version: 66.02
glider: 119
mission: 3
dive: 50
start: 1 21 108 21 12 19
data:
$ID,119
$MISSION,3
$DIVE,50
$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,-15605.025
$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,25
$R_STBD_OVSHOOT,36
$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
$GPS1,205537,4757.650,-12619.777,29,1.0,29,18.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-66.2
$GPS2,211127,4757.654,-12619.846,13,1.2,13,18.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.255,0.068
$KALMAN_X,26816.6,-1879.0,-609.5,-73058.8,16134.4
$KALMAN_Y,7177.9,-2397.5,-597.8,-12591.1,8202.5
$MHEAD_RNG_PITCHd_Wd,266.0,165539,-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,-111.95,0.000,2,0.000,0.000,1377,2239,2685
$GC,134,-1.00,-146.6,3.5,-3.9,11,171,12.38,2.42,-19.10,0.000,4,0.170,0.087,3135,3620,3459
$GC,328,-1.00,-146.6,41.1,-18.9,28,334,0.00,2.30,0.00,0.000,6,0.000,0.044,3135,2218,3459
$GC,664,-1.00,-146.6,100.9,-16.0,77,668,0.00,2.35,0.00,0.000,4,0.000,0.060,3135,813,3459
$GC,701,-1.00,-146.6,106.8,-14.6,80,709,0.00,2.33,0.00,0.000,6,0.000,0.049,3135,2208,3459
$GC,1037,-1.00,-146.6,153.0,-13.9,111,1041,0.00,2.35,0.00,0.000,4,0.000,0.059,3135,815,3459
$GC,1076,-1.00,-146.6,158.4,-13.9,113,1080,0.00,2.33,0.00,0.000,6,0.000,0.050,3135,2224,3459
$GC,1402,-1.00,-146.6,202.1,-13.4,129,1403,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2224,3459
$GC,1711,-1.00,-146.6,241.6,-12.5,144,1715,0.00,2.38,0.00,0.000,4,0.000,0.061,3135,812,3459
$GC,1759,-1.00,-146.6,248.1,-11.9,146,1764,0.00,2.35,0.00,0.000,6,0.000,0.052,3135,2216,3459
$GC,2081,-1.00,-146.6,288.4,-13.0,162,2085,0.00,2.35,0.00,0.000,4,0.000,0.060,3135,810,3459
$GC,2120,-1.00,-146.6,293.6,-13.3,163,2126,0.00,2.33,0.00,0.000,6,0.000,0.053,3135,2222,3459
$GC,2430,-1.00,-146.6,332.8,-12.6,171,2431,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2223,3459
$GC,2732,-1.00,-146.6,367.4,-11.7,176,2733,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2223,3459
$STATE,3038,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3038,begin apogee
$GC,3042,-0.23,0.0,404.4,12.2,181,3164,1.02,0.00,117.70,1.045,6,0.097,0.000,3307,2170,2860
$STATE,3164,end apogee,CONTROL_FINISHED_OK
$STATE,3164,begin climb
$GC,3166,1.00,146.6,409.6,0.0,183,3296,1.60,2.60,120.07,0.994,4,0.061,0.061,3576,785,2261
$GC,3407,1.00,148.4,403.7,9.9,186,3412,0.00,2.45,0.00,0.000,6,0.000,0.051,3576,2183,2261
$GC,3722,1.02,157.4,373.6,9.6,192,3737,0.00,2.53,10.43,0.930,4,0.000,0.078,3576,3593,2218
$GC,3831,1.02,157.4,361.4,11.2,193,3836,0.00,2.40,0.00,0.000,6,0.000,0.044,3576,2188,2217
$GC,4152,1.02,157.4,328.1,10.3,199,4156,0.00,2.45,0.00,0.000,4,0.000,0.076,3576,3586,2217
$GC,4307,1.02,157.4,311.8,11.0,201,4312,0.00,2.38,0.00,0.000,6,0.000,0.045,3576,2178,2217
$GC,4634,1.05,184.8,282.2,8.8,212,4663,0.00,2.55,22.35,0.973,4,0.000,0.075,3576,3586,2106
$GC,4703,1.05,184.8,275.2,10.6,215,4707,0.00,2.38,0.00,0.000,6,0.000,0.047,3576,2175,2106
$GC,5023,1.05,184.8,242.7,10.0,231,5027,0.00,2.47,0.00,0.000,4,0.000,0.075,3576,3586,2106
$GC,5166,1.05,184.8,227.4,11.1,237,5174,0.00,2.38,0.00,0.000,6,0.000,0.046,3576,2174,2106
$GC,5483,1.06,196.7,197.5,9.5,253,5498,0.00,2.50,11.00,0.893,4,0.000,0.074,3577,3591,2058
$GC,5592,1.06,196.7,185.8,11.0,257,5597,0.00,2.38,0.00,0.000,6,0.000,0.046,3576,2183,2057
$GC,5920,1.06,196.7,152.8,10.1,273,5924,0.00,2.45,0.00,0.000,4,0.000,0.074,3576,3590,2057
$GC,6127,1.06,196.7,130.8,10.9,290,6131,0.00,2.35,0.00,0.000,6,0.000,0.046,3576,2168,2057
$GC,6452,1.09,220.4,100.9,8.9,320,6477,0.12,2.50,19.15,0.871,4,0.072,0.073,3602,3579,1961
$GC,6543,1.09,220.4,91.6,10.7,328,6551,0.00,2.35,0.00,0.000,6,0.000,0.044,3602,2183,1961
$GC,6881,1.19,295.3,63.9,6.6,378,6947,0.00,2.53,58.10,0.825,4,0.000,0.071,3601,3592,1655
$GC,6980,1.19,295.3,55.4,10.4,396,6986,0.00,2.40,0.00,0.000,6,0.000,0.043,3602,2178,1655
$GC,7318,1.19,295.3,18.4,10.9,440,7319,0.00,0.00,0.00,0.000,6,0.000,0.000,3602,2178,1655
$STATE,7476,end climb,SURFACE_DEPTH_REACHED
$STATE,7476,begin surface coast
$FINISH,0.7,1.013907
$STATE,7488,end surface coast,CONTROL_FINISHED_OK
$STATE,7488,begin surface
$SM_CCo,7507,137.07,0.738,0,0,425,597.31
$SM_GC,1.26,0.00,0.00,137.07,0.000,0.000,0.738,1377,2236,425,-9.13,0.45,597.31
$IRIDIUM_FIX,4742.09,-12624.56,220108,010157
$TT8_MAMPS,0.028379
$HUMID,1872
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,16.20
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,404.4,5.7
$24V_AH,23.7,9.773
$10V_AH,10.6,4.195
$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,27.575,67.675,358.800,137.075,0.000,193.219,438.415,0.000,4.750,0.000,0.000,14.495,839.966,5267.965,606.004,1179.129,713.875,33.342,1188.809,0.000,1161.580,0.000,21.534
$DEVICE_MAMPS,169.507,98.176,1045.421,737.854,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,322.970,342.537,702.820,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22271,456
$CFSIZE,260165632,256577536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,210108,232050,4757.905,-12621.082,32,1.8,32,18.9