version: 66.02
glider: 119
mission: 3
dive: 38
start: 1 20 108 17 10 12
data:
$ID,119
$MISSION,3
$DIVE,38
$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,-15355.913
$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,25
$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
$GPS1,170207,4758.974,-12604.564,32,1.7,33,18.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-65.4
$GPS2,170920,4759.017,-12604.659,14,1.1,14,18.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.215,-0.153
$KALMAN_X,14594.8,-917.5,-871.9,-42731.1,19336.0
$KALMAN_Y,458.7,310.0,-116.2,-6539.3,6461.6
$MHEAD_RNG_PITCHd_Wd,215.6,182125,-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,-146.6,0.0,0.0,0,131,0.00,0.00,-111.47,0.000,2,0.000,0.000,1377,2188,2662
$GC,133,-1.00,-146.6,3.4,-4.8,11,171,12.45,2.35,-19.98,0.000,4,0.173,0.074,3142,815,3458
$GC,423,-1.00,-146.6,57.2,-17.4,45,430,0.00,2.33,0.00,0.000,6,0.000,0.051,3143,2221,3458
$GC,760,-1.00,-146.6,108.5,-13.2,88,764,0.00,2.38,0.00,0.000,4,0.000,0.060,3142,817,3458
$GC,872,-1.00,-146.6,122.7,-12.6,98,877,0.00,2.33,0.00,0.000,6,0.000,0.051,3142,2225,3459
$GC,1194,-1.00,-146.6,164.2,-12.4,123,1195,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2225,3458
$GC,1505,-1.00,-146.6,200.5,-11.9,138,1509,0.00,2.38,0.00,0.000,4,0.000,0.061,3142,812,3458
$GC,1536,-1.00,-146.6,204.6,-12.6,139,1544,0.00,2.33,0.00,0.000,6,0.000,0.051,3142,2211,3458
$GC,1852,-1.00,-146.6,242.9,-11.8,155,1856,0.00,2.35,0.00,0.000,4,0.000,0.061,3142,810,3458
$GC,1878,-1.00,-146.6,246.1,-11.9,156,1883,0.00,2.35,0.00,0.000,6,0.000,0.053,3142,2216,3458
$GC,2199,-1.00,-146.6,284.1,-12.5,172,2203,0.00,2.35,0.00,0.000,4,0.000,0.062,3142,818,3458
$GC,2247,-1.00,-146.6,290.3,-12.1,174,2252,0.00,2.35,0.00,0.000,6,0.000,0.054,3142,2224,3458
$GC,2585,-1.00,-146.6,331.3,-12.4,183,2589,0.00,2.38,0.00,0.000,4,0.000,0.063,3142,810,3458
$GC,2605,-1.00,-146.6,334.2,-12.7,183,2610,0.00,2.35,0.00,0.000,6,0.000,0.055,3142,2216,3458
$STATE,2775,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2775,begin apogee
$GC,2778,-0.23,0.0,354.4,12.3,186,2899,1.00,0.00,117.35,1.011,6,0.101,0.000,3308,2216,2860
$STATE,2900,end apogee,CONTROL_FINISHED_OK
$STATE,2900,begin climb
$GC,2901,1.00,146.6,361.2,0.0,188,3031,1.60,2.65,120.18,0.963,4,0.060,0.061,3576,778,2262
$GC,3170,1.06,196.9,357.4,7.7,192,3218,0.00,2.45,41.62,0.958,6,0.000,0.051,3577,2185,2057
$GC,3520,1.06,196.9,318.6,11.7,198,3524,0.00,2.50,0.00,0.000,4,0.000,0.080,3576,3586,2057
$GC,3624,1.06,196.9,305.4,12.4,199,3629,0.00,2.40,0.00,0.000,6,0.000,0.046,3576,2183,2057
$GC,3956,1.06,196.9,267.6,11.6,213,3957,0.00,0.00,0.00,0.000,6,0.000,0.000,3576,2183,2056
$GC,4265,1.06,196.9,232.1,11.4,228,4269,0.00,2.47,0.00,0.000,4,0.000,0.077,3576,3592,2056
$GC,4372,1.06,196.9,219.4,11.9,233,4376,0.00,2.35,0.00,0.000,6,0.000,0.046,3576,2172,2056
$GC,4697,1.06,196.9,185.1,10.2,249,4701,0.00,2.47,0.00,0.000,4,0.000,0.077,3576,3593,2056
$GC,4767,1.06,196.9,177.4,10.3,252,4772,0.00,2.35,0.00,0.000,6,0.000,0.046,3576,2186,2056
$GC,5089,1.09,218.8,148.3,9.0,268,5113,0.12,2.45,17.85,0.888,4,0.071,0.061,3602,777,1967
$GC,5150,1.09,218.8,141.6,11.9,273,5158,0.00,2.38,0.00,0.000,6,0.000,0.051,3602,2185,1966
$GC,5476,1.09,218.8,105.4,11.2,304,5480,0.00,2.42,0.00,0.000,4,0.000,0.078,3602,3583,1966
$GC,5615,1.09,218.8,89.4,12.1,316,5619,0.00,2.33,0.00,0.000,6,0.000,0.046,3602,2174,1967
$GC,5952,1.18,289.6,63.3,6.8,366,6013,0.00,2.42,54.90,0.829,4,0.000,0.061,3602,778,1678
$GC,6097,1.18,289.6,50.2,10.7,392,6103,0.00,2.38,0.00,0.000,6,0.000,0.050,3602,2187,1678
$GC,6432,1.18,289.6,14.8,11.0,432,6433,0.00,0.00,0.00,0.000,6,0.000,0.000,3602,2187,1678
$STATE,6548,end climb,SURFACE_DEPTH_REACHED
$STATE,6548,begin surface coast
$FINISH,0.4,1.025207
$STATE,6560,end surface coast,CONTROL_FINISHED_OK
$STATE,6560,begin surface
$SM_CCo,6578,140.23,0.736,0,0,425,597.31
$SM_GC,1.05,0.00,0.00,140.23,0.000,0.000,0.736,1377,2193,425,-9.14,-0.82,597.31
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1866
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,16.30
$XPDR_PINGS,15
$ALTIM_BOTTOM_PING,354.4,5.7
$24V_AH,23.8,8.014
$10V_AH,10.6,3.418
$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,27.525,62.225,351.900,140.225,0.000,116.172,0.000,0.000,6.250,0.000,0.000,15.969,799.317,4473.036,615.893,1091.743,185.258,33.338,1139.088,0.000,1074.848,0.000,18.296
$DEVICE_MAMPS,172.575,79.768,1010.906,735.553,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,313.421,333.631,708.121,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22255,444
$CFSIZE,260165632,257171456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,200108,190325,4758.901,-12605.937,32,2.0,41,18.9