version: 66.02
glider: 119
mission: 3
dive: 44
start: 1 21 108 6 24 12
data:
$ID,119
$MISSION,3
$DIVE,44
$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,-15497.777
$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,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
$GPS1,061434,4758.320,-12612.213,13,1.9,33,18.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-60.0
$GPS2,062320,4758.324,-12612.348,14,1.5,14,18.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.262,-0.024
$KALMAN_X,18949.6,-1407.9,-880.9,-56103.6,16434.9
$KALMAN_Y,4008.2,-1487.2,-268.9,-9433.0,9583.4
$MHEAD_RNG_PITCHd_Wd,245.8,173654,-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,-146.6,0.0,0.0,0,132,0.00,0.00,-112.43,0.000,2,0.000,0.000,1376,2190,2676
$GC,134,-1.00,-146.6,3.5,-4.3,11,172,12.38,2.53,-19.90,0.000,4,0.170,0.090,3138,3629,3458
$GC,322,-1.00,-146.6,38.2,-17.5,27,329,0.00,2.38,0.00,0.000,6,0.000,0.045,3138,2217,3458
$GC,659,-1.00,-146.6,94.8,-14.7,78,663,0.00,2.38,0.00,0.000,4,0.000,0.061,3138,809,3458
$GC,749,-1.00,-146.6,106.6,-12.0,86,753,0.00,2.35,0.00,0.000,6,0.000,0.051,3138,2228,3458
$GC,1073,-1.00,-146.6,148.1,-12.6,116,1077,0.00,2.40,0.00,0.000,4,0.000,0.060,3138,806,3458
$GC,1104,-1.00,-146.6,152.6,-13.2,117,1112,0.00,2.35,0.00,0.000,6,0.000,0.051,3138,2217,3459
$GC,1420,-1.00,-146.6,193.2,-13.4,133,1424,0.00,2.38,0.00,0.000,4,0.000,0.061,3138,806,3458
$GC,1445,-1.00,-146.6,196.9,-13.9,134,1450,0.00,2.35,0.00,0.000,6,0.000,0.050,3138,2219,3458
$GC,1767,-1.00,-146.6,238.5,-12.7,150,1771,0.00,2.35,0.00,0.000,4,0.000,0.061,3139,816,3458
$GC,1809,-1.00,-146.6,244.1,-12.6,152,1814,0.00,2.35,0.00,0.000,6,0.000,0.051,3138,2225,3458
$GC,2137,-1.00,-146.6,285.8,-12.8,168,2138,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2225,3458
$GC,2442,-1.00,-146.6,324.1,-12.5,177,2446,0.00,2.38,0.00,0.000,4,0.000,0.062,3138,816,3458
$GC,2485,-1.00,-146.6,329.7,-12.7,177,2489,0.00,2.35,0.00,0.000,6,0.000,0.055,3138,2222,3458
$GC,2805,-1.00,-146.6,369.2,-12.5,183,2809,0.00,2.38,0.00,0.000,4,0.000,0.064,3138,811,3458
$GC,2871,-1.00,-146.6,377.9,-13.1,184,2876,0.00,2.35,0.00,0.000,6,0.000,0.056,3138,2214,3458
$STATE,3057,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3058,begin apogee
$GC,3061,-0.23,0.0,400.5,12.5,187,3183,1.02,0.00,117.97,1.045,6,0.097,0.000,3309,2215,2860
$STATE,3183,end apogee,CONTROL_FINISHED_OK
$STATE,3183,begin climb
$GC,3185,1.00,146.6,406.8,0.0,189,3315,1.60,2.70,120.38,1.002,4,0.059,0.061,3578,770,2261
$GC,3439,1.02,163.3,402.1,9.2,193,3459,0.00,2.45,15.23,0.953,6,0.000,0.054,3578,2186,2194
$GC,3802,1.03,169.8,367.3,9.7,199,3815,0.00,2.55,6.90,0.848,4,0.000,0.080,3578,3583,2167
$GC,3854,1.03,169.8,361.7,10.4,199,3859,0.00,2.40,0.00,0.000,6,0.000,0.047,3578,2186,2167
$GC,4169,1.03,169.8,329.3,10.2,205,4170,0.00,0.00,0.00,0.000,6,0.000,0.000,3578,2186,2166
$GC,4472,1.03,171.3,299.2,9.9,210,4477,0.00,2.45,0.00,0.000,4,0.000,0.077,3578,3590,2166
$GC,4605,1.03,171.3,285.2,10.4,216,4610,0.00,2.38,0.00,0.000,6,0.000,0.047,3578,2179,2166
$GC,4933,1.04,178.6,254.4,9.7,232,4943,0.00,0.00,8.30,0.883,6,0.000,0.000,3578,2178,2132
$GC,5242,1.04,179.8,224.1,9.9,247,5246,0.00,2.47,0.00,0.000,4,0.000,0.077,3578,3591,2131
$GC,5393,1.04,179.8,208.1,10.0,254,5397,0.00,2.35,0.00,0.000,6,0.000,0.047,3578,2171,2131
$GC,5718,1.08,207.1,178.8,8.8,270,5744,0.00,0.00,23.45,0.920,6,0.000,0.000,3578,2171,2015
$GC,6048,1.09,221.4,147.7,9.3,287,6071,0.12,2.55,12.57,0.866,4,0.074,0.076,3603,3585,1957
$GC,6232,1.09,221.4,125.7,12.3,303,6240,0.00,2.38,0.00,0.000,6,0.000,0.046,3603,2183,1957
$GC,6559,1.09,221.4,91.8,10.7,334,6564,0.00,2.45,0.00,0.000,4,0.000,0.074,3603,3590,1956
$GC,6591,1.09,221.4,87.8,11.4,336,6599,0.00,2.35,0.00,0.000,6,0.000,0.044,3603,2183,1956
$GC,6931,1.17,282.4,60.3,7.2,390,6981,0.00,0.00,47.60,0.831,6,0.000,0.000,3603,2183,1707
$GC,7309,1.19,299.9,23.6,9.2,445,7332,0.00,2.47,15.07,0.788,4,0.000,0.072,3603,3587,1637
$GC,7448,1.19,299.9,6.7,13.4,457,7455,0.00,2.38,0.00,0.000,6,0.000,0.043,3602,2183,1637
$STATE,7496,end climb,SURFACE_DEPTH_REACHED
$STATE,7496,begin surface coast
$FINISH,0.6,1.015580
$STATE,7508,end surface coast,CONTROL_FINISHED_OK
$STATE,7508,begin surface
$SM_CCo,7527,133.75,0.734,0,0,424,597.31
$SM_GC,1.14,0.00,0.00,133.75,0.000,0.000,0.734,1378,2228,424,-9.13,0.25,597.31
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1865
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,16.00
$XPDR_PINGS,26
$ALTIM_BOTTOM_PING,400.5,5.7
$24V_AH,23.7,8.869
$10V_AH,10.6,3.796
$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,27.650,67.650,367.475,133.750,0.000,130.486,75.168,0.000,9.500,0.000,0.000,16.474,852.751,5242.197,624.924,1195.521,284.629,33.343,1206.945,0.000,1175.396,0.000,21.527
$DEVICE_MAMPS,170.274,104.312,1045.421,734.019,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,326.177,348.421,716.219,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22239,463
$CFSIZE,260165632,256876544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
$GPS,210108,083302,4758.715,-12613.972,33,2.0,34,18.9