version: 66.02
glider: 119
mission: 3
dive: 23
start: 1 19 108 11 4 57
data:
$ID,119
$MISSION,3
$DIVE,23
$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,-15010.082
$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,29
$R_STBD_OVSHOOT,32
$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
$GPS1,104847,4801.459,-12543.825,9,2.7,29,18.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-68.3
$GPS2,110407,4801.642,-12543.873,14,1.0,30,18.8
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.225,-0.138
$KALMAN_X,8590.0,-2037.4,-147.5,-10612.3,24829.8
$KALMAN_Y,-2904.4,706.5,622.6,513.5,4641.0
$MHEAD_RNG_PITCHd_Wd,219.6,206385,-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,-146.6,0.0,0.0,0,122,0.00,0.00,-102.72,0.000,2,0.000,0.000,1378,2232,2598
$GC,124,-1.00,-146.6,3.8,-4.3,10,160,12.40,2.42,-18.90,0.000,4,0.171,0.074,3141,820,3458
$GC,216,-1.00,-146.6,25.0,-18.1,18,221,0.00,2.33,0.00,0.000,6,0.000,0.051,3141,2214,3458
$GC,552,-1.00,-146.6,84.0,-16.2,68,557,0.00,2.38,0.00,0.000,4,0.000,0.061,3141,814,3458
$GC,603,-1.00,-146.6,92.2,-14.9,72,607,0.00,2.35,0.00,0.000,6,0.000,0.051,3141,2223,3458
$GC,927,-1.00,-146.6,139.4,-14.6,102,931,0.00,2.38,0.00,0.000,4,0.000,0.061,3140,817,3458
$GC,1020,-1.00,-146.6,153.2,-14.5,109,1025,0.00,2.35,0.00,0.000,6,0.000,0.050,3141,2218,3458
$GC,1341,-1.00,-146.6,195.9,-12.4,125,1345,0.00,2.35,0.00,0.000,4,0.000,0.061,3141,819,3458
$GC,1402,-1.00,-146.6,203.7,-12.7,128,1407,0.00,2.30,0.00,0.000,6,0.000,0.051,3141,2219,3458
$GC,1729,-1.00,-146.6,245.6,-12.1,144,1733,0.00,2.35,0.00,0.000,4,0.000,0.062,3140,819,3458
$GC,1760,-1.00,-146.6,249.7,-12.2,145,1769,0.00,2.33,0.00,0.000,6,0.000,0.053,3141,2214,3458
$GC,2076,-1.00,-146.6,286.9,-11.7,161,2077,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2213,3458
$GC,2381,-1.00,-146.6,322.3,-11.5,170,2382,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2213,3458
$STATE,2444,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2444,begin apogee
$GC,2447,-0.23,0.0,328.7,11.1,171,2567,1.00,0.00,116.62,0.988,6,0.099,0.000,3307,2214,2860
$STATE,2567,end apogee,CONTROL_FINISHED_OK
$STATE,2568,begin climb
$GC,2569,1.00,146.6,333.1,0.0,173,2696,1.60,2.62,119.05,0.949,4,0.058,0.060,3576,778,2261
$GC,2875,1.03,169.2,320.5,9.0,177,2900,0.00,2.42,19.52,0.918,6,0.000,0.051,3576,2178,2170
$GC,3217,1.06,195.3,289.1,8.8,186,3246,0.00,2.62,22.02,0.929,4,0.000,0.082,3576,3593,2063
$GC,3335,1.06,195.3,276.4,11.5,191,3340,0.00,2.42,0.00,0.000,6,0.000,0.046,3576,2185,2063
$GC,3657,1.06,195.3,241.9,11.0,207,3661,0.00,2.47,0.00,0.000,4,0.000,0.078,3576,3587,2062
$GC,3772,1.06,195.3,228.2,12.1,212,3777,0.00,2.38,0.00,0.000,6,0.000,0.046,3576,2181,2062
$GC,4094,1.07,203.7,196.2,9.6,228,4108,0.00,2.50,7.97,0.825,4,0.000,0.078,3576,3586,2029
$GC,4184,1.07,203.7,187.4,10.3,232,4188,0.00,2.35,0.00,0.000,6,0.000,0.047,3576,2175,2029
$GC,4509,1.09,218.7,155.8,9.3,248,4524,0.12,0.00,12.98,0.866,6,0.067,0.000,3601,2175,1968
$GC,4828,1.09,218.7,121.8,11.3,275,4832,0.00,2.38,0.00,0.000,4,0.000,0.063,3601,771,1968
$GC,4968,1.10,223.3,106.5,9.8,287,4980,0.00,2.38,5.28,0.698,6,0.000,0.051,3602,2189,1949
$GC,5299,1.13,254.0,76.0,8.6,321,5332,0.00,2.47,24.85,0.838,4,0.000,0.060,3602,780,1823
$GC,5405,1.13,254.0,64.9,10.5,340,5412,0.00,2.38,0.00,0.000,6,0.000,0.051,3602,2186,1824
$GC,5745,1.15,270.1,33.9,9.3,395,5765,0.00,0.00,13.98,0.789,6,0.000,0.000,3602,2186,1758
$GC,6085,1.20,307.9,4.4,8.3,427,6108,0.12,2.55,17.75,0.767,4,0.071,0.081,3627,3590,1603
$STATE,6112,end climb,SURFACE_DEPTH_REACHED
$STATE,6112,begin surface coast
$FINISH,0.5,1.024603
$STATE,6135,end surface coast,CONTROL_FINISHED_OK
$STATE,6135,begin surface
$SM_CCo,6155,132.32,0.727,0,0,424,597.31
$SM_GC,1.11,0.00,0.00,132.32,0.000,0.000,0.727,1378,2199,424,-9.13,-0.59,597.31
$IRIDIUM_FIX,4745.30,-12541.99,190108,141400
$TT8_MAMPS,0.027612
$HUMID,1871
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,18.50
$XPDR_PINGS,15
$ALTIM_BOTTOM_PING,328.7,5.8
$24V_AH,23.8,6.006
$10V_AH,10.7,2.528
$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,27.925,57.825,360.025,132.325,0.000,205.741,333.819,46.909,6.000,0.000,0.000,31.969,782.168,4092.620,595.368,1095.831,654.633,33.332,1117.264,0.000,1065.217,0.000,16.697
$DEVICE_MAMPS,171.041,82.069,987.896,727.116,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,305.536,319.604,700.278,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22194,431
$CFSIZE,260165632,257855488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,190108,125032,4800.847,-12544.946,8,1.9,14,18.8