version: 66.02
glider: 119
mission: 3
dive: 53
start: 1 22 108 4 24 19
data:
$ID,119
$MISSION,3
$DIVE,53
$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,-15663.845
$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,34
$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
$GPS1,040807,4756.141,-12622.186,37,1.5,44,18.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-69.8
$GPS2,042329,4756.144,-12622.123,11,2.2,30,18.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.209,-0.161
$KALMAN_X,30794.0,-1004.1,-980.9,-80350.4,18127.3
$KALMAN_Y,4383.0,253.3,-171.5,-15686.0,3706.4
$MHEAD_RNG_PITCHd_Wd,213.4,161537,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.00,-146.6,0.0,0.0,0,133,0.00,0.00,-112.30,0.000,2,0.000,0.000,1377,2232,2680
$GC,135,-1.00,-146.6,3.1,-2.8,11,173,12.32,2.42,-20.00,0.000,4,0.170,0.074,3138,818,3457
$GC,414,-1.00,-146.6,55.5,-18.8,43,421,0.00,2.30,0.00,0.000,6,0.000,0.050,3138,2211,3457
$GC,751,-1.00,-146.6,111.0,-14.6,86,756,0.00,2.45,0.00,0.000,4,0.000,0.077,3138,3628,3457
$GC,772,-1.00,-146.6,114.2,-14.3,87,779,0.00,2.35,0.00,0.000,6,0.000,0.044,3138,2217,3457
$GC,1106,-1.00,-146.6,158.0,-12.5,116,1110,0.00,2.35,0.00,0.000,4,0.000,0.060,3138,812,3457
$GC,1154,-1.00,-146.6,164.6,-12.5,118,1159,0.00,2.35,0.00,0.000,6,0.000,0.049,3138,2220,3457
$GC,1476,-1.00,-146.6,205.8,-13.0,134,1480,0.00,2.35,0.00,0.000,4,0.000,0.059,3138,819,3457
$GC,1537,-1.00,-146.6,213.9,-12.5,137,1541,0.00,2.33,0.00,0.000,6,0.000,0.051,3138,2231,3457
$GC,1862,-1.00,-146.6,254.7,-12.5,153,1866,0.00,2.38,0.00,0.000,4,0.000,0.061,3138,817,3457
$GC,1894,-1.00,-146.6,258.8,-12.4,154,1901,0.00,2.33,0.00,0.000,6,0.000,0.052,3138,2212,3457
$GC,2210,-1.00,-146.6,296.7,-11.6,170,2211,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2213,3457
$GC,2554,-1.00,-146.6,336.8,-11.6,177,2558,0.00,2.35,0.00,0.000,4,0.000,0.061,3138,817,3457
$GC,2580,-1.00,-146.6,340.1,-12.1,177,2584,0.00,2.33,0.00,0.000,6,0.000,0.054,3138,2212,3457
$GC,2918,-1.00,-146.6,380.3,-12.1,183,2922,0.00,2.35,0.00,0.000,4,0.000,0.062,3138,813,3457
$GC,2978,-1.00,-146.6,387.9,-12.3,184,2982,0.00,2.33,0.00,0.000,6,0.000,0.054,3138,2223,3457
$STATE,3108,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3108,begin apogee
$GC,3112,-0.23,0.0,403.8,12.5,186,3233,1.02,0.00,117.88,1.042,6,0.097,0.000,3309,2174,2860
$STATE,3234,end apogee,CONTROL_FINISHED_OK
$STATE,3234,begin climb
$GC,3235,1.00,146.6,410.3,0.0,188,3366,1.60,2.62,120.40,0.996,4,0.061,0.061,3576,775,2262
$GC,3568,1.02,157.8,397.7,9.5,193,3583,0.00,2.42,10.95,0.926,6,0.000,0.051,3577,2177,2216
$GC,3920,1.02,163.0,363.3,9.8,199,3931,0.00,2.50,5.97,0.815,4,0.000,0.077,3577,3586,2194
$GC,4025,1.02,163.0,351.7,11.2,200,4030,0.00,2.40,0.00,0.000,6,0.000,0.045,3576,2177,2194
$GC,4351,1.03,167.5,319.4,9.8,206,4361,0.00,2.50,5.15,0.772,4,0.000,0.075,3576,3587,2176
$GC,4438,1.03,167.5,309.9,10.9,207,4443,0.00,2.38,0.00,0.000,6,0.000,0.046,3577,2185,2177
$GC,4766,1.03,170.5,277.3,9.9,220,4775,0.00,2.45,4.20,0.688,4,0.000,0.076,3576,3587,2164
$GC,4837,1.04,175.7,269.9,9.8,223,4848,0.00,2.38,5.80,0.802,6,0.000,0.045,3577,2175,2143
$GC,5158,1.06,192.4,238.7,9.2,238,5180,0.00,2.50,14.95,0.933,4,0.000,0.075,3577,3587,2075
$GC,5320,1.06,192.4,221.3,10.7,245,5324,0.00,2.35,0.00,0.000,6,0.000,0.045,3577,2176,2075
$GC,5647,1.07,197.4,188.4,9.8,261,5657,0.00,2.47,5.68,0.765,4,0.000,0.074,3577,3587,2055
$GC,5753,1.07,197.4,177.1,10.4,266,5757,0.00,2.35,0.00,0.000,6,0.000,0.045,3577,2171,2055
$GC,6069,1.07,200.6,146.6,9.9,283,6080,0.00,0.00,4.20,0.647,6,0.000,0.000,3577,2170,2042
$GC,6400,1.08,211.5,115.0,9.5,314,6416,0.12,2.47,10.07,0.839,4,0.069,0.074,3602,3588,1996
$GC,6667,1.08,211.5,85.1,10.7,337,6675,0.00,2.35,0.00,0.000,6,0.000,0.045,3602,2182,1996
$GC,7008,1.22,321.4,60.7,5.0,393,7102,0.12,2.58,84.07,0.816,4,0.073,0.071,3627,3581,1549
$GC,7180,1.22,321.4,41.8,14.9,424,7186,0.00,2.38,0.00,0.000,6,0.000,0.044,3627,2179,1549
$STATE,7483,end climb,SURFACE_DEPTH_REACHED
$STATE,7483,begin surface coast
$FINISH,0.6,1.025248
$STATE,7495,end surface coast,CONTROL_FINISHED_OK
$STATE,7495,begin surface
$SM_CCo,7514,125.43,0.735,0,0,425,597.31
$SM_GC,1.40,0.00,0.00,125.43,0.000,0.000,0.735,1378,2233,425,-9.13,0.37,597.31
$IRIDIUM_FIX,4738.89,-12622.65,220108,080842
$TT8_MAMPS,0.028379
$HUMID,1870
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,16.10
$XPDR_PINGS,10
$ALTIM_BOTTOM_PING,403.8,5.7
$24V_AH,23.7,10.203
$10V_AH,10.6,4.388
$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,27.800,72.225,389.325,125.425,0.000,191.270,392.850,0.000,5.500,0.000,0.000,32.396,845.993,5178.125,623.155,1255.795,670.343,33.341,1235.939,0.000,1219.598,0.000,22.266
$DEVICE_MAMPS,169.507,95.875,1041.586,734.786,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,321.557,342.167,701.121,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22277,455
$CFSIZE,260165632,256434176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,220108,063237,4755.459,-12622.969,23,1.5,23,18.9