version: 66.02
glider: 119
mission: 3
dive: 29
start: 1 19 108 22 39 6
data:
$ID,119
$MISSION,3
$DIVE,29
$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,-15137.084
$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,30
$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
$GPS1,223103,4759.429,-12552.285,10,1.6,11,18.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-61.1
$GPS2,223814,4759.446,-12552.354,10,1.7,15,18.8
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.222,-0.143
$KALMAN_X,6117.3,-116.3,-599.0,-20100.2,16088.2
$KALMAN_Y,-4805.9,499.6,-142.8,-650.0,1996.1
$MHEAD_RNG_PITCHd_Wd,218.4,195229,-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,-146.6,0.0,0.0,0,121,0.00,0.00,-102.20,0.000,2,0.000,0.000,1375,2230,2523
$GC,123,-1.00,-146.6,3.2,-4.4,10,165,12.48,2.45,-24.55,0.000,4,0.171,0.090,3138,3625,3459
$GC,227,-1.00,-146.6,23.3,-18.8,20,231,0.00,2.35,0.00,0.000,6,0.000,0.046,3138,2211,3459
$GC,568,-1.00,-146.6,86.6,-18.8,70,569,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2210,3459
$GC,886,-1.00,-146.6,133.0,-13.6,100,890,0.00,2.35,0.00,0.000,4,0.000,0.061,3138,810,3459
$GC,992,-1.00,-146.6,147.6,-12.9,109,997,0.00,2.30,0.00,0.000,6,0.000,0.050,3138,2213,3459
$GC,1307,-1.00,-146.6,189.9,-13.0,125,1312,0.00,2.35,0.00,0.000,4,0.000,0.060,3137,816,3459
$GC,1378,-1.00,-146.6,199.6,-13.1,128,1384,0.00,2.35,0.00,0.000,6,0.000,0.051,3138,2215,3459
$GC,1699,-1.00,-146.6,239.8,-12.5,144,1703,0.00,2.35,0.00,0.000,4,0.000,0.061,3138,816,3459
$GC,1742,-1.00,-146.6,245.4,-12.0,146,1747,0.00,2.33,0.00,0.000,6,0.000,0.052,3138,2211,3459
$GC,2069,-1.00,-146.6,286.6,-13.1,162,2073,0.00,2.35,0.00,0.000,4,0.000,0.061,3138,813,3459
$GC,2118,-1.00,-146.6,293.2,-13.0,164,2123,0.00,2.35,0.00,0.000,6,0.000,0.054,3138,2211,3459
$STATE,2437,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2437,begin apogee
$GC,2441,-0.23,0.0,332.4,12.4,172,2561,1.02,0.00,117.12,0.989,6,0.100,0.000,3308,2211,2860
$STATE,2562,end apogee,CONTROL_FINISHED_OK
$STATE,2562,begin climb
$GC,2563,1.00,146.6,337.8,0.0,174,2693,1.58,2.65,120.07,0.945,4,0.058,0.060,3575,771,2262
$GC,2726,1.12,244.7,341.2,5.5,176,2812,0.15,2.47,80.00,0.930,6,0.052,0.051,3607,2171,1861
$GC,3138,1.12,244.7,281.7,14.7,186,3143,0.00,2.53,0.00,0.000,4,0.000,0.078,3607,3590,1862
$GC,3277,1.12,244.7,257.8,17.2,192,3282,0.00,2.40,0.00,0.000,6,0.000,0.045,3607,2183,1861
$GC,3598,1.12,244.7,209.9,14.4,208,3603,0.00,2.47,0.00,0.000,4,0.000,0.076,3607,3590,1861
$GC,3664,1.12,244.7,199.5,15.7,211,3668,0.00,2.38,0.00,0.000,6,0.000,0.046,3607,2184,1861
$GC,3991,1.12,244.7,153.1,14.1,227,3995,0.00,2.38,0.00,0.000,4,0.000,0.061,3607,768,1861
$GC,4005,1.12,244.7,150.8,13.6,227,4013,0.00,2.40,0.00,0.000,6,0.000,0.051,3607,2185,1861
$GC,4330,1.12,244.7,109.1,12.5,257,4334,0.00,2.40,0.00,0.000,4,0.000,0.061,3607,770,1861
$GC,4391,1.12,244.7,100.4,15.0,262,4395,0.00,2.35,0.00,0.000,6,0.000,0.052,3607,2188,1861
$GC,4723,1.14,258.1,66.4,9.4,305,4740,0.00,2.42,11.98,0.808,4,0.000,0.077,3608,3586,1806
$GC,4847,1.14,258.1,53.3,11.0,327,4853,0.00,2.33,0.00,0.000,6,0.000,0.045,3607,2168,1806
$GC,5185,1.14,262.2,21.3,9.8,371,5196,0.00,2.45,4.90,0.643,4,0.000,0.073,3607,3584,1790
$GC,5211,1.14,262.2,18.4,10.6,373,5219,0.00,2.33,0.00,0.000,6,0.000,0.044,3607,2188,1790
$STATE,5408,end climb,SURFACE_DEPTH_REACHED
$STATE,5408,begin surface coast
$FINISH,0.6,1.017089
$STATE,5430,end surface coast,CONTROL_FINISHED_OK
$STATE,5431,begin surface
$SM_CCo,5449,151.45,0.738,0,0,424,597.31
$SM_GC,1.12,0.00,0.00,151.45,0.000,0.000,0.738,1373,2231,424,-9.15,0.31,597.31
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.027612
$HUMID,1863
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,16.50
$XPDR_PINGS,15
$ALTIM_BOTTOM_PING,332.4,5.9
$24V_AH,23.8,6.796
$10V_AH,10.7,2.875
$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,27.575,57.550,334.075,151.450,0.000,116.081,0.000,0.000,6.000,0.000,0.000,16.809,712.401,3599.982,607.180,951.926,174.826,33.334,1067.015,0.000,937.569,0.000,16.698
$DEVICE_MAMPS,171.041,108.147,988.663,737.854,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,281.244,291.956,638.167,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19103,394
$CFSIZE,260165632,257597440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,200108,001338,4758.987,-12553.559,37,1.1,38,18.8