version: 66.02
glider: 119
mission: 3
dive: 57
start: 1 22 108 15 24 12
data:
$ID,119
$MISSION,3
$DIVE,57
$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,550
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,1
$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,-15728.802
$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,27
$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
$GPS1,151955,4758.969,-12623.389,30,0.9,41,18.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-69.9
$GPS2,152321,4758.962,-12623.382,14,1.4,14,18.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,CAPE_FLATTERY
$TGT_LATLONG,4809.000,-12540.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.153,0.215
$KALMAN_X,23396.5,-2374.9,-470.6,-73654.1,1636.5
$KALMAN_Y,1052.6,-1906.7,420.4,-5584.7,-2635.1
$MHEAD_RNG_PITCHd_Wd,16.6,56736,-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,16,begin dive
$GC,17,-1.00,-146.6,0.0,0.0,0,112,0.00,0.00,-91.72,0.000,2,0.000,0.000,1379,2231,2479
$GC,114,-1.00,-146.6,3.1,-4.2,9,162,12.55,2.47,-29.55,0.000,4,0.171,0.074,3140,809,3459
$GC,381,-1.00,-146.6,49.8,-18.8,37,387,0.00,2.35,0.00,0.000,6,0.000,0.051,3140,2216,3459
$GC,714,-1.00,-146.6,105.3,-13.3,82,718,0.00,2.45,0.00,0.000,4,0.000,0.075,3140,3630,3459
$GC,764,-1.00,-146.6,112.4,-13.7,86,768,0.00,2.35,0.00,0.000,6,0.000,0.045,3140,2210,3459
$GC,1098,-1.00,-146.6,156.6,-13.0,115,1102,0.00,2.35,0.00,0.000,4,0.000,0.062,3140,814,3459
$GC,1181,-1.00,-146.6,167.9,-13.4,119,1186,0.00,2.33,0.00,0.000,6,0.000,0.051,3140,2219,3459
$GC,1507,-1.00,-146.6,208.7,-12.4,135,1511,0.00,2.38,0.00,0.000,4,0.000,0.061,3140,814,3459
$GC,1573,-1.00,-146.6,217.2,-12.4,138,1578,0.00,2.35,0.00,0.000,6,0.000,0.052,3140,2218,3459
$GC,1900,-1.00,-146.6,260.4,-13.4,154,1901,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2218,3458
$GC,2212,-1.00,-146.6,301.0,-12.6,169,2216,0.00,2.38,0.00,0.000,4,0.000,0.063,3139,813,3459
$GC,2294,-1.00,-146.6,311.8,-12.1,170,2299,0.00,2.35,0.00,0.000,6,0.000,0.054,3140,2218,3459
$GC,2645,-1.00,-146.6,353.7,-12.1,176,2649,0.00,2.38,0.00,0.000,4,0.000,0.064,3140,810,3459
$GC,2676,-1.00,-146.6,357.8,-12.4,176,2681,0.00,2.35,0.00,0.000,6,0.000,0.056,3140,2213,3459
$GC,3008,-1.00,-146.6,396.2,-11.7,182,3012,0.00,2.38,0.00,0.000,4,0.000,0.064,3139,809,3459
$GC,3046,-1.00,-146.6,400.8,-12.3,182,3050,0.00,2.38,0.00,0.000,6,0.000,0.056,3140,2226,3459
$GC,3372,-1.00,-146.6,439.9,-12.1,188,3373,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2226,3459
$GC,3675,-1.00,-146.6,474.4,-11.4,193,3679,0.00,2.40,0.00,0.000,4,0.000,0.069,3140,816,3459
$GC,3796,-1.00,-146.6,488.6,-11.4,194,3803,0.00,2.35,0.00,0.000,6,0.000,0.059,3140,2217,3458
$GC,4106,-1.00,-146.6,523.2,-11.1,200,4107,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2217,3458
$GC,4410,-1.00,-146.6,556.1,-10.8,205,4414,0.00,2.40,0.00,0.000,4,0.000,0.073,3139,817,3457
$GC,4471,-1.00,-146.6,563.3,-11.8,206,4475,0.00,2.35,0.00,0.000,6,0.000,0.063,3140,2224,3457
$GC,4836,-1.00,-146.6,603.1,-10.9,212,4840,0.00,2.40,0.00,0.000,4,0.000,0.071,3139,815,3457
$GC,4935,-1.00,-146.6,614.0,-11.1,213,4939,0.00,2.35,0.00,0.000,6,0.000,0.061,3140,2212,3457
$GC,5266,-1.00,-146.6,648.8,-10.5,219,5270,0.00,2.38,0.00,0.000,4,0.000,0.072,3140,820,3457
$GC,5309,-1.00,-146.6,653.4,-10.5,219,5314,0.00,2.35,0.00,0.000,6,0.000,0.060,3140,2216,3457
$GC,5630,-1.00,-146.6,687.6,-10.7,225,5634,0.00,2.40,0.00,0.000,4,0.000,0.071,3139,810,3456
$GC,5673,-1.00,-146.6,691.9,-9.6,225,5677,0.00,2.38,0.00,0.000,6,0.000,0.061,3140,2219,3455
$GC,5993,-1.00,-146.6,724.7,-10.4,231,5994,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2219,3455
$GC,6297,-1.00,-146.6,755.1,-10.0,236,6301,0.00,2.40,0.00,0.000,4,0.000,0.074,3139,817,3455
$GC,6401,-1.00,-146.6,766.4,-10.6,237,6406,0.00,2.38,0.00,0.000,6,0.000,0.061,3140,2225,3455
$STATE,6731,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6731,begin apogee
$GC,6735,-0.23,0.0,800.6,10.6,243,6861,1.00,0.00,123.30,1.315,6,0.098,0.000,3307,2179,2860
$STATE,6862,end apogee,CONTROL_FINISHED_OK
$STATE,6862,begin climb
$GC,6864,1.00,146.6,806.5,0.0,245,6996,1.62,0.00,127.30,1.265,6,0.062,0.000,3576,2179,2262
$GC,7288,1.00,146.6,781.2,10.5,252,7290,0.00,0.00,0.00,0.000,6,0.000,0.000,3576,2179,2261
$GC,7591,1.00,146.6,746.6,11.5,257,7595,0.00,2.55,0.00,0.000,4,0.000,0.084,3576,3593,2261
$GC,7707,1.00,146.6,732.8,11.5,258,7711,0.00,2.42,0.00,0.000,6,0.000,0.050,3576,2182,2260
$GC,8022,1.00,146.6,699.3,10.7,264,8026,0.00,2.50,0.00,0.000,4,0.000,0.083,3576,3595,2260
$GC,8212,1.00,146.6,677.6,12.7,266,8218,0.00,2.38,0.00,0.000,6,0.000,0.051,3576,2180,2260
$GC,8520,1.00,146.6,646.0,10.1,272,8524,0.00,2.47,0.00,0.000,4,0.000,0.083,3576,3591,2260
$GC,8754,1.00,146.6,621.9,10.6,275,8759,0.00,2.40,0.00,0.000,6,0.000,0.051,3576,2178,2260
$GC,9086,1.02,158.3,590.5,9.5,281,9099,0.00,0.00,10.93,1.131,6,0.000,0.000,3576,2178,2214
$GC,9389,1.02,158.3,559.7,10.2,286,9393,0.00,2.47,0.00,0.000,4,0.000,0.082,3576,3592,2214
$GC,9534,1.02,158.3,543.2,11.4,288,9538,0.00,2.40,0.00,0.000,6,0.000,0.051,3576,2178,2214
$GC,9888,1.02,161.2,507.4,9.9,294,9898,0.00,2.53,4.15,0.796,4,0.000,0.083,3576,3590,2202
$GC,10071,1.02,161.2,489.0,10.0,296,10076,0.00,2.38,0.00,0.000,6,0.000,0.051,3576,2185,2202
$GC,10392,1.04,180.2,459.4,9.1,302,10415,0.00,2.45,16.50,1.102,4,0.000,0.073,3576,775,2124
$GC,10421,1.04,180.2,456.5,10.1,302,10426,0.00,2.45,0.00,0.000,6,0.000,0.061,3577,2187,2124
$GC,10758,1.04,180.2,422.4,10.0,308,10762,0.00,2.47,0.00,0.000,4,0.000,0.083,3576,3593,2124
$GC,10931,1.04,180.2,403.1,11.5,310,10936,0.00,2.38,0.00,0.000,6,0.000,0.049,3576,2168,2124
$GC,11257,1.04,180.2,369.0,10.5,316,11261,0.00,2.47,0.00,0.000,4,0.000,0.081,3576,3589,2124
$GC,11305,1.04,180.2,362.9,12.3,316,11310,0.00,2.38,0.00,0.000,6,0.000,0.049,3576,2182,2124
$GC,11620,1.04,180.2,328.7,10.9,322,11624,0.00,2.45,0.00,0.000,4,0.000,0.081,3577,3592,2124
$GC,11669,1.04,180.2,323.0,11.1,322,11674,0.00,2.38,0.00,0.000,6,0.000,0.049,3576,2175,2124
$GC,11986,1.05,187.3,291.4,9.7,330,11995,0.00,0.00,7.75,0.921,6,0.000,0.000,3576,2175,2096
$GC,12295,1.05,187.3,260.3,10.2,345,12296,0.00,0.00,0.00,0.000,6,0.000,0.000,3576,2175,2096
$GC,12606,1.05,187.3,228.9,10.2,360,12610,0.00,2.47,0.00,0.000,4,0.000,0.077,3576,3596,2096
$GC,12676,1.05,187.3,220.8,10.7,363,12681,0.00,2.35,0.00,0.000,6,0.000,0.047,3577,2187,2096
$GC,12998,1.07,202.9,190.0,9.3,379,13020,0.00,2.47,13.57,0.930,4,0.000,0.077,3576,3585,2033
$GC,13215,1.07,202.9,165.7,11.0,388,13223,0.00,2.35,0.00,0.000,6,0.000,0.047,3576,2183,2032
$GC,13536,1.07,202.9,132.9,10.2,411,13540,0.00,2.45,0.00,0.000,4,0.000,0.076,3576,3591,2033
$GC,13642,1.07,202.9,120.9,10.7,420,13646,0.00,2.33,0.00,0.000,6,0.000,0.046,3577,2180,2033
$GC,13967,1.13,247.9,93.9,8.0,450,14010,0.17,2.50,35.35,0.871,4,0.061,0.075,3614,3593,1849
$GC,14174,1.13,247.9,69.6,10.6,476,14180,0.00,2.35,0.00,0.000,6,0.000,0.044,3614,2178,1849
$GC,14522,1.16,270.8,38.9,9.0,537,14547,0.00,2.53,19.12,0.822,4,0.000,0.074,3614,3589,1756
$GC,14648,1.16,270.8,25.0,11.9,548,14656,0.00,2.38,0.00,0.000,6,0.000,0.044,3614,2186,1756
$STATE,14866,end climb,SURFACE_DEPTH_REACHED
$STATE,14866,begin surface coast
$FINISH,0.6,1.003087
$STATE,14878,end surface coast,CONTROL_FINISHED_OK
$STATE,14879,begin surface
$SM_CCo,14898,126.95,0.747,0,0,617,550.21
$SM_GC,1.46,0.00,0.00,126.95,0.000,0.000,0.747,1377,2233,617,-9.13,0.37,550.21
$IRIDIUM_FIX,4738.89,-12624.56,220108,161644
$TT8_MAMPS,0.028379
$HUMID,1879
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,16.00
$XPDR_PINGS,104
$ALTIM_BOTTOM_PING,800.6,6.0
$24V_AH,23.4,10.783
$10V_AH,10.6,4.663
$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,27.875,130.025,357.975,126.950,0.000,32.798,57.261,32.858,33.250,0.000,0.000,16.334,1194.614,11361.141,647.072,1794.195,246.187,33.340,1529.357,0.000,1750.889,0.000,50.193
$DEVICE_MAMPS,171.041,104.312,1315.405,747.058,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,401.686,448.176,691.118,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28509,570
$CFSIZE,260165632,256159744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,22,0,0
$GPS,220108,193555,4800.798,-12623.003,24,1.1,42,18.9