,237,5188,0.00,2.33,0.00,0.000,6,0.000,0.045,3577,2179,2096
$GC,5504,1.06,196.0,176.0,9.6,253,5518,0.00,2.47,8.62,0.854,4,0.000,0.074,3577,3586,2059
$GC,5557,1.06,196.0,170.2,10.9,255,5561,0.00,2.35,0.00,0.000,6,0.000,0.046,3578,2185,2059
$GC,5881,1.06,196.0,137.1,10.4,276,5885,0.00,2.42,0.00,0.000,4,0.000,0.073,3577,3586,2059
$GC,5919,1.06,196.0,132.8,11.0,279,5924,0.00,2.33,0.00,0.000,6,0.000,0.044,3577,2172,2060
$GC,6246,1.09,216.4,102.1,9.1,309,6269,0.12,2.47,16.75,0.867,4,0.071,0.072,3603,3584,1977
$GC,6420,1.09,216.4,82.2,10.4,324,6427,0.00,2.35,0.00,0.000,6,0.000,0.044,3603,2184,1977
$GC,6762,1.15,267.2,55.3,7.7,383,6808,0.00,2.55,39.75,0.830,4,0.000,0.071,3603,3592,1770
$GC,7025,1.15,267.2,27.9,11.4,420,7032,0.00,2.38,0.00,0.000,6,0.000,0.043,3603,2182,1770
$STATE,7285,end climb,SURFACE_DEPTH_REACHED
$STATE,7285,begin surface coast
$FINISH,0.7,1.010786
$STATE,7297,end surface coast,CONTROL_FINISHED_OK
$STATE,7297,begin surface
$SM_CCo,7317,149.43,0.738,0,0,424,597.31
$SM_GC,1.36,0.00,0.00,149.43,0.000,0.000,0.738,1377,2237,424,-9.14,0.48,597.31
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1844
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,16.20
$XPDR_PINGS,13
$ALTIM_BOTTOM_PING,406.3,5.7
$24V_AH,23.7,12.227
$10V_AH,10.6,5.293
$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,27.725,72.175,338.150,149.425,0.000,116.372,0.000,0.000,6.250,0.000,0.000,14.205,837.945,5069.670,604.362,1198.370,210.705,33.348,1190.195,0.000,1180.013,0.000,21.534
$DEVICE_MAMPS,176.410,87.438,1056.159,737.854,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,316.727,333.111,687.724,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22259,446
$CFSIZE,260165632,255700992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,230108,200137,4806.914,-12613.416,35,1.0,41,18.9