version: 66.02
glider: 119
mission: 3
dive: 70
start: 1 24 108 1 32 29
data:
$ID,119
$MISSION,3
$DIVE,70
$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,-15965.947
$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,28
$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
$GPS1,012223,4807.042,-12610.627,11,2.8,31,18.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-68.4
$GPS2,013138,4807.073,-12610.597,28,1.7,29,18.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,CAPE_FLATTERY
$TGT_LATLONG,4809.000,-12540.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.262,-0.027
$KALMAN_X,-6189.1,2059.2,872.9,-34095.5,-18828.3
$KALMAN_Y,7001.4,-764.9,-475.4,3267.9,9418.0
$MHEAD_RNG_PITCHd_Wd,77.0,37974,-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,15,begin dive
$GC,18,-1.00,-146.6,0.0,0.0,0,142,0.00,0.00,-121.65,0.000,2,0.000,0.000,1376,2237,2897
$GC,144,-1.00,-146.6,4.4,-4.8,12,177,12.30,2.45,-11.73,0.000,4,0.167,0.085,3138,3617,3461
$GC,430,-1.00,-146.6,63.7,-19.5,48,437,0.00,2.30,0.00,0.000,6,0.000,0.044,3139,2220,3462
$GC,759,-1.00,-146.6,119.3,-15.1,86,760,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,2220,3462
$GC,1085,-1.00,-146.6,165.4,-13.7,112,1090,0.00,2.38,0.00,0.000,4,0.000,0.061,3139,808,3462
$GC,1140,-1.00,-146.6,172.7,-13.3,114,1147,0.00,2.33,0.00,0.000,6,0.000,0.048,3139,2205,3462
$GC,1456,-1.00,-146.6,213.3,-12.6,130,1460,0.00,2.35,0.00,0.000,4,0.000,0.060,3138,810,3462
$GC,1488,-1.00,-146.6,217.5,-12.7,131,1495,0.00,2.38,0.00,0.000,6,0.000,0.051,3139,2221,3462
$GC,1803,-1.00,-146.6,255.2,-12.0,147,1807,0.00,2.38,0.00,0.000,4,0.000,0.061,3139,806,3462
$GC,1829,-1.00,-146.6,258.6,-12.7,148,1834,0.00,2.35,0.00,0.000,6,0.000,0.051,3139,2216,3461
$GC,2157,-1.00,-146.6,299.6,-13.1,164,2161,0.00,2.35,0.00,0.000,4,0.000,0.060,3139,814,3461
$GC,2199,-1.00,-146.6,305.5,-12.8,165,2204,0.00,2.33,0.00,0.000,6,0.000,0.052,3139,2213,3462
$GC,2525,-1.00,-146.6,345.2,-12.0,171,2527,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,2214,3462
$GC,2830,-1.00,-146.6,381.1,-11.9,176,2834,0.00,2.35,0.00,0.000,4,0.000,0.062,3139,814,3461
$GC,2873,-1.00,-146.6,386.3,-11.5,176,2877,0.00,2.35,0.00,0.000,6,0.000,0.055,3139,2219,3462
$STATE,3013,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3013,begin apogee
$GC,3017,-0.23,0.0,401.3,10.9,179,3140,1.02,0.00,118.90,1.047,6,0.099,0.000,3310,2168,2860
$STATE,3140,end apogee,CONTROL_FINISHED_OK
$STATE,3140,begin climb
$GC,3142,1.00,146.6,405.9,0.0,181,3273,1.58,2.72,120.70,1.008,4,0.059,0.075,3575,3598,2262
$GC,3525,1.02,163.8,387.4,9.2,186,3546,0.00,2.40,15.48,0.962,6,0.000,0.044,3575,2182,2192
$GC,3894,1.06,190.8,354.8,8.8,193,3923,0.00,2.58,22.92,0.985,4,0.000,0.074,3575,3587,2082
$GC,4007,1.06,190.8,343.2,11.7,194,4011,0.00,2.42,0.00,0.000,6,0.000,0.044,3575,2182,2082
$GC,4327,1.06,190.8,310.6,10.2,200,4331,0.00,2.47,0.00,0.000,4,0.000,0.075,3575,3590,2082
$GC,4426,1.06,190.8,299.4,11.8,201,4431,0.00,2.38,0.00,0.000,6,0.000,0.044,3575,2185,2081
$GC,4743,1.06,190.8,265.0,10.8,216,4747,0.00,2.45,0.00,0.000,4,0.000,0.074,3575,3589,2081
$GC,4792,1.06,190.8,259.3,11.8,218,4796,0.00,2.35,0.00,0.000,6,0.000,0.044,3576,2185,2081
$GC,5113,1.06,190.8,225.6,10.7,234,5118,0.00,2.45,0.00,0.000,4,0.000,0.074,3575,3591,2081
$GC,5292,1.06,190.8,205.6,11.1,242,5296,0.00,2.33,0.00,0.000,6,0.000,0.044,3575,2179,2081
$GC,5618,1.06,190.8,170.3,11.3,258,5623,0.00,2.45,0.00,0.000,4,0.000,0.074,3576,3593,2081
$GC,5875,1.06,190.8,140.3,10.5,273,5882,0.00,2.35,0.00,0.000,6,0.000,0.044,3575,2180,2081
$GC,6201,1.08,211.5,110.9,9.1,304,6224,0.12,2.45,16.98,0.874,4,0.069,0.061,3602,768,1996
$GC,6259,1.08,211.5,104.8,11.5,309,6263,0.00,2.38,0.00,0.000,6,0.000,0.051,3602,2190,1996
$GC,6586,1.18,288.7,74.3,6.5,345,6653,0.00,2.50,59.92,0.838,4,0.000,0.072,3603,3583,1681
$GC,6872,1.18,288.7,43.6,12.6,396,6879,0.00,2.38,0.00,0.000,6,0.000,0.044,3603,2168,1682
$GC,7206,1.18,288.7,7.5,10.7,430,7208,0.00,0.00,0.00,0.000,6,0.000,0.000,3602,2168,1681
$STATE,7256,end climb,SURFACE_DEPTH_REACHED
$STATE,7256,begin surface coast
$FINISH,0.6,1.025233
$STATE,7268,end surface coast,CONTROL_FINISHED_OK
$STATE,7268,begin surface
$SM_CCo,7288,137.60,0.753,0,0,425,597.31
$SM_GC,1.29,0.00,0.00,137.60,0.000,0.000,0.753,1377,2223,425,-9.14,0.08,597.31
$IRIDIUM_FIX,4748.51,-12621.29,180497,101046
$TT8_MAMPS,0.028379
$HUMID,1869
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,16.10
$XPDR_PINGS,24
$ALTIM_BOTTOM_PING,401.3,5.8
$24V_AH,23.7,12.641
$10V_AH,10.6,5.482
$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,27.425,67.500,354.900,137.600,0.000,138.057,75.167,0.000,9.000,0.000,0.000,31.263,812.622,5067.913,607.766,1198.641,305.944,33.355,1189.340,0.000,1162.197,0.000,21.537
$DEVICE_MAMPS,167.206,98.176,1046.955,753.194,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,308.468,326.323,669.404,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22300,436
$CFSIZE,260165632,255545344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,240108,033726,4807.402,-12609.163,36,1.4,37,18.9