version: 66.02
glider: 119
mission: 3
dive: 42
start: 1 21 108 1 51 25
data:
$ID,119
$MISSION,3
$DIVE,42
$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,-15436.727
$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,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
$GPS1,013415,4759.333,-12609.312,12,1.7,31,18.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-59.8
$GPS2,015035,4759.299,-12609.420,8,2.7,27,18.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.214,-0.154
$KALMAN_X,18892.7,-1753.7,-1003.4,-51950.1,19624.7
$KALMAN_Y,213.4,-1209.5,-458.9,-3901.3,2697.1
$MHEAD_RNG_PITCHd_Wd,215.4,177675,-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,-112.00,0.000,2,0.000,0.000,1377,2197,2653
$GC,134,-1.00,-146.6,3.1,-3.3,11,177,12.38,2.40,-21.27,0.000,4,0.169,0.074,3137,820,3460
$GC,374,-1.00,-146.6,48.9,-18.2,36,380,0.00,2.33,0.00,0.000,6,0.000,0.050,3137,2229,3460
$GC,708,-1.00,-146.6,106.3,-15.3,82,712,0.00,2.38,0.00,0.000,4,0.000,0.059,3137,818,3460
$GC,730,-1.00,-146.6,109.6,-15.2,84,734,0.00,2.30,0.00,0.000,6,0.000,0.051,3136,2219,3460
$GC,1070,-1.00,-146.6,156.6,-13.4,114,1074,0.00,2.38,0.00,0.000,4,0.000,0.060,3137,811,3460
$GC,1118,-1.00,-146.6,163.3,-13.1,116,1123,0.00,2.35,0.00,0.000,6,0.000,0.051,3137,2219,3460
$GC,1440,-1.00,-146.6,203.6,-12.6,132,1444,0.00,2.38,0.00,0.000,4,0.000,0.061,3137,810,3460
$GC,1460,-1.00,-146.6,206.5,-13.2,133,1465,0.00,2.35,0.00,0.000,6,0.000,0.051,3137,2218,3460
$GC,1787,-1.00,-146.6,246.6,-12.0,149,1791,0.00,2.35,0.00,0.000,4,0.000,0.061,3137,819,3460
$GC,1807,-1.00,-146.6,249.1,-11.6,150,1812,0.00,2.33,0.00,0.000,6,0.000,0.051,3137,2215,3460
$GC,2135,-1.00,-146.6,288.6,-12.4,166,2139,0.00,2.35,0.00,0.000,4,0.000,0.061,3137,818,3460
$GC,2167,-1.00,-146.6,292.8,-12.7,167,2174,0.00,2.33,0.00,0.000,6,0.000,0.054,3137,2216,3460
$GC,2479,-1.00,-146.6,331.2,-12.4,175,2483,0.00,2.35,0.00,0.000,4,0.000,0.061,3137,817,3460
$GC,2522,-1.00,-146.6,336.9,-12.1,175,2526,0.00,2.35,0.00,0.000,6,0.000,0.054,3137,2222,3460
$GC,2843,-1.00,-146.6,373.4,-11.3,181,2848,0.00,2.38,0.00,0.000,4,0.000,0.063,3136,810,3459
$STATE,2861,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2862,begin apogee
$GC,2867,-0.23,0.0,375.4,11.1,181,2988,1.00,0.00,117.50,1.025,6,0.100,0.000,3305,2181,2860
$STATE,2989,end apogee,CONTROL_FINISHED_OK
$STATE,2989,begin climb
$GC,2991,1.00,146.6,379.0,0.0,183,3119,1.65,2.58,120.68,0.983,4,0.064,0.060,3577,775,2261
$GC,3325,1.01,150.9,362.7,9.8,188,3336,0.00,2.42,5.38,0.749,6,0.000,0.053,3577,2175,2244
$GC,3651,1.02,163.3,331.8,9.4,194,3669,0.00,2.53,11.40,0.923,4,0.000,0.078,3577,3589,2194
$GC,3810,1.02,163.3,314.1,11.3,196,3814,0.00,2.40,0.00,0.000,6,0.000,0.046,3577,2183,2193
$GC,4136,1.02,163.3,280.6,10.2,207,4137,0.00,0.00,0.00,0.000,6,0.000,0.000,3577,2184,2193
$GC,4445,1.07,199.8,253.3,8.3,222,4480,0.00,2.53,29.50,0.955,4,0.000,0.077,3577,3589,2045
$GC,4512,1.07,199.8,246.7,11.1,225,4518,0.00,2.42,0.00,0.000,6,0.000,0.046,3577,2178,2045
$GC,4840,1.07,199.8,212.1,10.9,241,4844,0.00,2.50,0.00,0.000,4,0.000,0.077,3577,3593,2044
$GC,4900,1.07,199.8,205.2,11.3,244,4904,0.00,2.38,0.00,0.000,6,0.000,0.047,3577,2171,2045
$GC,5226,1.07,199.8,170.1,10.6,260,5230,0.00,2.47,0.00,0.000,4,0.000,0.077,3577,3586,2044
$GC,5302,1.07,199.8,161.6,10.9,263,5310,0.00,2.35,0.00,0.000,6,0.000,0.047,3577,2183,2044
$GC,5624,1.07,199.8,129.4,10.2,288,5627,0.00,2.45,0.00,0.000,4,0.000,0.075,3577,3589,2044
$GC,5694,1.07,199.8,121.7,10.7,294,5702,0.00,2.35,0.00,0.000,6,0.000,0.046,3577,2179,2044
$GC,6022,1.11,235.8,91.2,8.4,325,6056,0.15,2.53,28.30,0.864,4,0.069,0.074,3607,3586,1898
$GC,6116,1.11,235.8,80.7,12.1,333,6124,0.00,2.38,0.00,0.000,6,0.000,0.045,3607,2183,1897
$GC,6460,1.13,253.7,49.5,9.2,393,6483,0.00,2.45,15.43,0.819,4,0.000,0.073,3607,3586,1825
$GC,6544,1.13,253.7,40.4,11.9,408,6551,0.00,2.35,0.00,0.000,6,0.000,0.044,3607,2171,1825
$GC,6869,1.17,285.8,10.1,8.5,439,6902,0.00,2.42,25.92,0.802,4,0.000,0.065,3607,771,1693
$STATE,6949,end climb,SURFACE_DEPTH_REACHED
$STATE,6950,begin surface coast
$FINISH,0.6,1.025250
$STATE,6963,end surface coast,CONTROL_FINISHED_OK
$STATE,6963,begin surface
$SM_CCo,6985,139.95,0.736,0,0,425,597.31
$SM_GC,1.19,0.00,0.00,139.95,0.000,0.000,0.736,1376,2219,425,-9.14,-0.03,597.31
$IRIDIUM_FIX,4742.09,-12619.38,210108,050527
$TT8_MAMPS,0.028379
$HUMID,1869
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,18.20
$XPDR_PINGS,19
$ALTIM_BOTTOM_PING,375.4,5.7
$24V_AH,23.8,8.575
$10V_AH,10.6,3.666
$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,27.725,81.575,354.100,139.950,0.000,187.689,342.846,109.450,7.500,0.000,0.000,30.554,826.831,4773.772,638.400,1150.208,727.742,33.344,1194.902,0.000,1119.979,0.000,19.915
$DEVICE_MAMPS,168.740,78.234,1025.479,735.553,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,315.661,336.500,702.806,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22298,447
$CFSIZE,260165632,256974848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,0,0
$GPS,210108,035052,4758.724,-12610.683,6,1.9,8,18.9