version: 66.02
glider: 119
mission: 3
dive: 17
start: 1 18 108 23 58 4
data:
$ID,119
$MISSION,3
$DIVE,17
$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,400
$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,-14850.254
$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,37
$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
$GPS1,234025,4806.250,-12539.677,29,1.1,34,18.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-67.3
$GPS2,235714,4806.157,-12539.483,11,1.2,11,18.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.227,-0.134
$KALMAN_X,-20597.4,190.6,966.7,20630.5,-30052.0
$KALMAN_Y,-21641.5,-497.7,1030.5,28396.3,-37734.5
$MHEAD_RNG_PITCHd_Wd,220.6,215665,-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,-146.6,0.0,0.0,0,111,0.00,0.00,-92.22,0.000,2,0.000,0.000,1375,2233,2399
$GC,113,-1.00,-146.6,3.1,-3.1,9,159,12.75,2.45,-27.38,0.000,4,0.176,0.093,3140,3613,3459
$GC,202,-1.00,-146.6,19.2,-18.2,17,210,0.00,2.35,0.00,0.000,6,0.000,0.046,3140,2227,3459
$GC,541,-1.00,-146.6,79.9,-18.3,67,547,0.00,2.40,0.00,0.000,4,0.000,0.064,3140,805,3460
$GC,590,-1.00,-146.6,90.1,-19.0,72,598,0.00,2.35,0.00,0.000,6,0.000,0.050,3140,2202,3459
$GC,916,-1.00,-146.6,143.5,-16.5,103,920,0.00,2.38,0.00,0.000,4,0.000,0.062,3140,806,3459
$GC,986,-1.00,-146.6,154.4,-14.6,108,991,0.00,2.38,0.00,0.000,6,0.000,0.051,3140,2211,3459
$GC,1308,-1.00,-146.6,199.2,-13.5,124,1312,0.00,2.47,0.00,0.000,4,0.000,0.085,3141,3632,3459
$GC,1350,-1.00,-146.6,205.8,-15.2,126,1355,0.00,2.35,0.00,0.000,6,0.000,0.046,3140,2217,3459
$STATE,1388,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1388,begin apogee
$GC,1391,-0.23,0.0,211.2,14.6,128,1511,1.02,0.00,115.60,0.898,6,0.100,0.000,3309,2214,2860
$STATE,1511,end apogee,CONTROL_FINISHED_OK
$STATE,1511,begin climb
$GC,1513,1.00,146.6,216.0,0.0,134,1638,1.58,2.67,117.65,0.861,4,0.060,0.058,3575,768,2262
$GC,1822,1.03,169.4,205.4,9.0,148,1848,0.00,2.42,19.55,0.841,6,0.000,0.049,3575,2181,2169
$GC,2169,1.05,187.7,174.0,9.2,165,2192,0.00,2.50,15.93,0.837,4,0.000,0.076,3575,3585,2093
$GC,2444,1.08,208.2,150.9,9.1,177,2465,0.00,2.38,17.05,0.833,6,0.000,0.044,3575,2180,2011
$GC,2784,1.15,268.0,124.3,7.3,208,2838,0.17,2.55,47.15,0.832,4,0.059,0.072,3614,3584,1766
$GC,2938,1.15,268.0,106.0,13.0,222,2943,0.00,2.38,0.00,0.000,6,0.000,0.045,3614,2179,1766
$GC,3266,1.15,268.0,71.3,11.1,258,3272,0.00,2.38,0.00,0.000,4,0.000,0.061,3614,772,1766
$GC,3352,1.15,268.0,62.3,10.1,273,3358,0.00,2.33,0.00,0.000,6,0.000,0.050,3614,2181,1766
$GC,3688,1.15,268.0,26.9,10.7,323,3692,0.00,2.40,0.00,0.000,4,0.000,0.076,3615,3584,1766
$GC,3748,1.15,268.0,19.9,11.4,328,3756,0.00,2.35,0.00,0.000,6,0.000,0.044,3615,2173,1766
$STATE,3987,end climb,SURFACE_DEPTH_REACHED
$STATE,3987,begin surface coast
$FINISH,0.6,1.016666
$STATE,4031,end surface coast,CONTROL_FINISHED_OK
$STATE,4031,begin surface
$SM_CCo,4050,69.38,0.733,2,0,1229,400.08
$SM_GC,2.60,0.00,0.00,69.38,0.000,0.000,0.733,1377,2229,1229,-9.14,0.25,400.08
$IRIDIUM_FIX,4751.72,-12529.64,190108,030340
$TT8_MAMPS,0.027612
$HUMID,1877
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,16.90
$XPDR_PINGS,10
$ALTIM_BOTTOM_PING,150.4,70.0
$24V_AH,24.0,5.165
$10V_AH,10.7,2.162
$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,27.875,43.575,332.925,69.375,0.000,197.919,338.233,165.067,3.000,0.000,0.000,13.042,622.160,2391.495,497.927,881.025,760.648,33.329,939.680,0.000,878.504,0.000,5.538
$DEVICE_MAMPS,175.643,92.807,898.157,733.252,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,252.992,253.680,597.526,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15951,355
$CFSIZE,260165632,258125824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,2,0
$GPS,190108,010759,4805.622,-12539.900,12,2.1,31,18.9