version: 66.02
glider: 119
mission: 3
dive: 33
start: 1 20 108 6 35 21
data:
$ID,119
$MISSION,3
$DIVE,33
$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,-15242.484
$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,26
$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
$GPS1,062523,4758.960,-12557.714,6,2.4,26,18.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-66.2
$GPS2,063431,4758.984,-12557.745,39,1.6,39,18.8
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.219,-0.147
$KALMAN_X,10922.6,-1828.8,-958.1,-29499.5,20173.5
$KALMAN_Y,-1117.4,-334.3,-862.1,-3635.9,5615.4
$MHEAD_RNG_PITCHd_Wd,217.4,189148,-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,16,begin dive
$GC,17,-1.00,-146.6,0.0,0.0,0,132,0.00,0.00,-111.97,0.000,2,0.000,0.000,1375,2187,2732
$GC,134,-1.00,-146.6,4.0,-4.4,11,172,12.88,2.58,-16.08,0.000,4,0.185,0.089,3137,3621,3458
$GC,278,-1.00,-146.6,33.9,-17.8,24,285,0.00,2.35,0.00,0.000,6,0.000,0.044,3136,2220,3458
$GC,619,-1.00,-146.6,95.2,-14.5,74,623,0.00,2.35,0.00,0.000,4,0.000,0.061,3137,816,3459
$GC,670,-1.00,-146.6,102.6,-14.2,78,674,0.00,2.33,0.00,0.000,6,0.000,0.050,3137,2222,3459
$GC,994,-1.00,-146.6,148.2,-13.5,108,998,0.00,2.42,0.00,0.000,4,0.000,0.079,3137,3624,3459
$GC,1011,-1.00,-146.6,150.3,-12.8,109,1015,0.00,2.30,0.00,0.000,6,0.000,0.046,3137,2218,3458
$GC,1337,-1.00,-146.6,193.6,-13.2,125,1341,0.00,2.35,0.00,0.000,4,0.000,0.061,3136,810,3458
$GC,1386,-1.00,-146.6,200.0,-12.1,127,1390,0.00,2.35,0.00,0.000,6,0.000,0.051,3137,2228,3459
$GC,1706,-1.00,-146.6,241.7,-12.5,143,1711,0.00,2.35,0.00,0.000,4,0.000,0.061,3137,817,3459
$GC,1723,-1.00,-146.6,243.7,-12.2,144,1727,0.00,2.33,0.00,0.000,6,0.000,0.054,3136,2226,3459
$GC,2049,-1.00,-146.6,284.3,-13.0,160,2053,0.00,2.38,0.00,0.000,4,0.000,0.062,3136,815,3458
$GC,2115,-1.00,-146.6,293.2,-13.3,163,2119,0.00,2.33,0.00,0.000,6,0.000,0.054,3137,2224,3458
$GC,2470,-1.00,-146.6,341.2,-13.5,171,2474,0.00,2.38,0.00,0.000,4,0.000,0.063,3137,816,3458
$GC,2542,-1.00,-146.6,350.6,-12.6,172,2547,0.00,2.33,0.00,0.000,6,0.000,0.057,3137,2218,3458
$STATE,2782,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2782,begin apogee
$GC,2786,-0.23,0.0,380.8,12.7,176,2907,1.05,0.00,117.60,1.024,6,0.104,0.000,3309,2178,2860
$STATE,2907,end apogee,CONTROL_FINISHED_OK
$STATE,2907,begin climb
$GC,2909,1.00,146.6,387.2,0.0,178,3039,1.58,2.62,120.68,0.976,4,0.058,0.061,3575,774,2261
$GC,3111,1.05,184.1,387.3,8.3,181,3148,0.00,2.47,31.73,0.962,6,0.000,0.053,3575,2181,2109
$GC,3456,1.05,184.1,350.5,11.2,187,3457,0.00,0.00,0.00,0.000,6,0.000,0.000,3575,2181,2108
$GC,3759,1.05,187.3,319.7,9.9,192,3765,0.00,0.00,4.38,0.690,6,0.000,0.000,3575,2181,2096
$GC,4064,1.06,193.5,290.9,9.7,199,4077,0.00,2.55,6.80,0.838,4,0.000,0.081,3575,3592,2071
$GC,4189,1.06,193.5,277.0,10.5,204,4197,0.00,2.38,0.00,0.000,6,0.000,0.047,3575,2187,2071
$GC,4505,1.06,193.5,242.8,11.0,220,4509,0.00,2.47,0.00,0.000,4,0.000,0.079,3575,3594,2070
$GC,4553,1.06,193.5,236.9,12.1,222,4558,0.00,2.38,0.00,0.000,6,0.000,0.047,3575,2183,2070
$GC,4874,1.06,193.5,200.9,10.7,238,4876,0.00,0.00,0.00,0.000,6,0.000,0.000,3575,2183,2070
$GC,5184,1.06,193.5,169.1,10.6,253,5188,0.00,2.45,0.00,0.000,4,0.000,0.078,3575,3590,2070
$GC,5222,1.06,193.5,165.0,10.5,255,5226,0.00,2.33,0.00,0.000,6,0.000,0.047,3575,2179,2070
$GC,5543,1.06,196.3,132.2,9.9,278,5555,0.00,2.47,4.00,0.625,4,0.000,0.077,3575,3591,2058
$GC,5616,1.06,196.6,124.7,10.0,284,5623,0.00,2.30,0.00,0.000,6,0.000,0.047,3575,2179,2058
$GC,5941,1.13,247.7,97.0,7.7,315,5988,0.15,2.53,39.78,0.861,4,0.072,0.076,3609,3580,1850
$GC,6241,1.18,293.8,65.7,7.9,355,6286,0.00,2.33,36.50,0.815,6,0.000,0.046,3610,2179,1662
$GC,6616,1.18,293.8,26.9,10.5,412,6619,0.00,2.47,0.00,0.000,4,0.000,0.073,3610,3589,1662
$GC,6821,1.18,293.8,2.4,11.1,430,6829,0.00,2.35,0.00,0.000,6,0.000,0.044,3610,2185,1662
$STATE,6837,end climb,SURFACE_DEPTH_REACHED
$STATE,6837,begin surface coast
$FINISH,0.5,1.016095
$STATE,6849,end surface coast,CONTROL_FINISHED_OK
$STATE,6849,begin surface
$SM_CCo,6868,136.88,0.731,0,0,425,597.31
$SM_GC,1.13,0.00,0.00,136.88,0.000,0.000,0.731,1375,2235,425,-9.14,0.42,597.31
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1857
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,16.30
$XPDR_PINGS,23
$ALTIM_BOTTOM_PING,380.8,5.7
$24V_AH,23.8,7.352
$10V_AH,10.6,3.120
$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,28.200,67.325,361.450,136.875,0.000,130.544,75.167,0.000,8.500,0.000,0.000,41.319,789.557,4775.718,627.741,1089.381,283.208,33.339,1152.113,0.000,1055.132,0.000,19.917
$DEVICE_MAMPS,184.847,148.031,1023.945,730.951,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,306.671,327.088,676.204,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22212,433
$CFSIZE,260165632,257400832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,200108,083307,4758.843,-12558.855,26,1.3,27,18.8