version: 66.02
glider: 119
mission: 3
dive: 61
start: 1 23 108 2 29 25
data:
$ID,119
$MISSION,3
$DIVE,61
$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,-15783.158
$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,29
$R_STBD_OVSHOOT,36
$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
$GPS1,022116,4802.115,-12620.278,36,5.2,55,18.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-68.8
$GPS2,022833,4802.098,-12620.281,10,1.3,10,18.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,CAPE_FLATTERY
$TGT_LATLONG,4809.000,-12540.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.249,0.088
$KALMAN_X,7147.3,1243.7,1357.5,-59097.1,-18809.3
$KALMAN_Y,-5890.8,2139.1,578.6,2957.1,-11409.2
$MHEAD_RNG_PITCHd_Wd,51.7,51388,-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,17,-1.00,-146.6,0.0,0.0,0,132,0.00,0.00,-111.65,0.000,2,0.000,0.000,1377,2234,2681
$GC,134,-1.00,-146.6,3.3,-2.9,11,171,12.32,2.42,-19.67,0.000,4,0.169,0.074,3140,820,3458
$GC,278,-1.00,-146.6,31.6,-18.6,23,284,0.00,2.33,0.00,0.000,6,0.000,0.050,3140,2198,3458
$GC,619,-1.00,-146.6,96.2,-16.2,73,620,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2198,3459
$GC,937,-1.00,-146.6,141.6,-13.7,103,941,0.00,2.33,0.00,0.000,4,0.000,0.061,3140,820,3458
$GC,1027,-1.00,-146.6,153.3,-12.8,110,1031,0.00,2.33,0.00,0.000,6,0.000,0.049,3140,2220,3458
$GC,1352,-1.00,-146.6,193.2,-12.6,126,1356,0.00,2.35,0.00,0.000,4,0.000,0.060,3139,818,3458
$GC,1401,-1.00,-146.6,199.6,-12.2,128,1407,0.00,2.33,0.00,0.000,6,0.000,0.050,3140,2219,3458
$GC,1728,-1.00,-146.6,238.8,-11.8,144,1732,0.00,2.35,0.00,0.000,4,0.000,0.061,3140,819,3458
$GC,1777,-1.00,-146.6,244.7,-12.1,146,1782,0.00,2.33,0.00,0.000,6,0.000,0.051,3140,2216,3458
$GC,2099,-1.00,-146.6,281.9,-11.7,162,2103,0.00,2.35,0.00,0.000,4,0.000,0.061,3140,819,3458
$GC,2160,-1.00,-146.6,289.1,-11.9,165,2164,0.00,2.33,0.00,0.000,6,0.000,0.053,3140,2229,3458
$GC,2501,-1.00,-146.6,329.1,-11.9,174,2505,0.00,2.38,0.00,0.000,4,0.000,0.062,3140,819,3458
$GC,2539,-1.00,-146.6,333.9,-11.8,174,2543,0.00,2.33,0.00,0.000,6,0.000,0.054,3140,2215,3458
$GC,2865,-1.00,-146.6,371.1,-11.5,180,2866,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2215,3458
$GC,3170,-1.00,-146.6,406.6,-11.7,185,3174,0.00,2.35,0.00,0.000,4,0.000,0.064,3140,820,3458
$GC,3236,-1.00,-146.6,414.8,-12.0,186,3241,0.00,2.35,0.00,0.000,6,0.000,0.055,3140,2222,3458
$GC,3601,-1.00,-146.6,457.1,-11.6,192,3602,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2223,3458
$STATE,3785,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3785,begin apogee
$GC,3789,-0.23,0.0,478.0,11.5,195,3911,1.02,0.00,118.78,1.098,6,0.100,0.000,3310,2174,2861
$STATE,3912,end apogee,CONTROL_FINISHED_OK
$STATE,3912,begin climb
$GC,3914,1.00,146.6,483.1,0.0,197,4044,1.58,2.62,121.47,1.053,4,0.058,0.066,3576,784,2261
$GC,4133,1.00,146.6,478.5,10.4,200,4138,0.00,2.47,0.00,0.000,6,0.000,0.053,3576,2184,2261
$GC,4471,1.01,149.7,445.0,9.9,206,4480,0.00,2.53,4.35,0.723,4,0.000,0.081,3576,3590,2249
$GC,4671,1.01,149.7,424.0,10.5,209,4676,0.00,2.38,0.00,0.000,6,0.000,0.046,3576,2176,2249
$GC,5036,1.03,169.2,390.6,9.1,215,5060,0.00,2.58,16.83,1.022,4,0.000,0.077,3576,3589,2170
$GC,5115,1.03,169.2,382.5,10.8,216,5120,0.00,2.40,0.00,0.000,6,0.000,0.047,3576,2186,2170
$GC,5470,1.03,169.2,346.2,10.4,222,5474,0.00,2.45,0.00,0.000,4,0.000,0.077,3576,3585,2169
$GC,5676,1.03,169.2,322.9,11.1,225,5680,0.00,2.38,0.00,0.000,6,0.000,0.047,3576,2175,2169
$GC,5997,1.03,173.0,291.7,9.8,233,6007,0.00,2.47,4.57,0.742,4,0.000,0.077,3576,3586,2154
$GC,6163,1.03,173.0,274.1,10.1,240,6171,0.00,2.35,0.00,0.000,6,0.000,0.047,3576,2186,2154
$GC,6479,1.07,201.4,245.5,8.7,256,6505,0.00,0.00,23.70,0.964,6,0.000,0.000,3577,2185,2039
$GC,6809,1.07,202.2,213.3,10.0,272,6810,0.00,0.00,0.00,0.000,6,0.000,0.000,3576,2185,2039
$GC,7118,1.08,206.7,182.9,9.8,287,7125,0.00,0.00,6.03,0.786,6,0.000,0.000,3576,2185,2017
$GC,7428,1.08,206.7,150.4,10.4,302,7429,0.00,0.00,0.00,0.000,6,0.000,0.000,3576,2185,2017
$GC,7745,1.08,206.7,117.0,10.6,331,7749,0.00,2.45,0.00,0.000,4,0.000,0.074,3576,3594,2017
$GC,7873,1.08,206.7,103.1,10.9,342,7877,0.00,2.33,0.00,0.000,6,0.000,0.044,3576,2175,2017
$GC,8201,1.19,297.5,75.5,5.9,378,8279,0.20,2.55,69.88,0.839,4,0.058,0.070,3621,3585,1646
$GC,8471,1.19,297.5,44.4,12.8,426,8478,0.00,2.35,0.00,0.000,6,0.000,0.044,3622,2183,1646
$GC,8804,1.19,297.5,2.9,12.2,460,8808,0.00,2.45,0.00,0.000,4,0.000,0.071,3622,3586,1646
$STATE,8812,end climb,SURFACE_DEPTH_REACHED
$STATE,8812,begin surface coast
$FINISH,0.7,1.025261
$STATE,8824,end surface coast,CONTROL_FINISHED_OK
$STATE,8824,begin surface
$SM_CCo,8845,135.73,0.745,0,0,425,597.31
$SM_GC,1.40,0.00,0.00,135.73,0.000,0.000,0.745,1379,2202,425,-9.13,-0.51,597.31
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1880
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,18.00
$XPDR_PINGS,27
$ALTIM_BOTTOM_PING,478.0,5.6
$24V_AH,23.7,11.355
$10V_AH,10.6,4.908
$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,27.700,71.975,365.600,135.725,0.000,116.306,0.000,0.000,10.500,0.000,0.000,11.877,878.024,6465.946,614.276,1260.896,211.299,33.337,1234.723,0.000,1240.769,0.000,26.380
$DEVICE_MAMPS,168.740,101.244,1098.344,744.757,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,323.144,351.493,674.370,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22239,461
$CFSIZE,260165632,255991808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,230108,050025,4802.750,-12619.128,27,1.0,44,18.9