version: 66.02
glider: 119
mission: 3
dive: 72
start: 1 24 108 6 49 24
data:
$ID,119
$MISSION,3
$DIVE,72
$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,-15993.312
$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,18
$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
$GPS1,064107,4807.943,-12607.186,25,1.3,25,18.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-69.3
$GPS2,064833,4807.962,-12607.194,12,1.5,12,18.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,CAPE_FLATTERY
$TGT_LATLONG,4809.000,-12540.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.261,-0.037
$KALMAN_X,-6961.9,1131.9,911.1,-28225.4,-13537.7
$KALMAN_Y,8096.8,-1245.4,-592.0,4425.1,8526.0
$MHEAD_RNG_PITCHd_Wd,79.1,33657,-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,-146.6,0.0,0.0,0,137,0.00,0.00,-116.62,0.000,2,0.000,0.000,1378,2210,2723
$GC,139,-1.00,-146.6,3.3,-2.9,12,175,12.62,2.50,-17.80,0.000,4,0.178,0.087,3140,3628,3461
$GC,428,-1.00,-146.6,57.3,-17.4,46,434,0.00,2.33,0.00,0.000,6,0.000,0.045,3140,2221,3461
$GC,764,-1.00,-146.6,113.8,-14.9,88,766,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2221,3461
$GC,1092,-1.00,-146.6,159.3,-14.0,116,1096,0.00,2.38,0.00,0.000,4,0.000,0.062,3140,811,3461
$GC,1191,-1.00,-146.6,173.3,-14.1,120,1199,0.00,2.35,0.00,0.000,6,0.000,0.051,3140,2217,3461
$GC,1507,-1.00,-146.6,214.6,-12.9,136,1512,0.00,2.38,0.00,0.000,4,0.000,0.061,3139,809,3461
$GC,1546,-1.00,-146.6,219.8,-13.2,138,1550,0.00,2.33,0.00,0.000,6,0.000,0.051,3140,2224,3461
$GC,1878,-1.00,-146.6,262.3,-12.8,154,1882,0.00,2.38,0.00,0.000,4,0.000,0.061,3140,809,3461
$GC,1922,-1.00,-146.6,267.9,-13.2,156,1926,0.00,2.33,0.00,0.000,6,0.000,0.053,3140,2219,3461
$GC,2266,-1.00,-146.6,309.6,-11.9,171,2271,0.00,2.38,0.00,0.000,4,0.000,0.062,3140,812,3461
$GC,2321,-1.00,-146.6,316.3,-11.6,171,2328,0.00,2.35,0.00,0.000,6,0.000,0.054,3140,2219,3461
$GC,2631,-1.00,-146.6,353.0,-11.9,177,2635,0.00,2.38,0.00,0.000,4,0.000,0.062,3140,807,3461
$GC,2692,-1.00,-146.6,360.2,-11.6,178,2697,0.00,2.33,0.00,0.000,6,0.000,0.054,3140,2222,3461
$GC,3059,-1.00,-146.6,401.0,-11.2,184,3063,0.00,2.38,0.00,0.000,4,0.000,0.064,3140,813,3461
$GC,3090,-1.00,-146.6,405.0,-11.0,184,3095,0.00,2.35,0.00,0.000,6,0.000,0.056,3140,2217,3461
$GC,3424,-1.00,-146.6,442.2,-11.3,190,3428,0.00,2.38,0.00,0.000,4,0.000,0.064,3140,812,3461
$GC,3450,-1.00,-146.6,445.5,-11.7,190,3454,0.00,2.35,0.00,0.000,6,0.000,0.057,3140,2218,3461
$GC,3787,-1.00,-146.6,482.7,-11.1,196,3791,0.00,2.38,0.00,0.000,4,0.000,0.066,3140,816,3461
$GC,3819,-1.00,-146.6,486.5,-11.5,196,3824,0.00,2.35,0.00,0.000,6,0.000,0.058,3140,2216,3460
$STATE,3971,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3971,begin apogee
$GC,3975,-0.23,0.0,502.5,10.7,199,4098,1.00,0.00,120.12,1.121,6,0.097,0.000,3307,2217,2860
$STATE,4099,end apogee,CONTROL_FINISHED_OK
$STATE,4099,begin climb
$GC,4100,1.00,146.6,507.1,0.0,201,4231,1.60,2.67,122.80,1.077,4,0.056,0.064,3578,772,2262
$GC,4325,1.00,146.6,501.1,10.2,204,4330,0.00,2.50,0.00,0.000,6,0.000,0.052,3578,2188,2261
$GC,4651,1.00,146.6,467.6,10.2,210,4655,0.00,2.50,0.00,0.000,4,0.000,0.080,3578,3586,2261
$GC,4853,1.00,146.6,445.9,11.0,213,4857,0.00,2.38,0.00,0.000,6,0.000,0.046,3578,2171,2261
$GC,5212,1.02,158.5,411.5,9.5,219,5230,0.00,2.53,11.38,1.002,4,0.000,0.076,3578,3587,2213
$GC,5393,1.02,158.5,391.5,11.3,221,5398,0.00,2.38,0.00,0.000,6,0.000,0.046,3578,2186,2213
$GC,5714,1.02,158.5,359.0,10.2,227,5718,0.00,2.45,0.00,0.000,4,0.000,0.077,3579,3590,2212
$GC,5970,1.02,158.5,330.2,10.8,230,5977,0.00,2.38,0.00,0.000,6,0.000,0.047,3578,2180,2212
$GC,6280,1.04,173.0,300.9,9.3,236,6294,0.00,0.00,12.55,0.976,6,0.000,0.000,3578,2180,2154
$GC,6589,1.05,183.3,272.1,9.5,249,6604,0.00,2.50,10.15,0.933,4,0.000,0.075,3578,3590,2111
$GC,6687,1.05,183.3,261.4,11.6,252,6694,0.00,2.38,0.00,0.000,6,0.000,0.047,3578,2187,2111
$GC,7003,1.05,186.7,229.6,9.8,268,7012,0.00,2.42,4.50,0.716,4,0.000,0.064,3578,774,2098
$GC,7024,1.05,186.7,227.4,10.2,269,7028,0.00,2.35,0.00,0.000,6,0.000,0.053,3578,2181,2098
$GC,7351,1.05,188.5,195.7,9.9,285,7355,0.00,2.45,0.00,0.000,4,0.000,0.078,3578,3594,2098
$GC,7449,1.05,188.5,185.6,10.4,289,7457,0.00,2.38,0.00,0.000,6,0.000,0.045,3578,2176,2098
$GC,7766,1.08,212.6,156.3,8.9,305,7792,0.00,2.50,20.98,0.912,4,0.000,0.073,3578,3587,1993
$GC,7897,1.08,212.6,142.5,11.2,313,7904,0.00,2.38,0.00,0.000,6,0.000,0.045,3578,2185,1992
$GC,8223,1.09,221.0,110.0,9.6,344,8237,0.12,2.45,8.38,0.813,4,0.069,0.073,3603,3586,1958
$GC,8266,1.09,221.0,105.2,12.1,348,8270,0.00,2.35,0.00,0.000,6,0.000,0.044,3603,2174,1958
$GC,8593,1.16,278.1,74.4,7.4,383,8644,0.00,2.58,44.72,0.840,4,0.000,0.071,3603,3585,1725
$GC,8823,1.16,278.1,50.8,12.2,424,8830,0.00,2.35,0.00,0.000,6,0.000,0.044,3603,2178,1726
$GC,9154,1.16,278.1,15.8,10.8,464,9155,0.00,0.00,0.00,0.000,6,0.000,0.000,3603,2178,1726
$STATE,9290,end climb,SURFACE_DEPTH_REACHED
$STATE,9290,begin surface coast
$FINISH,0.5,1.025240
$STATE,9302,end surface coast,CONTROL_FINISHED_OK
$STATE,9302,begin surface
$SM_CCo,9322,141.77,0.750,0,0,425,597.31
$SM_GC,1.26,0.00,0.00,141.77,0.000,0.000,0.750,1377,2233,425,-9.14,0.37,597.31
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1885
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,16.10
$XPDR_PINGS,29
$ALTIM_BOTTOM_PING,502.5,5.6
$24V_AH,23.6,12.927
$10V_AH,10.6,5.613
$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,27.700,91.500,355.575,141.775,0.000,116.537,0.000,0.000,11.500,0.000,0.000,14.493,931.215,6761.873,650.496,1354.747,221.792,33.347,1306.941,0.000,1327.649,0.000,30.802
$DEVICE_MAMPS,177.944,87.438,1120.587,750.126,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,337.522,358.886,690.050,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22187,478
$CFSIZE,260165632,255414272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,0,0
$GPS,240108,092811,4808.659,-12605.818,7,2.4,26,18.9