version: 66.02
glider: 119
mission: 3
dive: 86
start: 1 26 108 0 46 17
data:
$ID,119
$MISSION,3
$DIVE,86
$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,-16232.592
$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,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
$GPS1,003110,4809.074,-12542.085,43,2.0,60,18.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-68.2
$GPS2,004526,4809.098,-12542.138,13,1.2,13,18.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,CAPE_FLATTERY
$TGT_LATLONG,4809.000,-12540.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.147,-0.219
$KALMAN_X,-19589.3,326.8,523.9,16645.4,-6205.9
$KALMAN_Y,31014.4,-1118.0,-732.1,-16357.0,13040.9
$MHEAD_RNG_PITCHd_Wd,127.3,2648,-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,19,-1.00,-146.6,0.0,0.0,0,133,0.00,0.00,-111.62,0.000,2,0.000,0.000,1379,2238,2660
$GC,135,-1.00,-146.6,3.4,-3.5,11,173,12.23,2.40,-20.10,0.000,4,0.164,0.086,3139,3621,3460
$GC,347,-1.00,-146.6,43.4,-18.1,31,353,0.00,2.33,0.00,0.000,6,0.000,0.043,3139,2217,3460
$GC,687,-1.00,-146.6,106.9,-15.9,79,688,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,2216,3460
$GC,1005,-1.00,-146.6,152.9,-13.5,108,1009,0.00,2.35,0.00,0.000,4,0.000,0.059,3139,810,3460
$GC,1044,-1.00,-146.6,158.0,-13.0,110,1049,0.00,2.30,0.00,0.000,6,0.000,0.048,3139,2211,3460
$GC,1371,-1.00,-146.6,195.7,-12.2,126,1375,0.00,2.35,0.00,0.000,4,0.000,0.058,3139,810,3460
$GC,1403,-1.00,-146.6,199.8,-12.2,127,1411,0.00,2.33,0.00,0.000,6,0.000,0.048,3139,2213,3460
$GC,1719,-1.00,-146.6,235.5,-11.3,143,1720,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,2213,3460
$GC,2028,-1.00,-146.6,273.1,-12.9,158,2032,0.00,2.35,0.00,0.000,4,0.000,0.059,3139,809,3460
$GC,2077,-1.00,-146.6,279.5,-12.8,160,2081,0.00,2.33,0.00,0.000,6,0.000,0.051,3139,2209,3460
$STATE,2434,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2434,begin apogee
$GC,2439,-0.23,0.0,324.2,12.6,172,2559,0.95,0.00,117.12,0.996,6,0.062,0.000,3309,2210,2860
$STATE,2560,end apogee,CONTROL_FINISHED_OK
$STATE,2560,begin climb
$GC,2562,1.00,146.6,324.2,0.0,174,2689,1.62,2.60,119.22,0.953,4,0.072,0.056,3576,776,2261
$GC,2943,1.06,190.3,306.0,8.0,179,2984,0.00,2.40,35.75,0.944,6,0.000,0.049,3576,2183,2084
$GC,3294,1.06,190.3,269.0,11.1,193,3295,0.00,0.00,0.00,0.000,6,0.000,0.000,3576,2183,2083
$GC,3603,1.06,190.3,235.7,10.6,208,3607,0.00,2.45,0.00,0.000,4,0.000,0.076,3576,3583,2083
$GC,3654,1.06,190.3,230.4,11.0,210,3658,0.00,2.35,0.00,0.000,6,0.000,0.044,3576,2169,2083
$GC,3969,1.08,213.4,199.3,9.0,225,3994,0.12,2.53,18.95,0.914,4,0.070,0.073,3602,3580,1990
$GC,4049,1.08,213.4,189.4,13.3,228,4056,0.00,2.38,0.00,0.000,6,0.000,0.044,3602,2185,1990
$GC,4365,1.08,213.4,151.7,12.3,244,4366,0.00,0.00,0.00,0.000,6,0.000,0.000,3602,2185,1989
$GC,4683,1.08,213.4,115.8,11.4,273,4684,0.00,0.00,0.00,0.000,6,0.000,0.000,3602,2185,1989
$GC,5002,1.10,223.3,84.3,9.5,303,5016,0.00,2.45,9.30,0.812,4,0.000,0.071,3602,3580,1949
$GC,5270,1.16,273.1,59.6,7.7,346,5315,0.00,2.30,39.00,0.831,6,0.000,0.042,3601,2168,1746
$GC,5649,1.16,273.1,24.1,10.1,400,5653,0.00,2.47,0.00,0.000,4,0.000,0.068,3602,3586,1746
$STATE,5847,end climb,SURFACE_DEPTH_REACHED
$STATE,5847,begin surface coast
$FINISH,0.7,1.025197
$STATE,5861,end surface coast,CONTROL_FINISHED_OK
$STATE,5861,begin surface
$SM_CCo,5883,144.85,0.737,0,0,424,597.31
$SM_GC,1.47,0.00,0.00,144.85,0.000,0.000,0.737,1377,2214,424,-9.13,-0.17,597.31
$IRIDIUM_FIX,4748.51,-12621.29,180497,101046
$TT8_MAMPS,0.027612
$HUMID,1843
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,18.30
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,301.2,28.4
$24V_AH,23.8,15.012
$10V_AH,10.6,6.547
$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,27.300,42.950,339.350,144.850,0.000,220.636,300.673,0.000,4.000,0.000,0.000,16.063,746.172,3925.270,578.374,1032.669,611.631,33.357,1069.598,0.000,1019.890,0.000,18.046
$DEVICE_MAMPS,164.138,85.904,995.566,737.087,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,296.827,309.637,680.936,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19102,418
$CFSIZE,260165632,254664704
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,260108,022743,4808.472,-12541.487,12,1.8,23,18.9