version: 66.02
glider: 119
mission: 3
dive: 69
start: 1 23 108 23 16 12
data:
$ID,119
$MISSION,3
$DIVE,69
$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,-15934.054
$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
$GPS1,230755,4806.565,-12611.938,24,1.1,42,18.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-68.6
$GPS2,231521,4806.612,-12611.980,13,1.3,13,18.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,CAPE_FLATTERY
$TGT_LATLONG,4809.000,-12540.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.264,-0.006
$KALMAN_X,-3981.2,1828.2,993.3,-37921.5,-14383.1
$KALMAN_Y,5189.2,127.2,49.4,2790.5,5662.1
$MHEAD_RNG_PITCHd_Wd,72.4,39763,-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,-146.6,0.0,0.0,0,132,0.00,0.00,-111.50,0.000,2,0.000,0.000,1376,2236,2666
$GC,134,-1.00,-146.6,3.5,-4.2,11,172,12.40,2.40,-20.05,0.000,4,0.170,0.087,3141,3616,3458
$GC,333,-1.00,-146.6,40.8,-18.6,28,340,0.00,2.35,0.00,0.000,6,0.000,0.044,3141,2221,3459
$GC,670,-1.00,-146.6,100.7,-15.1,77,671,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2220,3458
$GC,989,-1.00,-146.6,144.7,-13.7,107,993,0.00,2.38,0.00,0.000,4,0.000,0.062,3141,810,3458
$GC,1037,-1.00,-146.6,151.6,-13.5,110,1042,0.00,2.33,0.00,0.000,6,0.000,0.050,3141,2202,3458
$GC,1359,-1.00,-146.6,194.8,-13.4,126,1363,0.00,2.35,0.00,0.000,4,0.000,0.061,3141,810,3459
$GC,1420,-1.00,-146.6,202.8,-12.5,129,1424,0.00,2.33,0.00,0.000,6,0.000,0.051,3141,2218,3459
$GC,1745,-1.00,-146.6,244.1,-12.8,145,1749,0.00,2.38,0.00,0.000,4,0.000,0.061,3141,808,3459
$GC,1788,-1.00,-146.6,249.8,-12.8,147,1796,0.00,2.35,0.00,0.000,6,0.000,0.051,3141,2217,3458
$GC,2117,-1.00,-146.6,291.4,-12.8,163,2121,0.00,2.38,0.00,0.000,4,0.000,0.061,3141,806,3458
$GC,2143,-1.00,-146.6,295.1,-13.1,164,2148,0.00,2.35,0.00,0.000,6,0.000,0.052,3141,2214,3458
$GC,2499,-1.00,-146.6,338.3,-12.1,172,2500,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2215,3458
$GC,2802,-1.00,-146.6,373.6,-11.6,177,2803,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2215,3458
$STATE,3048,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3048,begin apogee
$GC,3052,-0.23,0.0,400.6,11.1,181,3173,1.00,0.00,118.30,1.048,6,0.097,0.000,3308,2215,2860
$STATE,3174,end apogee,CONTROL_FINISHED_OK
$STATE,3174,begin climb
$GC,3176,1.00,146.6,405.7,0.0,183,3306,1.58,2.67,120.53,1.011,4,0.058,0.061,3574,770,2262
$GC,3368,1.03,166.6,405.0,9.1,186,3393,0.00,2.47,18.25,0.960,6,0.000,0.050,3574,2183,2180
$GC,3730,1.03,166.6,368.0,10.2,192,3735,0.00,2.50,0.00,0.000,4,0.000,0.077,3574,3592,2178
$GC,3824,1.03,166.6,358.2,10.4,193,3829,0.00,2.40,0.00,0.000,6,0.000,0.045,3574,2183,2179
$GC,4162,1.04,174.9,325.8,9.6,199,4176,0.00,2.50,7.90,0.885,4,0.000,0.074,3574,3579,2146
$GC,4299,1.04,174.9,310.8,11.1,201,4304,0.00,2.38,0.00,0.000,6,0.000,0.044,3574,2178,2146
$GC,4628,1.04,178.4,277.8,9.8,213,4638,0.00,2.47,4.62,0.728,4,0.000,0.075,3574,3590,2132
$GC,4805,1.04,178.4,258.7,10.8,221,4810,0.00,2.38,0.00,0.000,6,0.000,0.045,3574,2175,2132
$GC,5133,1.06,189.3,227.4,9.5,237,5148,0.00,2.50,10.32,0.907,4,0.000,0.074,3575,3591,2088
$GC,5276,1.06,189.3,211.7,11.3,242,5283,0.00,2.38,0.00,0.000,6,0.000,0.046,3574,2182,2088
$GC,5592,1.06,189.3,178.6,10.6,258,5596,0.00,2.45,0.00,0.000,4,0.000,0.074,3574,3587,2088
$GC,5653,1.06,189.3,171.7,11.2,261,5657,0.00,2.35,0.00,0.000,6,0.000,0.045,3574,2168,2088
$GC,5971,1.08,206.7,140.7,9.2,281,5993,0.12,0.00,14.82,0.887,6,0.072,0.000,3600,2166,2017
$GC,6310,1.08,206.7,104.6,10.0,313,6314,0.00,2.47,0.00,0.000,4,0.000,0.072,3599,3586,2017
$GC,6566,1.17,285.6,79.9,6.4,335,6633,0.00,2.35,61.05,0.838,6,0.000,0.044,3600,2179,1695
$GC,6971,1.17,285.6,40.5,11.0,407,6977,0.00,2.47,0.00,0.000,4,0.000,0.072,3600,3590,1695
$GC,7061,1.17,285.6,30.2,11.6,416,7065,0.00,2.35,0.00,0.000,6,0.000,0.044,3600,2180,1695
$STATE,7331,end climb,SURFACE_DEPTH_REACHED
$STATE,7331,begin surface coast
$FINISH,0.7,1.025233
$STATE,7345,end surface coast,CONTROL_FINISHED_OK
$STATE,7345,begin surface
$SM_CCo,7365,139.70,0.746,0,0,425,597.31
$SM_GC,1.31,0.00,0.00,139.70,0.000,0.000,0.746,1376,2236,425,-9.14,0.45,597.31
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1866
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,16.20
$XPDR_PINGS,16
$ALTIM_BOTTOM_PING,400.6,5.8
$24V_AH,23.7,12.505
$10V_AH,10.6,5.421
$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,27.550,62.775,355.800,139.700,0.000,116.445,0.000,0.000,7.000,0.000,0.000,16.116,821.970,5138.549,604.987,1186.598,207.923,33.347,1182.146,0.000,1165.858,0.000,21.541
$DEVICE_MAMPS,169.507,90.506,1047.722,746.291,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,313.282,329.255,681.135,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22220,442
$CFSIZE,260165632,255594496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,240108,012223,4807.042,-12610.627,11,2.8,31,18.9