version: 66.02
glider: 119
mission: 3
dive: 66
start: 1 23 108 14 53 35
data:
$ID,119
$MISSION,3
$DIVE,66
$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,-15883.339
$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,31
$R_STBD_OVSHOOT,30
$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
$GPS1,144208,4806.098,-12616.038,34,0.9,35,18.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-69.0
$GPS2,145244,4806.092,-12616.044,12,1.9,12,18.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,CAPE_FLATTERY
$TGT_LATLONG,4809.000,-12540.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.262,-0.031
$KALMAN_X,-404.0,1080.0,1030.0,-45811.1,-20147.1
$KALMAN_Y,-2151.4,664.4,287.0,8388.0,-1185.2
$MHEAD_RNG_PITCHd_Wd,77.9,44862,-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,18,-1.00,-146.6,0.0,0.0,0,122,0.00,0.00,-101.60,0.000,2,0.000,0.000,1377,2225,2469
$GC,124,-1.00,-146.6,3.2,-4.1,10,171,12.32,2.42,-29.23,0.000,4,0.170,0.085,3139,3622,3459
$GC,321,-1.00,-146.6,38.6,-19.6,27,328,0.00,2.35,0.00,0.000,6,0.000,0.044,3139,2221,3460
$GC,657,-1.00,-146.6,99.2,-14.6,76,661,0.00,2.38,0.00,0.000,4,0.000,0.062,3139,816,3459
$GC,745,-1.00,-146.6,111.3,-13.4,83,752,0.00,2.33,0.00,0.000,6,0.000,0.048,3139,2211,3459
$GC,1069,-1.00,-146.6,156.0,-13.4,112,1070,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,2211,3459
$GC,1378,-1.00,-146.6,196.2,-12.7,127,1382,0.00,2.35,0.00,0.000,4,0.000,0.058,3139,810,3459
$GC,1443,-1.00,-146.6,204.8,-12.6,130,1448,0.00,2.33,0.00,0.000,6,0.000,0.050,3139,2212,3459
$GC,1770,-1.00,-146.6,245.4,-12.5,146,1771,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,2212,3459
$GC,2079,-1.00,-146.6,282.0,-11.6,161,2084,0.00,2.35,0.00,0.000,4,0.000,0.061,3139,812,3459
$GC,2141,-1.00,-146.6,288.9,-11.2,164,2145,0.00,2.33,0.00,0.000,6,0.000,0.052,3139,2222,3459
$GC,2504,-1.00,-146.6,329.2,-11.2,174,2508,0.00,2.38,0.00,0.000,4,0.000,0.061,3139,805,3459
$GC,2559,-1.00,-146.6,335.6,-10.8,174,2566,0.00,2.35,0.00,0.000,6,0.000,0.054,3139,2215,3460
$GC,2869,-1.00,-146.6,369.5,-11.1,180,2873,0.00,2.35,0.00,0.000,4,0.000,0.060,3139,812,3459
$GC,2930,-1.00,-146.6,376.6,-11.3,181,2935,0.00,2.33,0.00,0.000,6,0.000,0.055,3139,2223,3460
$GC,3296,-1.00,-146.6,416.7,-10.9,187,3301,0.00,2.38,0.00,0.000,4,0.000,0.063,3139,812,3459
$GC,3328,-1.00,-146.6,420.6,-11.2,187,3333,0.00,2.35,0.00,0.000,6,0.000,0.054,3139,2216,3458
$GC,3660,-1.00,-146.6,458.0,-11.6,193,3664,0.00,2.38,0.00,0.000,4,0.000,0.064,3139,806,3458
$GC,3698,-1.00,-146.6,462.4,-11.5,193,3702,0.00,2.38,0.00,0.000,6,0.000,0.056,3139,2223,3458
$GC,4025,-1.00,-146.6,500.4,-11.7,199,4026,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,2223,3457
$GC,4327,-1.00,-146.6,535.9,-11.7,204,4331,0.00,2.40,0.00,0.000,4,0.000,0.070,3139,812,3457
$GC,4398,-1.00,-146.6,544.0,-11.2,205,4403,0.00,2.38,0.00,0.000,6,0.000,0.062,3139,2215,3457
$STATE,4516,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4517,begin apogee
$GC,4521,-0.23,0.0,556.3,10.7,207,4644,1.02,0.00,119.93,1.159,6,0.099,0.000,3310,2215,2860
$STATE,4645,end apogee,CONTROL_FINISHED_OK
$STATE,4645,begin climb
$GC,4646,1.00,146.6,560.9,0.0,209,4777,1.58,2.65,122.80,1.117,4,0.058,0.084,3575,3593,2262
$GC,5033,1.00,146.6,539.4,10.0,215,5037,0.00,2.42,0.00,0.000,6,0.000,0.046,3575,2176,2262
$GC,5397,1.04,175.1,507.1,8.7,221,5426,0.00,2.60,24.25,1.095,4,0.000,0.081,3575,3597,2145
$GC,5678,1.04,175.1,476.0,10.9,225,5683,0.00,2.42,0.00,0.000,6,0.000,0.046,3575,2178,2145
$GC,6032,1.04,175.1,440.1,10.1,231,6036,0.00,2.47,0.00,0.000,4,0.000,0.078,3575,3592,2144
$GC,6228,1.04,175.1,418.9,10.7,234,6232,0.00,2.35,0.00,0.000,6,0.000,0.047,3575,2179,2143
$GC,6593,1.04,175.1,381.8,10.2,240,6597,0.00,2.45,0.00,0.000,4,0.000,0.078,3575,3592,2143
$GC,6697,1.04,175.1,370.1,10.8,241,6702,0.00,2.38,0.00,0.000,6,0.000,0.048,3575,2178,2143
$GC,7024,1.05,183.6,338.7,9.6,247,7038,0.00,2.50,8.02,0.940,4,0.000,0.077,3575,3591,2111
$GC,7077,1.05,183.6,333.2,10.7,247,7081,0.00,2.38,0.00,0.000,6,0.000,0.048,3575,2182,2111
$GC,7392,1.07,198.3,303.9,9.3,253,7411,0.00,2.53,13.27,0.986,4,0.000,0.077,3575,3593,2051
$GC,7528,1.07,198.3,288.5,11.5,257,7533,0.00,2.40,0.00,0.000,6,0.000,0.047,3575,2178,2051
$GC,7855,1.07,198.3,253.3,11.1,273,7860,0.00,2.47,0.00,0.000,4,0.000,0.076,3575,3592,2051
$GC,7887,1.07,198.3,249.4,11.4,274,7895,0.00,2.38,0.00,0.000,6,0.000,0.046,3575,2175,2051
$GC,8203,1.07,198.3,215.5,10.9,290,8207,0.00,2.47,0.00,0.000,4,0.000,0.077,3575,3594,2051
$GC,8287,1.07,198.3,205.7,11.2,294,8291,0.00,2.35,0.00,0.000,6,0.000,0.046,3575,2172,2051
$GC,8613,1.07,198.3,170.9,10.5,310,8617,0.00,2.47,0.00,0.000,4,0.000,0.076,3575,3596,2051
$GC,8661,1.07,198.3,165.4,11.2,312,8666,0.00,2.35,0.00,0.000,6,0.000,0.045,3575,2184,2051
$GC,8988,1.09,216.3,132.9,9.2,336,9010,0.12,2.45,15.20,0.890,4,0.068,0.072,3601,3593,1978
$GC,9022,1.09,216.3,129.5,10.5,339,9026,0.00,2.35,0.00,0.000,6,0.000,0.045,3601,2178,1978
$GC,9346,1.09,216.3,92.4,11.7,369,9350,0.00,2.38,0.00,0.000,4,0.000,0.063,3601,772,1977
$GC,9378,1.09,216.3,88.7,10.6,371,9386,0.00,2.38,0.00,0.000,6,0.000,0.051,3601,2190,1977
$GC,9717,1.20,309.9,61.9,5.7,424,9799,0.12,2.58,71.97,0.833,4,0.074,0.074,3626,3583,1596
$GC,9996,1.20,309.9,29.4,13.3,468,10000,0.00,2.38,0.00,0.000,6,0.000,0.044,3626,2172,1596
$STATE,10212,end climb,SURFACE_DEPTH_REACHED
$STATE,10212,begin surface coast
$FINISH,0.7,1.000118
$STATE,10224,end surface coast,CONTROL_FINISHED_OK
$STATE,10225,begin surface
$SM_CCo,10245,129.55,0.744,0,0,425,597.31
$SM_GC,1.33,0.00,0.00,129.55,0.000,0.000,0.744,1377,2225,425,-9.14,0.14,597.31
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.027612
$HUMID,1873
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,16.20
$XPDR_PINGS,45
$ALTIM_BOTTOM_PING,556.3,6.0
$24V_AH,23.6,12.096
$10V_AH,10.6,5.234
$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,27.700,101.125,375.450,129.550,0.000,151.157,161.880,0.000,15.750,0.000,0.000,14.027,972.659,7519.370,631.011,1480.375,419.637,33.336,1368.708,0.000,1447.721,0.000,31.227
$DEVICE_MAMPS,169.507,85.137,1158.937,743.990,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,344.637,373.261,679.451,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25467,489
$CFSIZE,260165632,255737856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,0,0
$GPS,230108,174738,4806.546,-12614.421,33,1.4,33,18.9