version: 66.02
glider: 119
mission: 3
dive: 39
start: 1 20 108 19 13 1
data:
$ID,119
$MISSION,3
$DIVE,39
$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,-15371.713
$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,29
$R_STBD_OVSHOOT,24
$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
$GPS1,190325,4758.901,-12605.937,32,2.0,41,18.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-64.0
$GPS2,191209,4758.982,-12606.062,13,1.1,13,18.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.244,0.099
$KALMAN_X,15191.8,-1224.3,-750.7,-44879.6,19120.8
$KALMAN_Y,2768.4,323.3,77.5,-9134.1,9095.3
$MHEAD_RNG_PITCHd_Wd,273.2,180672,-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,-112.28,0.000,2,0.000,0.000,1377,2190,2672
$GC,134,-1.00,-146.6,3.3,-4.0,11,172,12.43,2.50,-19.83,0.000,4,0.173,0.089,3139,3621,3458
$GC,299,-1.00,-146.6,34.7,-17.8,25,307,0.00,2.35,0.00,0.000,6,0.000,0.045,3139,2227,3458
$GC,641,-1.00,-146.6,94.4,-14.2,75,645,0.00,2.38,0.00,0.000,4,0.000,0.061,3139,812,3458
$GC,746,-1.00,-146.6,110.1,-15.1,84,754,0.00,2.35,0.00,0.000,6,0.000,0.050,3140,2219,3458
$GC,1070,-1.00,-146.6,157.0,-13.7,113,1074,0.00,2.38,0.00,0.000,4,0.000,0.059,3140,809,3458
$GC,1095,-1.00,-146.6,160.9,-14.0,114,1100,0.00,2.35,0.00,0.000,6,0.000,0.050,3140,2221,3458
$GC,1418,-1.00,-146.6,202.0,-12.4,130,1422,0.00,2.38,0.00,0.000,4,0.000,0.060,3140,809,3458
$GC,1466,-1.00,-146.6,208.2,-11.9,132,1471,0.00,2.35,0.00,0.000,6,0.000,0.051,3140,2216,3458
$GC,1788,-1.00,-146.6,247.2,-12.4,148,1792,0.00,2.42,0.00,0.000,4,0.000,0.081,3139,3624,3458
$GC,1809,-1.00,-146.6,250.1,-12.8,149,1813,0.00,2.30,0.00,0.000,6,0.000,0.045,3139,2212,3458
$GC,2135,-1.00,-146.6,290.8,-12.6,165,2136,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2212,3458
$GC,2462,-1.00,-146.6,330.3,-12.0,173,2466,0.00,2.33,0.00,0.000,4,0.000,0.064,3140,817,3458
$GC,2482,-1.00,-146.6,333.1,-11.9,173,2487,0.00,2.35,0.00,0.000,6,0.000,0.055,3140,2219,3458
$GC,2825,-1.00,-146.6,374.8,-12.2,179,2834,0.00,2.35,0.00,0.000,4,0.000,0.064,3139,817,3458
$STATE,2837,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2837,begin apogee
$GC,2843,-0.23,0.0,376.5,12.2,179,2964,0.98,0.00,117.20,1.025,6,0.099,0.000,3304,2181,2860
$STATE,2964,end apogee,CONTROL_FINISHED_OK
$STATE,2965,begin climb
$GC,2966,1.00,146.6,382.1,0.0,181,3094,1.65,2.58,120.38,0.977,4,0.063,0.061,3577,777,2262
$GC,3278,1.04,175.6,373.0,8.7,186,3309,0.00,2.42,24.62,0.966,6,0.000,0.051,3577,2178,2143
$GC,3635,1.04,175.6,337.7,10.1,192,3639,0.00,2.50,0.00,0.000,4,0.000,0.079,3577,3587,2143
$GC,3723,1.04,175.6,327.7,11.5,193,3728,0.00,2.40,0.00,0.000,6,0.000,0.047,3577,2181,2142
$GC,4047,1.04,175.6,293.8,10.5,200,4051,0.00,2.47,0.00,0.000,4,0.000,0.078,3577,3585,2142
$GC,4259,1.04,175.6,270.6,11.6,209,4266,0.00,2.38,0.00,0.000,6,0.000,0.047,3577,2175,2142
$GC,4575,1.05,185.7,239.7,9.5,225,4586,0.00,0.00,9.55,0.890,6,0.000,0.000,3577,2175,2102
$GC,4886,1.07,197.5,210.0,9.5,240,4902,0.00,2.50,11.00,0.894,4,0.000,0.076,3577,3587,2053
$GC,4939,1.07,197.5,204.0,11.9,241,4947,0.00,2.38,0.00,0.000,6,0.000,0.047,3577,2185,2054
$GC,5255,1.07,197.5,170.0,11.2,257,5259,0.00,2.45,0.00,0.000,4,0.000,0.077,3577,3585,2053
$GC,5317,1.07,197.5,162.8,11.7,260,5321,0.00,2.35,0.00,0.000,6,0.000,0.047,3577,2168,2054
$GC,5637,1.07,197.5,129.3,10.2,284,5641,0.00,2.47,0.00,0.000,4,0.000,0.076,3577,3587,2053
$GC,5776,1.07,197.5,113.9,10.7,296,5780,0.00,2.33,0.00,0.000,6,0.000,0.047,3577,2173,2054
$GC,6101,1.14,260.0,86.4,7.2,326,6156,0.17,2.55,47.90,0.852,4,0.066,0.073,3611,3583,1800
$GC,6162,1.18,288.1,81.5,8.7,332,6195,0.00,2.40,23.52,0.798,6,0.000,0.045,3611,2171,1685
$GC,6532,1.18,288.1,40.4,11.4,396,6537,0.00,0.00,0.00,0.000,6,0.000,0.000,3611,2171,1684
$GC,6861,1.18,288.1,3.9,11.1,428,6865,0.00,2.47,0.00,0.000,4,0.000,0.074,3611,3589,1684
$STATE,6876,end climb,SURFACE_DEPTH_REACHED
$STATE,6876,begin surface coast
$FINISH,0.5,1.025211
$STATE,6888,end surface coast,CONTROL_FINISHED_OK
$STATE,6888,begin surface
$SM_CCo,6909,140.05,0.742,0,0,424,597.31
$SM_GC,1.06,0.00,0.00,140.05,0.000,0.000,0.742,1376,2206,424,-9.14,-0.40,597.31
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1863
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,16.20
$XPDR_PINGS,19
$ALTIM_BOTTOM_PING,375.3,5.7
$24V_AH,23.8,8.147
$10V_AH,10.6,3.477
$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,27.725,72.050,354.175,140.050,0.000,130.829,75.167,0.000,7.500,0.000,0.000,15.171,802.148,4758.528,623.112,1124.094,279.108,33.341,1179.748,0.000,1107.878,0.000,19.930
$DEVICE_MAMPS,172.575,88.972,1025.479,741.689,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,305.032,322.603,672.837,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22280,430
$CFSIZE,260165632,257122304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,200108,211137,4759.621,-12607.415,12,1.2,29,18.9