version: 66.02
glider: 119
mission: 3
dive: 60
start: 1 23 108 0 7 19
data:
$ID,119
$MISSION,3
$DIVE,60
$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,-15770.652
$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,33
$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
$GPS1,235737,4801.403,-12620.725,31,1.1,43,18.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-66.3
$GPS2,000627,4801.373,-12620.714,14,1.4,14,18.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,CAPE_FLATTERY
$TGT_LATLONG,4809.000,-12540.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.166,0.205
$KALMAN_X,8254.3,1488.7,512.5,-60120.8,-20575.6
$KALMAN_Y,-3845.8,2273.4,326.1,-305.5,-8892.6
$MHEAD_RNG_PITCHd_Wd,20.2,52252,-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,-146.6,0.0,0.0,0,122,0.00,0.00,-101.85,0.000,2,0.000,0.000,1376,2231,2469
$GC,124,-1.00,-146.6,3.0,-3.7,10,177,12.32,2.47,-30.85,0.000,4,0.169,0.087,3139,3616,3460
$GC,204,-1.00,-146.6,14.6,-18.5,17,211,0.00,2.35,0.00,0.000,6,0.000,0.045,3140,2223,3460
$GC,539,-1.00,-146.6,78.9,-19.1,65,546,0.00,2.38,0.00,0.000,4,0.000,0.062,3140,813,3460
$GC,645,-1.00,-146.6,97.0,-15.0,75,653,0.00,2.33,0.00,0.000,6,0.000,0.049,3140,2208,3460
$GC,971,-1.00,-146.6,142.0,-13.6,106,975,0.00,2.35,0.00,0.000,4,0.000,0.061,3140,814,3460
$GC,1036,-1.00,-146.6,150.9,-12.5,111,1041,0.00,2.35,0.00,0.000,6,0.000,0.050,3140,2212,3460
$GC,1364,-1.00,-146.6,192.4,-12.7,127,1365,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,2212,3460
$GC,1672,-1.00,-146.6,230.9,-12.4,142,1677,0.00,2.35,0.00,0.000,4,0.000,0.060,3140,813,3460
$GC,1749,-1.00,-146.6,240.6,-12.3,145,1757,0.00,2.33,0.00,0.000,6,0.000,0.052,3140,2212,3460
$GC,2065,-1.00,-146.6,279.5,-12.2,161,2066,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2212,3460
$GC,2372,-1.00,-146.6,316.7,-12.1,172,2376,0.00,2.35,0.00,0.000,4,0.000,0.061,3140,815,3460
$GC,2466,-1.00,-146.6,328.1,-11.5,173,2470,0.00,2.38,0.00,0.000,6,0.000,0.055,3140,2219,3460
$GC,2803,-1.00,-146.6,368.0,-11.9,179,2807,0.00,2.45,0.00,0.000,4,0.000,0.083,3140,3637,3460
$GC,2834,-1.00,-146.6,372.0,-12.3,179,2839,0.00,2.35,0.00,0.000,6,0.000,0.047,3140,2218,3460
$GC,3167,-1.00,-146.6,411.4,-11.8,185,3171,0.00,2.35,0.00,0.000,4,0.000,0.066,3140,813,3460
$GC,3244,-1.00,-146.6,420.9,-12.0,186,3249,0.00,2.35,0.00,0.000,6,0.000,0.054,3140,2221,3459
$STATE,3284,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3284,begin apogee
$GC,3289,-0.23,0.0,425.4,11.9,186,3411,1.00,0.00,118.50,1.063,6,0.102,0.000,3307,2171,2860
$STATE,3411,end apogee,CONTROL_FINISHED_OK
$STATE,3411,begin climb
$GC,3413,1.00,146.6,428.7,0.0,188,3542,1.60,2.62,121.15,1.018,4,0.061,0.061,3575,776,2262
$GC,3771,1.00,146.6,413.7,10.3,194,3775,0.00,2.42,0.00,0.000,6,0.000,0.051,3575,2182,2262
$GC,4114,1.01,155.0,380.9,9.6,200,4129,0.00,2.53,8.38,0.910,4,0.000,0.077,3575,3582,2228
$GC,4268,1.01,155.0,364.6,10.5,202,4273,0.00,2.38,0.00,0.000,6,0.000,0.045,3575,2185,2228
$GC,4617,1.03,170.6,331.6,9.3,208,4637,0.00,2.53,13.88,0.975,4,0.000,0.075,3575,3587,2164
$GC,4771,1.03,170.6,315.1,11.1,210,4775,0.00,2.35,0.00,0.000,6,0.000,0.045,3575,2178,2164
$GC,5103,1.03,170.6,281.3,10.0,221,5104,0.00,0.00,0.00,0.000,6,0.000,0.000,3575,2177,2164
$GC,5412,1.06,189.5,251.3,9.1,236,5434,0.00,2.50,16.48,0.952,4,0.000,0.074,3575,3589,2087
$GC,5472,1.06,189.5,245.0,10.7,238,5480,0.00,2.40,0.00,0.000,6,0.000,0.046,3575,2176,2086
$GC,5788,1.06,191.3,213.2,9.9,254,5792,0.00,2.38,0.00,0.000,4,0.000,0.064,3575,777,2086
$GC,5805,1.06,195.4,211.4,9.8,255,5817,0.00,2.35,6.28,0.804,6,0.000,0.052,3575,2185,2063
$GC,6132,1.06,195.4,178.2,10.3,271,6133,0.00,0.00,0.00,0.000,6,0.000,0.000,3575,2185,2063
$GC,6442,1.07,203.0,147.1,9.7,287,6454,0.00,2.50,7.65,0.822,4,0.000,0.078,3575,3585,2032
$GC,6548,1.07,203.0,136.4,10.5,296,6555,0.00,2.35,0.00,0.000,6,0.000,0.046,3575,2185,2032
$GC,6874,1.08,211.7,105.6,9.6,327,6890,0.12,2.45,8.25,0.811,4,0.071,0.061,3602,769,1996
$GC,6908,1.08,211.7,102.0,11.5,330,6912,0.00,2.35,0.00,0.000,6,0.000,0.051,3602,2181,1996
$GC,7234,1.22,324.2,77.4,4.9,364,7329,0.15,2.55,86.93,0.825,4,0.064,0.074,3636,3585,1538
$GC,7403,1.22,324.2,58.5,14.5,394,7409,0.00,2.40,0.00,0.000,6,0.000,0.044,3636,2174,1538
$GC,7734,1.22,324.2,10.1,15.0,436,7738,0.00,2.47,0.00,0.000,4,0.000,0.071,3636,3585,1537
$GC,7754,1.22,324.2,6.9,15.4,437,7761,0.00,2.38,0.00,0.000,6,0.000,0.043,3636,2176,1537
$STATE,7791,end climb,SURFACE_DEPTH_REACHED
$STATE,7791,begin surface coast
$FINISH,0.8,1.025230
$STATE,7803,end surface coast,CONTROL_FINISHED_OK
$STATE,7803,begin surface
$SM_CCo,7823,123.30,0.739,0,0,425,597.31
$SM_GC,1.39,0.00,0.00,123.30,0.000,0.000,0.739,1377,2235,425,-9.14,0.42,597.31
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1866
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,16.10
$XPDR_PINGS,22
$ALTIM_BOTTOM_PING,425.4,5.7
$24V_AH,23.7,11.218
$10V_AH,10.6,4.845
$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,27.900,77.200,387.475,123.300,0.000,131.653,75.168,0.000,8.750,0.000,0.000,15.865,826.639,5532.206,643.894,1182.173,305.590,33.351,1236.984,0.000,1167.349,0.000,23.144
$DEVICE_MAMPS,168.740,97.409,1063.062,739.388,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,312.976,334.227,669.198,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22314,442
$CFSIZE,260165632,256045056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,230108,022116,4802.115,-12620.278,36,5.2,55,18.9