version: 66.02
glider: 119
mission: 3
dive: 40
start: 1 20 108 21 24 24
data:
$ID,119
$MISSION,3
$DIVE,40
$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,-15392.441
$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,28
$R_STBD_OVSHOOT,22
$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
$GPS1,211137,4759.621,-12607.415,12,1.2,29,18.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-60.7
$GPS2,212332,4759.686,-12607.465,14,1.2,14,18.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.212,-0.156
$KALMAN_X,16852.7,-1641.3,-860.8,-47752.3,19435.4
$KALMAN_Y,1813.1,223.0,-705.9,-5978.9,6163.2
$MHEAD_RNG_PITCHd_Wd,214.8,180062,-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,-111.57,0.000,2,0.000,0.000,1375,2202,2669
$GC,133,-1.00,-146.6,3.4,-4.4,11,170,12.38,2.38,-19.88,0.000,4,0.170,0.074,3136,813,3458
$GC,367,-1.00,-146.6,48.0,-18.4,35,373,0.00,2.33,0.00,0.000,6,0.000,0.051,3137,2220,3458
$GC,701,-1.00,-146.6,105.1,-14.3,81,704,0.00,2.38,0.00,0.000,4,0.000,0.060,3136,817,3458
$GC,723,-1.00,-146.6,108.1,-14.2,83,726,0.00,2.33,0.00,0.000,6,0.000,0.051,3137,2219,3458
$GC,1052,-1.00,-146.6,153.5,-13.6,113,1056,0.00,2.38,0.00,0.000,4,0.000,0.061,3137,813,3458
$GC,1106,-1.00,-146.6,161.4,-13.9,115,1113,0.00,2.35,0.00,0.000,6,0.000,0.051,3137,2222,3457
$GC,1422,-1.00,-146.6,203.9,-13.3,131,1426,0.00,2.38,0.00,0.000,4,0.000,0.060,3137,810,3458
$GC,1464,-1.00,-146.6,209.9,-13.0,133,1469,0.00,2.35,0.00,0.000,6,0.000,0.051,3137,2219,3458
$GC,1792,-1.00,-146.6,251.4,-12.6,149,1796,0.00,2.35,0.00,0.000,4,0.000,0.061,3137,817,3458
$GC,1841,-1.00,-146.6,257.6,-11.8,151,1846,0.00,2.33,0.00,0.000,6,0.000,0.053,3137,2216,3458
$GC,2162,-1.00,-146.6,297.4,-13.1,167,2164,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2216,3458
$GC,2486,-1.00,-146.6,338.0,-12.4,173,2490,0.00,2.35,0.00,0.000,4,0.000,0.062,3137,816,3458
$GC,2546,-1.00,-146.6,345.4,-12.3,174,2551,0.00,2.33,0.00,0.000,6,0.000,0.055,3137,2224,3458
$STATE,2852,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2852,begin apogee
$GC,2856,-0.23,0.0,381.0,11.7,179,2977,1.02,0.00,117.50,1.031,6,0.096,0.000,3308,2175,2860
$STATE,2978,end apogee,CONTROL_FINISHED_OK
$STATE,2978,begin climb
$GC,2979,1.00,146.6,386.5,0.0,181,3109,1.60,2.62,120.70,0.988,4,0.058,0.061,3577,775,2262
$GC,3204,1.01,156.6,382.6,9.5,184,3219,0.00,2.47,10.07,0.890,6,0.000,0.053,3577,2182,2220
$GC,3534,1.01,156.6,349.7,10.1,190,3538,0.00,2.50,0.00,0.000,4,0.000,0.081,3577,3590,2220
$GC,3678,1.01,156.6,334.2,10.6,192,3683,0.00,2.38,0.00,0.000,6,0.000,0.046,3578,2190,2220
$GC,4032,1.07,198.1,303.9,8.1,198,4072,0.00,2.55,33.40,0.979,4,0.000,0.077,3577,3579,2052
$GC,4172,1.07,198.1,290.4,10.5,202,4177,0.00,2.40,0.00,0.000,6,0.000,0.047,3577,2186,2052
$GC,4494,1.07,198.1,258.6,10.2,218,4498,0.00,2.47,0.00,0.000,4,0.000,0.077,3578,3585,2051
$GC,4637,1.07,198.1,242.6,11.1,224,4645,0.00,2.38,0.00,0.000,6,0.000,0.047,3577,2179,2051
$GC,4955,1.07,198.1,209.0,10.9,240,4959,0.00,2.47,0.00,0.000,4,0.000,0.078,3577,3590,2051
$GC,4997,1.07,198.1,203.8,11.3,242,5002,0.00,2.38,0.00,0.000,6,0.000,0.048,3577,2179,2051
$GC,5325,1.07,198.1,170.2,10.0,258,5329,0.00,2.45,0.00,0.000,4,0.000,0.077,3577,3586,2051
$GC,5412,1.07,198.1,160.2,11.8,262,5417,0.00,2.35,0.00,0.000,6,0.000,0.047,3577,2180,2051
$GC,5735,1.07,198.1,125.1,10.6,288,5737,0.00,0.00,0.00,0.000,6,0.000,0.000,3577,2180,2050
$GC,6054,1.09,218.7,93.3,9.1,318,6077,0.12,2.47,16.80,0.858,4,0.076,0.074,3602,3593,1967
$GC,6257,1.12,243.9,71.9,8.9,343,6286,0.00,2.33,20.85,0.839,6,0.000,0.045,3602,2175,1864
$GC,6623,1.18,293.2,43.2,7.8,408,6668,0.00,2.53,38.78,0.815,4,0.000,0.072,3602,3585,1664
$GC,6758,1.18,293.2,30.1,11.4,425,6762,0.00,2.38,0.00,0.000,6,0.000,0.044,3602,2178,1664
$STATE,7037,end climb,SURFACE_DEPTH_REACHED
$STATE,7038,begin surface coast
$FINISH,0.7,1.025220
$STATE,7049,end surface coast,CONTROL_FINISHED_OK
$STATE,7050,begin surface
$SM_CCo,7069,138.10,0.736,0,0,424,597.31
$SM_GC,1.13,0.00,0.00,138.10,0.000,0.000,0.736,1377,2231,424,-9.14,0.31,597.31
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.027612
$HUMID,1864
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,16.30
$XPDR_PINGS,20
$ALTIM_BOTTOM_PING,381.0,5.7
$24V_AH,23.8,8.289
$10V_AH,10.6,3.541
$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,27.625,67.500,358.100,138.100,0.000,171.058,225.504,0.000,8.000,0.000,0.000,16.223,830.923,4840.506,620.496,1173.182,470.499,33.337,1181.362,0.000,1152.104,0.000,22.728
$DEVICE_MAMPS,170.274,98.943,1030.848,736.320,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,320.403,336.367,706.106,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22242,452
$CFSIZE,260165632,257073152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,200108,232532,4759.080,-12608.328,27,2.0,28,18.9