version: 66.02
glider: 119
mission: 3
dive: 32
start: 1 20 108 4 33 6
data:
$ID,119
$MISSION,3
$DIVE,32
$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,-15200.537
$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,35
$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
$GPS1,042008,4758.162,-12556.227,34,0.9,35,18.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-65.3
$GPS2,043215,4758.164,-12556.326,11,1.6,11,18.8
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.197,0.176
$KALMAN_X,10471.5,-1350.5,-1008.7,-27722.7,20010.9
$KALMAN_Y,219.6,444.7,129.3,-8273.8,7858.2
$MHEAD_RNG_PITCHd_Wd,293.0,189748,-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,-112.20,0.000,2,0.000,0.000,1374,2235,2719
$GC,134,-1.00,-146.6,4.0,-5.0,11,170,12.60,2.45,-16.38,0.000,4,0.179,0.088,3139,3616,3459
$GC,202,-1.00,-146.6,20.5,-18.0,17,210,0.00,2.35,0.00,0.000,6,0.000,0.045,3139,2221,3459
$GC,544,-1.00,-146.6,84.5,-18.5,67,545,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,2221,3459
$GC,863,-1.00,-146.6,129.5,-13.2,97,867,0.00,2.38,0.00,0.000,4,0.000,0.061,3139,808,3459
$GC,935,-1.00,-146.6,139.1,-13.1,103,939,0.00,2.30,0.00,0.000,6,0.000,0.050,3139,2211,3459
$GC,1252,-1.00,-146.6,178.5,-12.8,122,1256,0.00,2.35,0.00,0.000,4,0.000,0.061,3139,816,3459
$GC,1294,-1.00,-146.6,184.2,-13.1,124,1299,0.00,2.33,0.00,0.000,6,0.000,0.051,3139,2212,3459
$GC,1622,-1.00,-146.6,225.2,-12.4,140,1626,0.00,2.35,0.00,0.000,4,0.000,0.061,3139,813,3459
$GC,1648,-1.00,-146.6,228.6,-12.3,141,1653,0.00,2.35,0.00,0.000,6,0.000,0.052,3139,2219,3459
$GC,1970,-1.00,-146.6,269.4,-13.3,157,1974,0.00,2.38,0.00,0.000,4,0.000,0.062,3139,807,3459
$GC,2023,-1.00,-146.6,277.0,-14.1,159,2031,0.00,2.38,0.00,0.000,6,0.000,0.053,3139,2218,3459
$GC,2336,-1.00,-146.6,316.4,-12.1,171,2338,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,2218,3459
$STATE,2643,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2643,begin apogee
$GC,2647,-0.23,0.0,350.2,11.1,176,2767,1.00,0.00,117.18,1.002,6,0.096,0.000,3306,2168,2860
$STATE,2768,end apogee,CONTROL_FINISHED_OK
$STATE,2768,begin climb
$GC,2769,1.00,146.6,355.0,0.0,178,2897,1.62,2.55,119.97,0.959,4,0.058,0.061,3577,775,2262
$GC,3058,1.00,146.6,344.2,10.5,182,3063,0.00,2.45,0.00,0.000,6,0.000,0.051,3578,2185,2262
$GC,3379,1.03,165.5,314.4,9.1,188,3402,0.00,2.50,16.58,0.940,4,0.000,0.081,3578,3586,2184
$GC,3589,1.03,165.5,293.7,10.1,191,3593,0.00,2.35,0.00,0.000,6,0.000,0.046,3578,2185,2184
$GC,3904,1.07,204.3,267.1,8.2,206,3945,0.00,2.55,31.55,0.947,4,0.000,0.076,3578,3589,2025
$GC,3955,1.08,205.7,262.1,9.9,208,3960,0.00,2.42,0.00,0.000,6,0.000,0.046,3578,2185,2025
$GC,4276,1.08,206.9,230.5,9.9,224,4286,0.00,2.50,3.60,0.580,4,0.000,0.077,3578,3580,2017
$GC,4325,1.08,206.9,225.5,10.1,226,4330,0.00,2.35,0.00,0.000,6,0.000,0.047,3578,2174,2016
$GC,4645,1.08,206.9,193.8,10.4,242,4650,0.00,2.47,0.00,0.000,4,0.000,0.077,3578,3583,2016
$GC,4716,1.08,206.9,185.4,11.9,245,4721,0.00,2.35,0.00,0.000,6,0.000,0.047,3578,2187,2016
$GC,5038,1.08,206.9,148.9,11.0,261,5042,0.00,2.45,0.00,0.000,4,0.000,0.077,3577,3586,2016
$GC,5069,1.08,206.9,145.1,11.2,263,5077,0.00,2.35,0.00,0.000,6,0.000,0.047,3577,2182,2016
$GC,5396,1.10,223.1,112.8,9.3,294,5419,0.12,2.47,13.70,0.853,4,0.072,0.077,3604,3577,1950
$GC,5538,1.10,223.1,94.8,12.2,306,5544,0.00,2.30,0.00,0.000,6,0.000,0.046,3604,2179,1950
$GC,5871,1.19,296.3,69.7,6.7,352,5938,0.00,2.58,56.78,0.822,4,0.000,0.074,3605,3584,1651
$GC,6077,1.19,296.3,48.7,11.7,389,6084,0.00,2.35,0.00,0.000,6,0.000,0.045,3604,2179,1651
$GC,6411,1.19,296.3,10.9,11.3,427,6415,0.00,2.38,0.00,0.000,4,0.000,0.061,3604,777,1651
$GC,6444,1.19,296.3,7.1,12.6,430,6448,0.00,2.33,0.00,0.000,6,0.000,0.049,3605,2183,1651
$STATE,6501,end climb,SURFACE_DEPTH_REACHED
$STATE,6501,begin surface coast
$FINISH,0.5,1.024902
$STATE,6523,end surface coast,CONTROL_FINISHED_OK
$STATE,6523,begin surface
$SM_CCo,6542,134.48,0.729,0,0,425,597.31
$SM_GC,1.20,0.00,0.00,134.48,0.000,0.000,0.729,1375,2187,425,-9.14,-0.88,597.31
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.027612
$HUMID,1877
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,16.30
$XPDR_PINGS,13
$ALTIM_BOTTOM_PING,350.2,5.8
$24V_AH,23.8,7.218
$10V_AH,10.6,3.061
$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,27.675,67.375,359.350,134.475,0.000,169.577,184.594,52.936,5.750,0.000,0.000,12.658,788.819,4448.459,623.069,1062.775,493.679,33.333,1150.870,0.000,1059.023,0.000,18.297
$DEVICE_MAMPS,178.711,98.943,1002.469,729.417,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,308.601,327.968,696.369,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22215,437
$CFSIZE,260165632,257449984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,200108,062523,4758.960,-12557.714,6,2.4,26,18.8