version: 66.02
glider: 119
mission: 3
dive: 26
start: 1 19 108 16 51 52
data:
$ID,119
$MISSION,3
$DIVE,26
$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,-15091.356
$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,30
$R_STBD_OVSHOOT,36
$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
$GPS1,164338,4800.349,-12547.369,35,1.4,36,18.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-59.9
$GPS2,165102,4800.301,-12547.373,12,1.4,29,18.8
$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,10158.1,-3938.0,-1680.9,-13031.7,31278.8
$KALMAN_Y,-2686.6,-2282.6,-1073.6,2551.7,8047.1
$MHEAD_RNG_PITCHd_Wd,219.7,201329,-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,-102.32,0.000,2,0.000,0.000,1375,2230,2531
$GC,124,-1.00,-146.6,3.3,-3.9,10,167,12.52,2.42,-24.23,0.000,4,0.173,0.090,3140,3617,3458
$GC,234,-1.00,-146.6,22.7,-18.6,20,238,0.00,2.33,0.00,0.000,6,0.000,0.046,3140,2217,3458
$GC,569,-1.00,-146.6,84.5,-16.9,69,573,0.00,2.45,0.00,0.000,4,0.000,0.077,3139,3618,3458
$GC,601,-1.00,-146.6,89.9,-16.7,71,609,0.00,2.35,0.00,0.000,6,0.000,0.045,3140,2212,3458
$GC,926,-1.00,-146.6,135.7,-12.5,102,930,0.00,2.35,0.00,0.000,4,0.000,0.061,3140,809,3458
$GC,1019,-1.00,-146.6,147.7,-12.8,110,1027,0.00,2.33,0.00,0.000,6,0.000,0.050,3140,2208,3458
$GC,1335,-1.00,-146.6,188.8,-12.9,127,1337,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2208,3458
$GC,1645,-1.00,-146.6,228.5,-12.8,142,1649,0.00,2.35,0.00,0.000,4,0.000,0.062,3140,812,3458
$GC,1693,-1.00,-146.6,234.8,-11.9,144,1698,0.00,2.38,0.00,0.000,6,0.000,0.053,3140,2221,3458
$GC,2014,-1.00,-146.6,272.4,-11.3,160,2018,0.00,2.38,0.00,0.000,4,0.000,0.062,3140,808,3458
$GC,2036,-1.00,-146.6,275.0,-12.0,161,2040,0.00,2.35,0.00,0.000,6,0.000,0.054,3140,2220,3458
$STATE,2241,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2241,begin apogee
$GC,2245,-0.23,0.0,300.1,12.8,171,2365,1.02,0.00,116.25,0.965,6,0.101,0.000,3310,2170,2860
$STATE,2366,end apogee,CONTROL_FINISHED_OK
$STATE,2366,begin climb
$GC,2367,1.00,146.6,306.8,0.0,173,2494,1.58,2.53,118.88,0.927,4,0.058,0.058,3576,781,2262
$GC,2656,1.03,167.0,300.4,9.1,177,2679,0.00,2.42,17.62,0.896,6,0.000,0.051,3576,2183,2179
$GC,2987,1.04,174.7,269.1,9.6,192,2997,0.00,0.00,7.82,0.816,6,0.000,0.000,3576,2182,2146
$GC,3296,1.05,187.1,239.4,9.4,207,3317,0.00,2.55,11.48,0.874,4,0.000,0.080,3576,3584,2096
$GC,3394,1.05,187.1,228.9,10.4,211,3399,0.00,2.38,0.00,0.000,6,0.000,0.045,3576,2185,2096
$GC,3716,1.08,207.4,198.0,9.1,227,3737,0.00,0.00,17.15,0.890,6,0.000,0.000,3576,2184,2014
$GC,4045,1.10,226.0,167.4,9.2,243,4068,0.15,2.50,15.90,0.868,4,0.064,0.074,3608,3592,1937
$GC,4135,1.10,226.0,156.2,13.8,247,4139,0.00,2.38,0.00,0.000,6,0.000,0.045,3608,2174,1938
$GC,4459,1.10,226.0,112.8,12.1,275,4463,0.00,2.38,0.00,0.000,4,0.000,0.062,3608,771,1937
$GC,4591,1.10,226.0,97.4,11.7,286,4599,0.00,2.38,0.00,0.000,6,0.000,0.051,3608,2181,1937
$GC,4926,1.13,251.5,65.3,8.8,332,4954,0.00,2.50,20.80,0.825,4,0.000,0.077,3608,3597,1834
$GC,5067,1.13,252.7,52.1,9.9,357,5073,0.00,2.35,0.00,0.000,6,0.000,0.045,3608,2179,1834
$GC,5404,1.14,261.3,21.6,9.6,400,5419,0.00,2.42,9.32,0.753,4,0.000,0.061,3608,772,1793
$GC,5508,1.18,293.3,12.6,8.5,409,5540,0.00,2.35,25.58,0.779,6,0.000,0.049,3608,2176,1664
$STATE,5630,end climb,SURFACE_DEPTH_REACHED
$STATE,5630,begin surface coast
$FINISH,0.5,1.021393
$STATE,5653,end surface coast,CONTROL_FINISHED_OK
$STATE,5653,begin surface
$SM_CCo,5672,143.90,0.723,0,0,424,597.31
$SM_GC,1.22,0.00,0.00,143.90,0.000,0.000,0.723,1375,2236,424,-9.14,0.45,597.31
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1839
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,16.50
$XPDR_PINGS,15
$ALTIM_BOTTOM_PING,300.1,5.9
$24V_AH,23.9,6.416
$10V_AH,10.7,2.707
$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,27.900,52.950,360.800,143.900,0.000,116.054,0.000,0.000,5.750,0.000,0.000,31.026,749.202,3696.784,613.631,1037.373,175.434,33.331,1108.541,0.000,1008.342,0.000,15.066
$DEVICE_MAMPS,172.575,105.846,964.886,723.281,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,298.775,315.410,701.166,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22219,423
$CFSIZE,260165632,257728512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,190108,183004,4759.919,-12548.889,22,2.9,42,18.8