version: 66.02
glider: 119
mission: 3
dive: 68
start: 1 23 108 20 11 24
data:
$ID,119
$MISSION,3
$DIVE,68
$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,-15917.307
$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,26
$R_STBD_OVSHOOT,34
$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
$GPS1,200137,4806.914,-12613.416,35,1.0,41,18.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-68.7
$GPS2,201032,4806.897,-12613.466,12,1.9,17,18.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,CAPE_FLATTERY
$TGT_LATLONG,4809.000,-12540.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.184,-0.189
$KALMAN_X,-4297.4,1737.8,678.5,-39022.7,-20279.6
$KALMAN_Y,1066.1,927.9,10.9,6675.4,2176.7
$MHEAD_RNG_PITCHd_Wd,116.9,41535,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.00,-146.6,0.0,0.0,0,133,0.00,0.00,-112.25,0.000,2,0.000,0.000,1377,2236,2693
$GC,135,-1.00,-146.6,3.3,-2.9,11,172,12.30,2.40,-18.98,0.000,4,0.168,0.087,3141,3620,3458
$GC,310,-1.00,-146.6,37.9,-18.4,26,318,0.00,2.35,0.00,0.000,6,0.000,0.044,3141,2218,3459
$GC,646,-1.00,-146.6,97.6,-14.0,75,650,0.00,2.38,0.00,0.000,4,0.000,0.061,3141,810,3458
$GC,725,-1.00,-146.6,108.7,-13.4,82,729,0.00,2.33,0.00,0.000,6,0.000,0.050,3141,2216,3458
$GC,1065,-1.00,-146.6,153.3,-12.8,113,1069,0.00,2.38,0.00,0.000,4,0.000,0.059,3141,807,3459
$GC,1085,-1.00,-146.6,156.3,-13.1,114,1090,0.00,2.35,0.00,0.000,6,0.000,0.049,3141,2218,3459
$GC,1413,-1.00,-146.6,197.3,-12.1,130,1417,0.00,2.38,0.00,0.000,4,0.000,0.060,3141,806,3459
$GC,1436,-1.00,-146.6,200.1,-12.4,131,1440,0.00,2.35,0.00,0.000,6,0.000,0.050,3141,2226,3459
$GC,1756,-1.00,-146.6,239.7,-12.2,147,1760,0.00,2.38,0.00,0.000,4,0.000,0.060,3141,815,3459
$GC,1804,-1.00,-146.6,246.2,-13.0,149,1809,0.00,2.33,0.00,0.000,6,0.000,0.052,3141,2232,3459
$GC,2125,-1.00,-146.6,283.5,-11.6,165,2129,0.00,2.38,0.00,0.000,4,0.000,0.061,3141,812,3459
$GC,2193,-1.00,-146.6,291.5,-11.5,168,2197,0.00,2.33,0.00,0.000,6,0.000,0.054,3141,2218,3459
$GC,2514,-1.00,-146.6,327.9,-11.3,176,2518,0.00,2.35,0.00,0.000,4,0.000,0.062,3141,815,3458
$GC,2540,-1.00,-146.6,330.8,-10.8,176,2544,0.00,2.35,0.00,0.000,6,0.000,0.055,3141,2218,3458
$GC,2877,-1.00,-146.6,367.9,-11.1,182,2881,0.00,2.38,0.00,0.000,4,0.000,0.063,3140,809,3458
$GC,2899,-1.00,-146.6,370.4,-11.4,182,2904,0.00,2.35,0.00,0.000,6,0.000,0.055,3141,2222,3458
$GC,3236,-1.00,-146.6,409.0,-11.6,188,3240,0.00,2.38,0.00,0.000,4,0.000,0.064,3141,814,3458
$GC,3290,-1.00,-146.6,415.7,-11.5,188,3297,0.00,2.35,0.00,0.000,6,0.000,0.056,3141,2219,3458
$GC,3600,-1.00,-146.6,451.3,-11.6,194,3604,0.00,2.38,0.00,0.000,4,0.000,0.065,3141,813,3457
$GC,3649,-1.00,-146.6,457.1,-11.3,194,3654,0.00,2.35,0.00,0.000,6,0.000,0.057,3141,2219,3457
$GC,3964,-1.00,-146.6,490.8,-10.7,200,3968,0.00,2.38,0.00,0.000,4,0.000,0.066,3141,818,3457
$GC,3990,-1.00,-146.6,493.6,-10.7,200,3995,0.00,2.35,0.00,0.000,6,0.000,0.059,3141,2215,3457
$GC,4330,-1.00,-146.6,528.1,-10.2,206,4331,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2215,3457
$STATE,4571,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4571,begin apogee
$GC,4575,-0.23,0.0,553.9,10.7,210,4698,1.00,0.00,119.97,1.154,6,0.095,0.000,3309,2215,2860
$STATE,4699,end apogee,CONTROL_FINISHED_OK
$STATE,4699,begin climb
$GC,4701,1.00,146.6,558.6,0.0,212,4828,1.58,0.00,122.62,1.115,6,0.057,0.000,3575,2215,2262
$GC,5126,1.01,149.5,533.6,9.9,219,5135,0.00,2.50,4.30,0.745,4,0.000,0.082,3574,3590,2250
$GC,5281,1.01,149.5,517.3,11.0,221,5286,0.00,2.40,0.00,0.000,6,0.000,0.047,3575,2175,2250
$GC,5629,1.01,149.5,482.3,10.0,227,5634,0.00,2.53,0.00,0.000,4,0.000,0.080,3575,3593,2249
$GC,5886,1.01,149.5,456.0,10.1,230,5893,0.00,2.40,0.00,0.000,6,0.000,0.047,3575,2175,2249
$GC,6196,1.03,166.0,427.4,9.2,236,6215,0.00,2.53,14.43,1.056,4,0.000,0.078,3575,3594,2183
$GC,6260,1.04,176.8,421.1,9.5,237,6276,0.00,2.38,10.23,0.995,6,0.000,0.048,3575,2183,2139
$GC,6623,1.04,176.8,383.7,10.3,243,6624,0.00,0.00,0.00,0.000,6,0.000,0.000,3574,2183,2139
$GC,6926,1.04,176.8,351.2,10.6,248,6931,0.00,2.47,0.00,0.000,4,0.000,0.076,3575,3592,2138
$GC,7065,1.04,176.8,336.1,11.1,250,7070,0.00,2.38,0.00,0.000,6,0.000,0.047,3574,2183,2138
$GC,7425,1.05,185.2,301.6,9.6,256,7439,0.00,2.50,8.57,0.937,4,0.000,0.077,3575,3592,2104
$GC,7626,1.05,185.2,279.6,11.2,263,7630,0.00,2.35,0.00,0.000,6,0.000,0.047,3574,2176,2104
$GC,7951,1.05,185.2,246.7,10.2,279,7953,0.00,0.00,0.00,0.000,6,0.000,0.000,3575,2176,2104
$GC,8261,1.07,200.4,216.8,9.3,294,8283,0.00,2.50,13.32,0.941,4,0.000,0.075,3575,3584,2042
$GC,8388,1.07,200.4,202.7,11.4,299,8396,0.00,2.35,0.00,0.000,6,0.000,0.046,3575,2188,2042
$GC,8704,1.07,200.4,168.7,11.3,315,8708,0.00,2.42,0.00,0.000,4,0.000,0.074,3575,3592,2042
$GC,8817,1.07,200.4,155.9,11.4,320,8821,0.00,2.35,0.00,0.000,6,0.000,0.046,3575,2170,2042
$GC,9141,1.07,200.4,122.6,10.0,348,9145,0.00,2.47,0.00,0.000,4,0.000,0.074,3575,3600,2042
$GC,9161,1.07,200.4,120.4,10.0,349,9169,0.00,2.38,0.00,0.000,6,0.000,0.046,3574,2179,2042
$GC,9489,1.12,241.0,91.0,8.2,380,9526,0.17,2.50,31.73,0.871,4,0.059,0.072,3614,3592,1877
$GC,9571,1.12,241.0,81.6,13.4,387,9576,0.00,2.38,0.00,0.000,6,0.000,0.045,3614,2179,1876
$GC,9914,1.19,296.4,51.4,7.5,446,9964,0.00,2.55,43.67,0.822,4,0.000,0.071,3614,3591,1651
$GC,10052,1.19,296.4,36.2,12.5,468,10059,0.00,2.42,0.00,0.000,6,0.000,0.044,3614,2178,1651
$STATE,10344,end climb,SURFACE_DEPTH_REACHED
$STATE,10344,begin surface coast
$FINISH,0.6,1.025220
$STATE,10358,end surface coast,CONTROL_FINISHED_OK
$STATE,10358,begin surface
$SM_CCo,10378,135.52,0.753,0,0,425,597.31
$SM_GC,1.32,0.00,0.00,135.52,0.000,0.000,0.753,1375,2235,425,-9.14,0.42,597.31
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1870
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,16.20
$XPDR_PINGS,43
$ALTIM_BOTTOM_PING,553.9,5.4
$24V_AH,23.6,12.374
$10V_AH,10.6,5.362
$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,27.625,100.750,368.850,135.525,0.000,130.834,75.169,0.000,15.250,0.000,0.000,18.504,979.424,7709.810,634.808,1418.571,319.226,33.352,1339.859,0.000,1385.452,0.000,31.220
$DEVICE_MAMPS,167.973,88.972,1154.335,753.194,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,351.463,377.740,691.155,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25420,497
$CFSIZE,260165632,255627264
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,11,0,0
$GPS,230108,230755,4806.565,-12611.938,24,1.1,42,18.9