version: 66.02
glider: 119
mission: 3
dive: 5
start: 1 18 108 1 52 52
data:
$ID,119
$MISSION,3
$DIVE,5
$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,400
$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,-14606.733
$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,21
$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
$GPS1,014656,4802.802,-12541.376,9,1.7,27,18.9
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,1
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-71.0
$GPS2,015202,4802.792,-12541.478,14,1.8,31,18.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,CAPE_FLATTERY
$TGT_LATLONG,4809.000,-12540.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.088,0.248
$KALMAN_X,-2061.3,-968.5,-405.1,2184.6,-1152.1
$KALMAN_Y,-807.1,-111.5,22.3,1984.6,-1157.3
$MHEAD_RNG_PITCHd_Wd,0.7,11642,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.00,-146.6,0.0,0.0,0,76,0.00,0.00,-57.40,0.000,2,0.000,0.000,1375,2196,2452
$GC,77,-1.00,-146.6,3.5,-4.4,6,121,12.82,2.53,-24.60,0.000,4,0.180,0.090,3137,3625,3459
$GC,248,-1.00,-146.6,32.0,-15.4,21,256,0.00,2.38,0.00,0.000,6,0.000,0.048,3138,2225,3459
$GC,593,-1.00,-146.6,83.1,-14.2,76,598,0.00,2.40,0.00,0.000,4,0.000,0.064,3138,808,3459
$GC,738,-1.00,-146.6,103.9,-14.3,88,745,0.00,2.38,0.00,0.000,6,0.000,0.051,3138,2223,3459
$GC,1063,-1.00,-146.6,141.0,-11.2,119,1067,0.00,2.40,0.00,0.000,4,0.000,0.080,3138,3624,3459
$GC,1148,-1.00,-146.6,150.1,-10.8,126,1154,0.00,2.30,0.00,0.000,6,0.000,0.048,3138,2214,3459
$GC,1462,-1.00,-146.6,184.3,-10.4,142,1466,0.00,2.35,0.00,0.000,4,0.000,0.064,3138,816,3459
$GC,1532,-1.00,-146.6,191.6,-10.3,145,1537,0.00,2.35,0.00,0.000,6,0.000,0.053,3138,2220,3459
$GC,1854,-1.00,-146.6,223.9,-10.4,161,1855,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2220,3459
$GC,2163,-1.00,-146.6,254.6,-10.2,176,2167,0.00,2.35,0.00,0.000,4,0.000,0.065,3138,819,3459
$GC,2245,-1.00,-146.6,263.3,-10.2,179,2252,0.00,2.35,0.00,0.000,6,0.000,0.055,3138,2215,3459
$GC,2561,-1.00,-146.6,294.4,-9.9,195,2565,0.00,2.42,0.00,0.000,4,0.000,0.087,3138,3627,3460
$GC,2599,-1.00,-146.6,298.9,-11.3,197,2603,0.00,2.30,0.00,0.000,6,0.000,0.051,3138,2221,3459
$GC,2917,-1.00,-146.6,331.9,-10.3,203,2921,0.00,2.35,0.00,0.000,4,0.000,0.067,3138,818,3459
$GC,3017,-1.00,-146.6,341.8,-9.5,204,3022,0.00,2.35,0.00,0.000,6,0.000,0.058,3138,2219,3459
$GC,3354,-1.00,-146.6,374.3,-9.7,210,3359,0.00,2.38,0.00,0.000,4,0.000,0.067,3138,807,3459
$GC,3403,-1.00,-146.6,379.4,-9.4,210,3408,0.00,2.38,0.00,0.000,6,0.000,0.059,3138,2219,3459
$GC,3718,-1.00,-146.6,411.1,-10.1,216,3722,0.00,2.38,0.00,0.000,4,0.000,0.069,3138,819,3459
$GC,3800,-1.00,-146.6,419.7,-10.3,217,3805,0.00,2.35,0.00,0.000,6,0.000,0.060,3138,2215,3459
$GC,4156,-1.00,-146.6,453.6,-9.5,223,4160,0.00,2.47,0.00,0.000,4,0.000,0.094,3138,3627,3458
$GC,4198,-1.00,-146.6,458.1,-10.4,223,4203,0.00,2.35,0.00,0.000,6,0.000,0.054,3137,2224,3458
$GC,4519,-1.00,-146.6,488.4,-9.4,229,4523,0.00,2.40,0.00,0.000,4,0.000,0.076,3137,813,3458
$GC,4607,-1.00,-146.6,496.5,-9.2,230,4611,0.00,2.40,0.00,0.000,6,0.000,0.066,3138,2224,3457
$GC,4949,-1.00,-146.6,530.4,-10.2,236,4950,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2225,3457
$GC,5253,-1.00,-146.6,560.3,-9.8,241,5257,0.00,2.42,0.00,0.000,4,0.000,0.078,3137,817,3457
$GC,5330,-1.00,-146.6,567.4,-8.2,242,5334,0.00,2.40,0.00,0.000,6,0.000,0.072,3138,2217,3457
$STATE,5501,end dive,NO_VERTICAL_VELOCITY
$STATE,5501,begin apogee
$GC,5504,-0.23,0.0,568.9,0.0,245,5628,1.00,0.00,119.97,1.154,6,0.091,0.000,3307,2179,2860
$STATE,5628,end apogee,CONTROL_FINISHED_OK
$STATE,5628,begin climb
$GC,5630,1.00,146.6,568.8,0.0,247,5762,1.67,2.65,123.85,1.109,4,0.082,0.074,3573,776,2262
$GC,5906,1.00,146.6,553.4,12.0,251,5912,0.00,2.50,0.00,0.000,6,0.000,0.061,3573,2182,2261
$GC,6249,1.00,146.6,515.3,11.2,257,6253,0.00,2.47,0.00,0.000,4,0.000,0.071,3572,775,2261
$GC,6287,1.00,146.6,510.4,12.1,257,6292,0.00,2.42,0.00,0.000,6,0.000,0.060,3573,2181,2260
$GC,6619,1.03,167.1,478.6,9.1,263,6643,0.00,2.58,17.65,1.052,4,0.000,0.087,3573,3580,2178
$GC,6688,1.03,172.8,472.0,9.7,264,6699,0.00,2.42,6.07,0.867,6,0.000,0.054,3573,2186,2155
$GC,7053,1.03,172.8,433.1,10.5,270,7057,0.00,2.50,0.00,0.000,4,0.000,0.084,3573,3593,2156
$GC,7163,1.03,172.8,421.1,10.3,271,7168,0.00,2.42,0.00,0.000,6,0.000,0.054,3573,2174,2155
$GC,7483,1.04,177.8,389.3,9.8,277,7494,0.00,2.55,5.95,0.867,4,0.000,0.084,3573,3597,2135
$GC,7655,1.04,177.8,369.9,12.3,279,7660,0.00,2.40,0.00,0.000,6,0.000,0.052,3573,2186,2135
$GC,7982,1.04,177.8,335.7,10.5,285,7985,0.00,2.45,0.00,0.000,4,0.000,0.083,3573,3590,2134
$GC,8036,1.04,177.8,329.2,11.9,285,8041,0.00,2.38,0.00,0.000,6,0.000,0.053,3573,2188,2134
$GC,8351,1.04,177.8,295.5,10.9,291,8355,0.00,2.45,0.00,0.000,4,0.000,0.084,3573,3591,2134
$GC,8360,1.04,177.8,294.4,11.1,291,8365,0.00,2.38,0.00,0.000,6,0.000,0.053,3573,2183,2134
$GC,8682,1.04,177.8,261.4,10.2,307,8683,0.00,0.00,0.00,0.000,6,0.000,0.000,3573,2183,2134
$GC,8991,1.04,177.8,228.5,10.9,322,8995,0.00,2.47,0.00,0.000,4,0.000,0.083,3573,3596,2134
$GC,9097,1.04,177.8,216.4,11.4,327,9102,0.00,2.35,0.00,0.000,6,0.000,0.051,3573,2174,2135
$GC,9423,1.04,177.8,181.2,10.3,343,9427,0.00,2.45,0.00,0.000,4,0.000,0.082,3573,3592,2134
$GC,9645,1.04,177.8,157.2,10.5,353,9650,0.00,2.35,0.00,0.000,6,0.000,0.049,3573,2181,2134
$GC,9970,1.05,187.2,126.3,9.6,380,9984,0.00,2.47,8.93,0.822,4,0.000,0.080,3573,3590,2096
$GC,10239,1.15,263.4,103.5,6.5,404,10304,0.20,2.33,58.58,0.858,6,0.059,0.048,3612,2174,1786
$GC,10628,1.15,263.4,60.3,11.3,454,10634,0.00,2.50,0.00,0.000,4,0.000,0.075,3612,3597,1786
$GC,10809,1.15,263.4,38.0,12.8,485,10813,0.00,2.35,0.00,0.000,6,0.000,0.046,3612,2182,1786
$GC,11133,1.21,311.9,4.0,7.8,515,11165,0.00,2.50,23.05,0.765,4,0.000,0.073,3612,3587,1587
$STATE,11168,end climb,SURFACE_DEPTH_REACHED
$STATE,11168,begin surface coast
$FINISH,0.5,1.005512
$STATE,11203,end surface coast,CONTROL_FINISHED_OK
$STATE,11203,begin surface
$SM_CCo,11223,44.83,0.762,0,0,1228,400.08
$SM_GC,1.60,0.00,0.00,44.83,0.000,0.000,0.762,1377,2211,1228,-9.14,-0.34,400.08
$IRIDIUM_FIX,4745.30,-12539.38,180108,040400
$TT8_MAMPS,0.028379
$HUMID,1944
$INTERNAL_PRESSURE,9.54138
$TCM_TEMP,18.60
$XPDR_PINGS,72
$ALTIM_BOTTOM_PING,500.1,79.6
$24V_AH,23.6,3.738
$10V_AH,10.6,1.502
$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,28.300,115.900,364.050,44.825,0.000,41.008,32.729,144.827,22.000,0.000,0.000,33.423,1049.995,8131.296,517.971,1594.777,292.833,33.335,1286.751,0.000,1545.017,0.000,28.195
$DEVICE_MAMPS,180.245,111.215,1154.335,761.631,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,366.928,397.796,720.290,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25324,521
$CFSIZE,260165632,258486272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,0,0
$GPS,180108,050155,4803.913,-12541.316,40,1.5,40,18.9