version: 66.02
glider: 119
mission: 3
dive: 34
start: 1 20 108 8 42 36
data:
$ID,119
$MISSION,3
$DIVE,34
$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,-15254.053
$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,27
$R_STBD_OVSHOOT,27
$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
$GPS1,083307,4758.843,-12558.855,26,1.3,27,18.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-63.3
$GPS2,084144,4758.861,-12558.893,9,1.3,9,18.8
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.249,-0.085
$KALMAN_X,11959.2,-2110.9,-880.5,-31754.1,20162.5
$KALMAN_Y,2564.3,-2016.4,-555.6,-6183.1,12755.7
$MHEAD_RNG_PITCHd_Wd,232.3,187834,-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,15,begin dive
$GC,16,-1.00,-146.6,0.0,0.0,0,131,0.00,0.00,-111.97,0.000,2,0.000,0.000,1375,2234,2664
$GC,133,-1.00,-146.6,3.0,-2.4,11,175,12.45,2.42,-20.10,0.000,4,0.173,0.091,3138,3620,3458
$GC,344,-1.00,-146.6,42.9,-18.2,31,350,0.00,2.33,0.00,0.000,6,0.000,0.045,3138,2212,3458
$GC,679,-1.00,-146.6,102.5,-14.7,79,683,0.00,2.35,0.00,0.000,4,0.000,0.061,3139,815,3458
$GC,706,-1.00,-146.6,106.4,-14.3,81,711,0.00,2.33,0.00,0.000,6,0.000,0.051,3138,2220,3458
$GC,1040,-1.00,-146.6,153.9,-12.6,111,1045,0.00,2.42,0.00,0.000,4,0.000,0.078,3139,3625,3458
$GC,1057,-1.00,-146.6,156.0,-12.7,112,1061,0.00,2.33,0.00,0.000,6,0.000,0.046,3139,2210,3458
$GC,1383,-1.00,-146.6,200.9,-13.8,128,1387,0.00,2.33,0.00,0.000,4,0.000,0.062,3139,817,3458
$GC,1422,-1.00,-146.6,206.1,-13.0,130,1426,0.00,2.33,0.00,0.000,6,0.000,0.052,3139,2229,3458
$GC,1747,-1.00,-146.6,245.1,-11.7,146,1751,0.00,2.38,0.00,0.000,4,0.000,0.062,3138,817,3458
$GC,1785,-1.00,-146.6,249.5,-11.4,148,1793,0.00,2.33,0.00,0.000,6,0.000,0.054,3138,2224,3457
$GC,2119,-1.00,-146.6,289.9,-12.6,164,2120,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2224,3458
$GC,2444,-1.00,-146.6,331.2,-12.8,172,2448,0.00,2.38,0.00,0.000,4,0.000,0.064,3138,814,3458
$GC,2521,-1.00,-146.6,341.4,-12.5,173,2526,0.00,2.35,0.00,0.000,6,0.000,0.057,3139,2215,3458
$STATE,2816,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2816,begin apogee
$GC,2819,-0.23,0.0,375.6,11.5,178,2940,1.02,0.00,117.45,1.022,6,0.098,0.000,3309,2215,2860
$STATE,2941,end apogee,CONTROL_FINISHED_OK
$STATE,2941,begin climb
$GC,2943,1.00,146.6,380.1,0.0,180,3073,1.58,2.58,120.15,0.977,4,0.058,0.078,3574,3589,2262
$GC,3325,1.03,166.9,362.1,9.1,185,3349,0.00,2.40,17.62,0.953,6,0.000,0.046,3574,2178,2179
$GC,3697,1.06,194.9,328.8,8.7,192,3727,0.00,2.58,23.70,0.965,4,0.000,0.078,3574,3580,2065
$GC,3979,1.06,194.9,298.2,11.0,196,3986,0.00,2.40,0.00,0.000,6,0.000,0.048,3574,2180,2065
$GC,4294,1.06,194.9,264.7,11.2,212,4299,0.00,2.50,0.00,0.000,4,0.000,0.078,3574,3594,2065
$GC,4360,1.06,194.9,256.3,12.6,215,4365,0.00,2.40,0.00,0.000,6,0.000,0.047,3574,2176,2065
$GC,4687,1.06,194.9,216.7,12.0,231,4691,0.00,2.38,0.00,0.000,4,0.000,0.064,3575,774,2064
$GC,4729,1.06,194.9,211.6,12.5,233,4734,0.00,2.38,0.00,0.000,6,0.000,0.055,3575,2180,2065
$GC,5056,1.06,194.9,176.0,10.6,249,5060,0.00,2.45,0.00,0.000,4,0.000,0.081,3575,3591,2064
$GC,5155,1.06,194.9,165.0,11.4,253,5163,0.00,2.35,0.00,0.000,6,0.000,0.048,3575,2183,2064
$GC,5476,1.10,224.0,135.6,8.7,276,5502,0.15,0.00,23.25,0.888,6,0.067,0.000,3605,2183,1946
$GC,5815,1.10,224.0,101.2,10.9,308,5819,0.00,2.47,0.00,0.000,4,0.000,0.077,3605,3592,1946
$GC,6072,1.11,231.9,72.3,9.6,337,6085,0.00,2.33,7.88,0.774,6,0.000,0.045,3605,2171,1914
$GC,6423,1.17,283.8,44.3,7.6,399,6473,0.00,2.55,40.67,0.816,4,0.000,0.073,3605,3583,1702
$GC,6568,1.17,283.8,29.3,11.8,417,6572,0.00,2.35,0.00,0.000,6,0.000,0.045,3605,2183,1702
$STATE,6816,end climb,SURFACE_DEPTH_REACHED
$STATE,6816,begin surface coast
$FINISH,0.6,1.012897
$STATE,6829,end surface coast,CONTROL_FINISHED_OK
$STATE,6829,begin surface
$SM_CCo,6848,140.48,0.730,0,0,425,597.31
$SM_GC,1.17,0.00,0.00,140.48,0.000,0.000,0.730,1377,2229,425,-9.14,0.25,597.31
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.027612
$HUMID,1874
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,16.30
$XPDR_PINGS,19
$ALTIM_BOTTOM_PING,375.6,5.7
$24V_AH,23.8,7.484
$10V_AH,10.6,3.180
$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,27.600,62.425,350.725,140.475,0.000,130.023,75.168,0.000,7.500,0.000,0.000,10.940,812.118,4634.765,605.150,1190.794,276.355,33.339,1184.003,0.000,1178.406,0.000,19.928
$DEVICE_MAMPS,172.575,108.914,1022.411,730.184,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,311.487,331.546,692.892,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22276,441
$CFSIZE,260165632,257355776
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,200108,103950,4758.827,-12600.045,6,2.0,12,18.9