version: 66.02
glider: 119
mission: 3
dive: 31
start: 1 20 108 2 28 49
data:
$ID,119
$MISSION,3
$DIVE,31
$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,-15187.247
$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,34
$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
$GPS1,021717,4758.627,-12554.854,9,4.0,29,18.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-65.5
$GPS2,022759,4758.623,-12554.949,11,2.4,30,18.8
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.220,-0.145
$KALMAN_X,9127.4,-876.4,-753.3,-25406.8,19774.0
$KALMAN_Y,-1916.3,1094.9,98.5,-5908.1,6206.7
$MHEAD_RNG_PITCHd_Wd,217.9,191663,-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,-102.50,0.000,2,0.000,0.000,1376,2234,2532
$GC,124,-1.00,-146.6,3.4,-4.6,10,165,12.50,2.42,-23.60,0.000,4,0.172,0.091,3135,3620,3459
$GC,250,-1.00,-146.6,26.7,-18.2,22,254,0.00,2.33,0.00,0.000,6,0.000,0.044,3135,2210,3459
$GC,584,-1.00,-146.6,89.8,-17.2,70,588,0.00,2.33,0.00,0.000,4,0.000,0.061,3135,817,3459
$GC,663,-1.00,-146.6,101.7,-15.0,77,667,0.00,2.30,0.00,0.000,6,0.000,0.049,3136,2211,3459
$GC,988,-1.00,-146.6,144.3,-12.2,107,992,0.00,2.35,0.00,0.000,4,0.000,0.058,3135,813,3459
$GC,1040,-1.00,-146.6,150.8,-12.2,111,1044,0.00,2.33,0.00,0.000,6,0.000,0.049,3136,2220,3459
$GC,1354,-1.00,-146.6,190.7,-12.8,126,1358,0.00,2.35,0.00,0.000,4,0.000,0.060,3135,817,3459
$GC,1385,-1.00,-146.6,195.1,-14.2,127,1393,0.00,2.35,0.00,0.000,6,0.000,0.051,3136,2218,3459
$GC,1701,-1.00,-146.6,234.9,-13.1,143,1705,0.00,2.35,0.00,0.000,4,0.000,0.061,3135,817,3459
$GC,1743,-1.00,-146.6,240.5,-13.0,145,1748,0.00,2.35,0.00,0.000,6,0.000,0.052,3136,2215,3459
$GC,2070,-1.00,-146.6,285.1,-13.1,161,2074,0.00,2.35,0.00,0.000,4,0.000,0.060,3136,812,3459
$GC,2119,-1.00,-146.6,291.5,-12.4,163,2124,0.00,2.38,0.00,0.000,6,0.000,0.055,3136,2219,3459
$GC,2436,-1.00,-146.6,330.1,-12.1,171,2437,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2219,3459
$STATE,2620,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2620,begin apogee
$GC,2624,-0.23,0.0,351.4,11.8,174,2744,1.02,0.00,117.03,0.998,6,0.098,0.000,3306,2168,2860
$STATE,2745,end apogee,CONTROL_FINISHED_OK
$STATE,2745,begin climb
$GC,2746,1.00,146.6,356.8,0.0,176,2874,1.60,2.67,119.43,0.952,4,0.061,0.077,3575,3587,2262
$GC,3126,1.03,172.9,341.3,8.8,181,3154,0.00,2.40,22.15,0.945,6,0.000,0.045,3576,2186,2154
$GC,3496,1.05,185.4,306.8,9.4,188,3514,0.00,2.58,11.65,0.904,4,0.000,0.077,3576,3596,2104
$GC,3688,1.05,185.4,284.6,11.7,194,3696,0.00,2.40,0.00,0.000,6,0.000,0.045,3576,2181,2104
$GC,4004,1.05,185.4,248.2,11.9,210,4008,0.00,2.47,0.00,0.000,4,0.000,0.077,3576,3589,2103
$GC,4046,1.05,185.4,243.1,11.7,212,4051,0.00,2.38,0.00,0.000,6,0.000,0.046,3576,2181,2103
$GC,4373,1.05,185.4,208.7,10.0,228,4374,0.00,0.00,0.00,0.000,6,0.000,0.000,3576,2180,2103
$GC,4683,1.06,194.6,177.5,9.6,243,4693,0.00,0.00,8.80,0.843,6,0.000,0.000,3576,2180,2066
$GC,4993,1.06,194.6,145.3,11.3,260,4997,0.00,2.47,0.00,0.000,4,0.000,0.077,3576,3594,2066
$GC,5155,1.06,194.6,126.8,11.3,274,5159,0.00,2.35,0.00,0.000,6,0.000,0.046,3576,2167,2066
$GC,5479,1.09,218.4,97.6,8.9,304,5505,0.12,2.53,19.33,0.858,4,0.074,0.076,3601,3590,1969
$GC,5758,1.18,290.7,71.5,6.7,339,5823,0.00,2.33,56.10,0.816,6,0.000,0.044,3601,2176,1674
$GC,6156,1.18,290.7,31.7,10.8,404,6160,0.00,2.50,0.00,0.000,4,0.000,0.074,3601,3592,1674
$GC,6288,1.18,290.7,15.7,12.5,415,6296,0.00,2.38,0.00,0.000,6,0.000,0.044,3601,2182,1674
$STATE,6432,end climb,SURFACE_DEPTH_REACHED
$STATE,6432,begin surface coast
$FINISH,0.5,1.017979
$STATE,6454,end surface coast,CONTROL_FINISHED_OK
$STATE,6454,begin surface
$SM_CCo,6473,137.60,0.732,0,0,425,597.31
$SM_GC,1.11,0.00,0.00,137.60,0.000,0.000,0.732,1374,2235,425,-9.14,0.42,597.31
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.027612
$HUMID,1866
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,16.40
$XPDR_PINGS,22
$ALTIM_BOTTOM_PING,351.4,5.8
$24V_AH,23.8,7.078
$10V_AH,10.6,3.000
$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,27.650,57.800,354.475,137.600,0.000,146.612,161.779,0.000,8.000,0.000,0.000,32.989,782.870,4379.324,594.180,1133.633,374.570,33.334,1134.579,0.000,1100.397,0.000,18.299
$DEVICE_MAMPS,171.808,98.176,997.867,731.718,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,305.341,321.410,686.380,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22241,431
$CFSIZE,260165632,257495040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,200108,042008,4758.162,-12556.227,34,0.9,35,18.8