version: 66.02
glider: 119
mission: 3
dive: 52
start: 1 22 108 2 3 13
data:
$ID,119
$MISSION,3
$DIVE,52
$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,-15630.821
$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,29
$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
$GPS1,015155,4757.025,-12621.678,22,0.8,40,18.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-67.7
$GPS2,020221,4757.007,-12621.619,10,1.3,10,18.9
$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,-0.163
$KALMAN_X,29840.6,-1525.3,-1019.3,-78213.6,18208.7
$KALMAN_Y,4449.8,-1196.6,-69.9,-12804.8,4137.0
$MHEAD_RNG_PITCHd_Wd,213.0,163056,-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,-111.85,0.000,2,0.000,0.000,1378,2227,2705
$GC,134,-1.00,-146.6,3.7,-4.4,11,170,12.30,2.40,-18.25,0.000,4,0.167,0.073,3136,819,3460
$GC,423,-1.00,-146.6,59.5,-18.7,46,429,0.00,2.30,0.00,0.000,6,0.000,0.050,3136,2215,3460
$GC,753,-1.00,-146.6,115.7,-14.4,86,757,0.00,2.35,0.00,0.000,4,0.000,0.058,3136,817,3460
$GC,784,-1.00,-146.6,120.5,-14.6,88,792,0.00,2.35,0.00,0.000,6,0.000,0.049,3136,2212,3460
$GC,1116,-1.00,-146.6,166.8,-13.0,114,1120,0.00,2.35,0.00,0.000,4,0.000,0.059,3136,816,3460
$GC,1148,-1.00,-146.6,171.4,-13.5,115,1155,0.00,2.35,0.00,0.000,6,0.000,0.049,3136,2219,3460
$GC,1464,-1.00,-146.6,213.0,-12.9,131,1468,0.00,2.35,0.00,0.000,4,0.000,0.059,3136,817,3460
$GC,1518,-1.00,-146.6,220.4,-14.0,133,1526,0.00,2.33,0.00,0.000,6,0.000,0.050,3136,2217,3460
$GC,1834,-1.00,-146.6,259.5,-12.4,149,1838,0.00,2.35,0.00,0.000,4,0.000,0.061,3137,817,3460
$GC,1878,-1.00,-146.6,264.9,-12.3,151,1883,0.00,2.33,0.00,0.000,6,0.000,0.051,3136,2226,3460
$GC,2238,-1.00,-146.6,308.4,-12.7,167,2242,0.00,2.38,0.00,0.000,4,0.000,0.061,3136,813,3460
$GC,2253,-1.00,-146.6,310.5,-13.0,167,2258,0.00,2.33,0.00,0.000,6,0.000,0.051,3136,2212,3460
$GC,2604,-1.00,-146.6,354.9,-12.8,173,2605,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2212,3460
$GC,2905,-1.00,-146.6,393.0,-12.5,178,2909,0.00,2.35,0.00,0.000,4,0.000,0.063,3136,809,3460
$GC,2942,-1.00,-146.6,397.7,-12.0,178,2947,0.00,2.35,0.00,0.000,6,0.000,0.054,3136,2219,3460
$STATE,2966,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2967,begin apogee
$GC,2971,-0.23,0.0,400.3,12.6,179,3092,1.02,0.00,118.35,1.041,6,0.097,0.000,3307,2172,2860
$STATE,3093,end apogee,CONTROL_FINISHED_OK
$STATE,3093,begin climb
$GC,3095,1.00,146.6,406.3,0.0,181,3225,1.62,2.62,121.15,0.996,4,0.058,0.061,3579,776,2262
$GC,3313,1.00,146.6,403.5,10.2,184,3318,0.00,2.47,0.00,0.000,6,0.000,0.051,3579,2185,2262
$GC,3640,1.02,157.1,372.4,9.5,190,3655,0.00,2.50,10.32,0.927,4,0.000,0.078,3579,3585,2219
$GC,3743,1.02,157.1,361.4,11.4,191,3748,0.00,2.40,0.00,0.000,6,0.000,0.044,3579,2179,2218
$GC,4070,1.02,157.1,327.3,10.6,197,4074,0.00,2.47,0.00,0.000,4,0.000,0.077,3579,3591,2218
$GC,4231,1.02,157.1,309.6,11.4,199,4236,0.00,2.38,0.00,0.000,6,0.000,0.046,3579,2185,2218
$GC,4552,1.04,177.6,280.1,9.1,210,4574,0.00,2.53,16.90,0.961,4,0.000,0.075,3579,3585,2136
$GC,4826,1.04,177.6,249.8,10.7,222,4830,0.00,2.38,0.00,0.000,6,0.000,0.045,3579,2179,2136
$GC,5153,1.04,179.4,217.8,9.9,238,5157,0.00,2.45,0.00,0.000,4,0.000,0.075,3579,3586,2136
$GC,5358,1.04,179.4,196.2,10.8,247,5363,0.00,2.35,0.00,0.000,6,0.000,0.045,3579,2182,2136
$GC,5680,1.06,191.5,165.4,9.5,263,5695,0.00,0.00,12.80,0.890,6,0.000,0.000,3579,2182,2079
$GC,5994,1.06,197.4,134.0,9.7,285,6004,0.00,0.00,6.25,0.769,6,0.000,0.000,3579,2181,2054
$GC,6324,1.10,229.4,102.5,8.5,316,6358,0.12,2.47,25.55,0.861,4,0.071,0.074,3604,3590,1923
$GC,6588,1.18,294.6,72.3,7.0,346,6649,0.00,2.35,51.08,0.820,6,0.000,0.044,3604,2171,1658
$GC,6982,1.18,294.6,31.0,11.4,410,6983,0.00,0.00,0.00,0.000,6,0.000,0.000,3603,2171,1658
$STATE,7246,end climb,SURFACE_DEPTH_REACHED
$STATE,7246,begin surface coast
$FINISH,0.7,1.002498
$STATE,7258,end surface coast,CONTROL_FINISHED_OK
$STATE,7258,begin surface
$SM_CCo,7278,137.93,0.738,0,0,424,597.31
$SM_GC,1.38,0.00,0.00,137.93,0.000,0.000,0.738,1377,2232,424,-9.14,0.34,597.31
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1854
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,16.20
$XPDR_PINGS,18
$ALTIM_BOTTOM_PING,400.3,5.7
$24V_AH,23.7,10.050
$10V_AH,10.6,4.320
$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,27.475,62.400,362.400,137.925,0.000,157.343,150.335,0.000,7.500,0.000,0.000,11.875,816.987,5054.066,646.680,1142.448,394.229,33.340,1190.691,0.000,1133.692,0.000,21.524
$DEVICE_MAMPS,167.206,96.642,1040.819,737.854,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,308.406,326.586,670.916,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22258,436
$CFSIZE,260165632,256483328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,220108,040807,4756.141,-12622.186,37,1.5,44,18.9