version: 66.02
glider: 119
mission: 3
dive: 63
start: 1 23 108 8 0 14
data:
$ID,119
$MISSION,3
$DIVE,63
$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,-15836.907
$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
$GPS1,074323,4804.076,-12619.110,13,2.4,32,18.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-69.0
$GPS2,075923,4804.144,-12619.220,13,2.2,32,18.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,CAPE_FLATTERY
$TGT_LATLONG,4809.000,-12540.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.232,0.126
$KALMAN_X,4251.6,1442.3,803.2,-54530.2,-15129.6
$KALMAN_Y,-3389.8,-537.4,479.2,7017.4,-4451.7
$MHEAD_RNG_PITCHd_Wd,42.5,49288,-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,-111.65,0.000,2,0.000,0.000,1376,2232,2662
$GC,134,-1.00,-146.6,3.2,-3.0,11,177,12.38,2.47,-20.80,0.000,4,0.170,0.085,3140,3620,3461
$GC,256,-1.00,-146.6,26.4,-18.6,22,260,0.00,2.33,0.00,0.000,6,0.000,0.044,3140,2216,3461
$GC,591,-1.00,-146.6,89.8,-17.6,70,595,0.00,2.38,0.00,0.000,4,0.000,0.063,3140,813,3461
$GC,708,-1.00,-146.6,107.8,-13.9,80,712,0.00,2.33,0.00,0.000,6,0.000,0.050,3140,2218,3461
$GC,1047,-1.00,-146.6,156.7,-14.6,110,1051,0.00,2.38,0.00,0.000,4,0.000,0.060,3140,813,3461
$GC,1118,-1.00,-146.6,166.8,-13.2,113,1123,0.00,2.35,0.00,0.000,6,0.000,0.050,3140,2218,3461
$GC,1440,-1.00,-146.6,207.8,-13.1,129,1441,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2219,3461
$GC,1749,-1.00,-146.6,249.5,-13.5,144,1754,0.00,2.38,0.00,0.000,4,0.000,0.061,3140,807,3461
$GC,1803,-1.00,-146.6,256.9,-13.3,146,1808,0.00,2.35,0.00,0.000,6,0.000,0.053,3140,2217,3461
$GC,2124,-1.00,-146.6,297.1,-12.3,162,2126,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2217,3461
$GC,2470,-1.00,-146.6,339.9,-12.5,169,2474,0.00,2.38,0.00,0.000,4,0.000,0.062,3140,807,3461
$GC,2574,-1.00,-146.6,352.8,-11.5,170,2579,0.00,2.38,0.00,0.000,6,0.000,0.056,3140,2224,3461
$GC,2900,-1.00,-146.6,391.3,-11.8,176,2901,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2224,3460
$STATE,3024,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3024,begin apogee
$GC,3029,-0.23,0.0,406.1,12.1,178,3151,1.00,0.00,118.55,1.048,6,0.097,0.000,3307,2172,2860
$STATE,3151,end apogee,CONTROL_FINISHED_OK
$STATE,3152,begin climb
$GC,3153,1.00,146.6,411.4,0.0,180,3283,1.60,2.60,120.78,0.999,4,0.060,0.061,3576,781,2262
$GC,3322,1.07,203.1,411.9,7.4,182,3374,0.00,2.47,47.20,0.983,6,0.000,0.051,3576,2177,2032
$GC,3699,1.07,203.1,365.1,12.8,189,3704,0.00,2.53,0.00,0.000,4,0.000,0.077,3576,3593,2032
$GC,3743,1.07,203.1,359.3,13.1,189,3747,0.00,2.40,0.00,0.000,6,0.000,0.045,3576,2191,2032
$GC,4063,1.07,203.1,319.7,12.3,195,4064,0.00,0.00,0.00,0.000,6,0.000,0.000,3576,2191,2032
$GC,4369,1.07,203.1,283.0,11.8,204,4374,0.00,2.45,0.00,0.000,4,0.000,0.075,3576,3586,2031
$GC,4408,1.07,203.1,278.1,12.7,206,4413,0.00,2.35,0.00,0.000,6,0.000,0.046,3577,2173,2031
$GC,4735,1.07,203.1,242.4,10.2,222,4739,0.00,2.45,0.00,0.000,4,0.000,0.075,3577,3586,2031
$GC,4919,1.07,203.1,222.7,10.8,230,4923,0.00,2.33,0.00,0.000,6,0.000,0.046,3576,2179,2031
$GC,5240,1.07,203.1,189.4,11.0,246,5244,0.00,2.45,0.00,0.000,4,0.000,0.074,3576,3591,2031
$GC,5316,1.07,203.1,180.2,13.4,249,5323,0.00,2.35,0.00,0.000,6,0.000,0.046,3576,2183,2031
$GC,5633,1.07,203.1,145.7,10.0,267,5637,0.00,2.42,0.00,0.000,4,0.000,0.074,3577,3588,2031
$GC,5694,1.07,203.1,139.5,10.3,272,5698,0.00,2.33,0.00,0.000,6,0.000,0.046,3576,2171,2031
$GC,6024,1.11,234.0,109.5,8.6,303,6054,0.15,0.00,24.80,0.877,6,0.065,0.000,3607,2171,1904
$GC,6375,1.11,234.0,72.1,11.4,342,6381,0.00,2.45,0.00,0.000,4,0.000,0.072,3607,3586,1904
$GC,6533,1.14,259.0,56.6,8.9,370,6561,0.00,2.33,20.65,0.832,6,0.000,0.044,3607,2168,1802
$GC,6888,1.14,259.0,22.0,10.3,418,6892,0.00,2.47,0.00,0.000,4,0.000,0.071,3607,3588,1802
$GC,6955,1.15,264.6,15.1,9.7,423,6966,0.00,2.30,5.85,0.687,6,0.000,0.044,3607,2182,1781
$STATE,7091,end climb,SURFACE_DEPTH_REACHED
$STATE,7092,begin surface coast
$FINISH,0.8,1.025253
$STATE,7104,end surface coast,CONTROL_FINISHED_OK
$STATE,7104,begin surface
$SM_CCo,7124,149.55,0.739,0,0,425,597.31
$SM_GC,1.38,0.00,0.00,149.55,0.000,0.000,0.739,1378,2234,425,-9.13,0.40,597.31
$IRIDIUM_FIX,4745.30,-12619.38,170497,222246
$TT8_MAMPS,0.028379
$HUMID,1850
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,16.10
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,406.1,5.7
$24V_AH,23.7,11.649
$10V_AH,10.6,5.038
$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,27.525,62.550,337.825,149.550,0.000,239.378,375.838,0.000,4.500,0.000,0.000,36.050,799.562,5033.465,619.956,1087.286,703.114,33.353,1134.108,0.000,1052.522,0.000,21.541
$DEVICE_MAMPS,169.507,100.477,1048.489,739.388,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,310.819,328.962,676.339,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22289,437
$CFSIZE,260165632,255905792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,230108,100238,4805.194,-12618.534,36,1.3,37,18.9