version: 66.02
glider: 119
mission: 3
dive: 21
start: 1 19 108 7 4 1
data:
$ID,119
$MISSION,3
$DIVE,21
$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,-14936.719
$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,23
$R_STBD_OVSHOOT,24
$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
$GPS1,065338,4803.182,-12541.856,30,1.7,31,18.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-69.4
$GPS2,070309,4803.103,-12541.872,11,1.4,11,18.9
$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,-0.133
$KALMAN_X,-6681.1,7286.3,-91.1,-2266.0,734.3
$KALMAN_Y,-15702.9,7648.2,458.6,9230.3,-16103.5
$MHEAD_RNG_PITCHd_Wd,220.7,209989,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.00,-146.6,0.0,0.0,0,100,0.00,0.00,-82.43,0.000,2,0.000,0.000,1375,2190,2174
$GC,102,-1.00,-146.6,3.1,-4.2,8,160,12.52,2.53,-38.95,0.000,4,0.173,0.091,3138,3624,3458
$GC,306,-1.00,-146.6,35.5,-17.1,26,310,0.00,2.33,0.00,0.000,6,0.000,0.047,3137,2218,3458
$GC,641,-1.00,-146.6,94.5,-16.4,75,645,0.00,2.38,0.00,0.000,4,0.000,0.062,3138,806,3458
$GC,702,-1.00,-146.6,103.4,-14.2,80,706,0.00,2.33,0.00,0.000,6,0.000,0.052,3138,2216,3457
$GC,1026,-1.00,-146.6,151.5,-15.1,110,1031,0.00,2.38,0.00,0.000,4,0.000,0.060,3138,808,3457
$GC,1112,-1.00,-146.6,163.5,-13.8,114,1116,0.00,2.35,0.00,0.000,6,0.000,0.052,3138,2220,3458
$GC,1437,-1.00,-146.6,208.7,-13.6,130,1441,0.00,2.38,0.00,0.000,4,0.000,0.061,3138,809,3457
$GC,1452,-1.00,-146.6,211.0,-13.6,131,1457,0.00,2.33,0.00,0.000,6,0.000,0.054,3138,2220,3457
$GC,1778,-1.00,-146.6,252.8,-12.4,147,1779,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2221,3457
$GC,2087,-1.00,-146.6,292.0,-12.7,162,2091,0.00,2.38,0.00,0.000,4,0.000,0.063,3138,812,3457
$GC,2104,-1.00,-146.6,294.1,-12.5,163,2108,0.00,2.33,0.00,0.000,6,0.000,0.057,3138,2219,3458
$STATE,2405,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2405,begin apogee
$GC,2409,-0.23,0.0,330.9,12.3,170,2529,1.02,0.00,116.82,0.989,6,0.098,0.000,3308,2167,2860
$STATE,2530,end apogee,CONTROL_FINISHED_OK
$STATE,2530,begin climb
$GC,2531,1.00,146.6,335.9,0.0,172,2660,1.60,2.60,119.90,0.949,4,0.061,0.061,3575,778,2262
$GC,2867,1.03,166.3,322.5,9.1,177,2889,0.00,2.42,17.33,0.915,6,0.000,0.052,3575,2184,2181
$GC,3197,1.06,194.7,292.7,8.7,184,3226,0.00,2.58,23.55,0.933,4,0.000,0.081,3575,3583,2066
$GC,3478,1.06,194.7,260.1,12.0,196,3486,0.00,2.38,0.00,0.000,6,0.000,0.048,3575,2190,2066
$GC,3794,1.06,194.7,224.5,11.1,212,3798,0.00,2.45,0.00,0.000,4,0.000,0.079,3575,3586,2066
$GC,3899,1.06,194.7,212.8,11.1,217,3904,0.00,2.35,0.00,0.000,6,0.000,0.048,3575,2176,2066
$GC,4225,1.06,194.7,177.4,11.0,233,4229,0.00,2.47,0.00,0.000,4,0.000,0.078,3575,3589,2065
$GC,4302,1.07,198.6,169.4,9.8,236,4313,0.00,2.35,4.85,0.697,6,0.000,0.047,3575,2183,2049
$GC,4632,1.14,260.7,141.3,7.2,257,4687,0.15,2.53,48.17,0.877,4,0.065,0.062,3611,775,1797
$GC,4736,1.14,260.7,129.8,13.2,266,4743,0.00,2.42,0.00,0.000,6,0.000,0.051,3611,2180,1797
$GC,5063,1.14,260.7,90.8,10.6,297,5067,0.00,2.42,0.00,0.000,4,0.000,0.062,3611,771,1797
$GC,5275,1.15,266.7,67.9,9.7,326,5288,0.00,2.35,6.60,0.724,6,0.000,0.052,3611,2190,1772
$GC,5627,1.15,266.7,34.4,10.2,384,5631,0.00,2.38,0.00,0.000,4,0.000,0.059,3611,776,1772
$GC,5661,1.16,275.5,31.1,9.6,387,5675,0.00,2.33,8.57,0.752,6,0.000,0.051,3611,2182,1736
$GC,6000,1.32,408.7,3.2,3.9,419,6025,0.17,0.00,22.38,0.769,2,0.061,0.000,3650,2182,1521
$STATE,6026,end climb,SURFACE_DEPTH_REACHED
$STATE,6026,begin surface coast
$FINISH,0.6,1.004292
$STATE,6063,end surface coast,CONTROL_FINISHED_OK
$STATE,6063,begin surface
$SM_CCo,6082,125.45,0.729,0,0,425,597.31
$SM_GC,1.29,0.00,0.00,125.45,0.000,0.000,0.729,1376,2228,425,-9.14,0.23,597.31
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1864
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,16.50
$XPDR_PINGS,24
$ALTIM_BOTTOM_PING,330.9,5.8
$24V_AH,23.8,5.715
$10V_AH,10.7,2.402
$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,28.300,57.825,368.175,125.450,0.000,156.321,103.859,0.000,8.500,0.000,0.000,13.391,783.951,3989.160,594.366,1100.479,324.884,33.332,1120.260,0.000,1086.008,0.000,19.843
$DEVICE_MAMPS,173.342,142.662,989.430,729.417,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,302.888,311.056,688.102,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22219,425
$CFSIZE,260165632,257941504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,190108,084815,4802.243,-12542.758,11,1.4,13,18.8