version: 66.02
glider: 119
mission: 3
dive: 45
start: 1 21 108 8 47 36
data:
$ID,119
$MISSION,3
$DIVE,45
$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,-15510.158
$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,32
$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
$GPS1,083302,4758.715,-12613.972,33,2.0,34,18.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-61.8
$GPS2,084645,4758.759,-12614.064,10,1.6,10,18.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.208,-0.162
$KALMAN_X,20169.6,-1497.1,-714.8,-59531.4,16286.2
$KALMAN_Y,2833.4,-60.4,-321.2,-8816.1,6296.3
$MHEAD_RNG_PITCHd_Wd,213.1,172469,-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,-112.25,0.000,2,0.000,0.000,1377,2229,2680
$GC,134,-1.00,-146.6,3.4,-3.8,11,171,12.40,2.40,-19.30,0.000,4,0.172,0.071,3140,817,3458
$GC,419,-1.00,-146.6,54.7,-16.6,43,425,0.00,2.33,0.00,0.000,6,0.000,0.052,3140,2216,3458
$GC,756,-1.00,-146.6,110.6,-14.8,86,760,0.00,2.35,0.00,0.000,4,0.000,0.059,3140,817,3458
$GC,890,-1.00,-146.6,129.3,-13.9,98,894,0.00,2.33,0.00,0.000,6,0.000,0.051,3140,2226,3458
$GC,1219,-1.00,-146.6,171.2,-11.8,121,1223,0.00,2.38,0.00,0.000,4,0.000,0.060,3140,814,3458
$GC,1274,-1.00,-146.6,177.7,-11.2,123,1281,0.00,2.33,0.00,0.000,6,0.000,0.051,3140,2212,3458
$GC,1590,-1.00,-146.6,213.4,-11.8,139,1594,0.00,2.35,0.00,0.000,4,0.000,0.059,3140,813,3458
$GC,1617,-1.00,-146.6,216.7,-12.5,140,1621,0.00,2.33,0.00,0.000,6,0.000,0.051,3140,2219,3458
$GC,1932,-1.00,-146.6,255.9,-13.0,155,1936,0.00,2.35,0.00,0.000,4,0.000,0.061,3140,817,3458
$GC,1963,-1.00,-146.6,260.2,-12.8,156,1971,0.00,2.33,0.00,0.000,6,0.000,0.052,3140,2215,3458
$GC,2280,-1.00,-146.6,297.6,-11.8,172,2284,0.00,2.35,0.00,0.000,4,0.000,0.061,3140,816,3458
$GC,2328,-1.00,-146.6,303.7,-11.9,174,2333,0.00,2.33,0.00,0.000,6,0.000,0.053,3139,2213,3458
$GC,2643,-1.00,-146.6,340.8,-11.8,180,2644,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2213,3457
$STATE,2949,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2949,begin apogee
$GC,2953,-0.23,0.0,376.2,11.7,185,3074,1.00,0.00,117.40,1.027,6,0.097,0.000,3306,2214,2860
$STATE,3074,end apogee,CONTROL_FINISHED_OK
$STATE,3075,begin climb
$GC,3076,1.00,146.6,381.4,0.0,187,3206,1.62,2.65,120.03,0.982,4,0.064,0.077,3577,3592,2262
$GC,3458,1.00,146.6,360.9,11.4,192,3465,0.00,2.42,0.00,0.000,6,0.000,0.044,3577,2182,2261
$GC,3767,1.01,154.8,330.7,9.6,198,3781,0.00,2.53,8.07,0.873,4,0.000,0.077,3577,3582,2229
$GC,4036,1.01,154.8,303.1,10.0,202,4040,0.00,2.35,0.00,0.000,6,0.000,0.046,3577,2176,2228
$GC,4365,1.03,169.3,271.9,9.3,216,4387,0.00,2.53,12.98,0.932,4,0.000,0.077,3577,3581,2169
$GC,4442,1.03,169.3,263.8,10.6,219,4447,0.00,2.38,0.00,0.000,6,0.000,0.047,3577,2182,2169
$GC,4763,1.04,178.9,232.7,9.6,235,4777,0.00,2.47,9.07,0.879,4,0.000,0.077,3577,3587,2130
$GC,4874,1.04,178.9,220.9,10.9,240,4878,0.00,2.35,0.00,0.000,6,0.000,0.046,3577,2176,2130
$GC,5200,1.06,189.8,189.2,9.5,256,5215,0.00,2.50,10.40,0.880,4,0.000,0.076,3577,3588,2086
$GC,5269,1.06,189.8,181.8,10.2,258,5274,0.00,2.38,0.00,0.000,6,0.000,0.046,3577,2185,2086
$GC,5591,1.06,190.7,150.5,10.0,274,5592,0.00,0.00,0.00,0.000,6,0.000,0.000,3577,2185,2086
$GC,5909,1.09,217.1,119.9,8.8,303,5942,0.12,2.50,22.15,0.877,4,0.072,0.074,3603,3594,1973
$GC,6013,1.09,217.1,108.3,12.0,312,6021,0.00,2.38,0.00,0.000,6,0.000,0.044,3603,2185,1973
$GC,6343,1.09,218.5,74.8,9.9,347,6349,0.00,2.38,0.00,0.000,4,0.000,0.061,3603,770,1973
$GC,6535,1.19,302.1,60.1,6.2,381,6607,0.00,2.33,65.35,0.820,6,0.000,0.050,3603,2185,1628
$GC,6932,1.19,302.1,15.1,12.7,435,6933,0.00,0.00,0.00,0.000,6,0.000,0.000,3603,2185,1628
$STATE,7037,end climb,SURFACE_DEPTH_REACHED
$STATE,7037,begin surface coast
$FINISH,0.9,1.025244
$STATE,7049,end surface coast,CONTROL_FINISHED_OK
$STATE,7049,begin surface
$SM_CCo,7068,134.43,0.737,0,0,425,597.31
$SM_GC,1.22,0.00,0.00,134.43,0.000,0.000,0.737,1376,2190,425,-9.14,-0.85,597.31
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1868
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,16.20
$XPDR_PINGS,15
$ALTIM_BOTTOM_PING,376.2,5.7
$24V_AH,23.8,9.015
$10V_AH,10.6,3.860
$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,27.600,62.250,365.450,134.425,0.000,207.479,300.672,0.000,6.500,0.000,0.000,11.753,822.121,4845.041,609.904,1174.707,586.148,33.337,1189.221,0.000,1160.266,0.000,19.913
$DEVICE_MAMPS,171.808,77.467,1027.013,737.087,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,315.051,337.023,699.463,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22242,446
$CFSIZE,260165632,256831488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,210108,104855,4758.476,-12614.603,23,1.1,42,18.9