version: 66.02
glider: 119
mission: 3
dive: 73
start: 1 24 108 9 36 40
data:
$ID,119
$MISSION,3
$DIVE,73
$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,-16018.427
$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,35
$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
$GPS1,092811,4808.659,-12605.818,7,2.4,26,18.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-67.5
$GPS2,093549,4808.669,-12605.828,12,1.9,22,18.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,CAPE_FLATTERY
$TGT_LATLONG,4809.000,-12540.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.260,-0.044
$KALMAN_X,-8926.8,993.5,800.9,-24311.4,-14258.9
$KALMAN_Y,8899.2,-1158.3,-258.8,4509.4,8364.3
$MHEAD_RNG_PITCHd_Wd,80.6,31920,-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,-112.12,0.000,2,0.000,0.000,1377,2235,2631
$GC,135,-1.00,-146.6,3.4,-4.1,11,178,12.25,2.47,-21.17,0.000,4,0.164,0.086,3136,3618,3461
$GC,313,-1.00,-146.6,37.8,-20.2,27,318,0.00,2.33,0.00,0.000,6,0.000,0.044,3136,2213,3461
$GC,648,-1.00,-146.6,100.3,-16.3,75,652,0.00,2.35,0.00,0.000,4,0.000,0.062,3137,817,3461
$GC,708,-1.00,-146.6,110.0,-14.6,80,716,0.00,2.33,0.00,0.000,6,0.000,0.048,3136,2209,3461
$GC,1044,-1.00,-146.6,156.0,-13.7,110,1048,0.00,2.35,0.00,0.000,4,0.000,0.060,3137,817,3461
$GC,1087,-1.00,-146.6,162.6,-15.2,112,1091,0.00,2.33,0.00,0.000,6,0.000,0.051,3137,2214,3461
$GC,1414,-1.00,-146.6,208.1,-13.3,128,1418,0.00,2.42,0.00,0.000,4,0.000,0.076,3137,3625,3461
$GC,1440,-1.00,-146.6,211.8,-14.1,129,1445,0.00,2.33,0.00,0.000,6,0.000,0.044,3137,2223,3461
$GC,1762,-1.00,-146.6,253.3,-12.9,145,1766,0.00,2.35,0.00,0.000,4,0.000,0.062,3137,817,3461
$GC,1868,-1.00,-146.6,267.1,-12.5,150,1872,0.00,2.33,0.00,0.000,6,0.000,0.052,3137,2225,3461
$GC,2193,-1.00,-146.6,307.9,-12.3,164,2197,0.00,2.38,0.00,0.000,4,0.000,0.061,3136,817,3461
$GC,2242,-1.00,-146.6,313.9,-12.0,164,2246,0.00,2.35,0.00,0.000,6,0.000,0.054,3137,2219,3461
$GC,2557,-1.00,-146.6,352.4,-12.4,170,2558,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2221,3461
$GC,2860,-1.00,-146.6,390.3,-12.6,175,2864,0.00,2.38,0.00,0.000,4,0.000,0.064,3137,816,3461
$GC,2921,-1.00,-146.6,398.2,-12.4,176,2925,0.00,2.33,0.00,0.000,6,0.000,0.056,3137,2221,3461
$GC,3285,-1.00,-146.6,446.1,-13.3,182,3287,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2222,3461
$GC,3588,-1.00,-146.6,484.0,-12.5,187,3592,0.00,2.40,0.00,0.000,4,0.000,0.067,3137,812,3460
$GC,3665,-1.00,-146.6,493.6,-11.9,188,3670,0.00,2.35,0.00,0.000,6,0.000,0.058,3136,2212,3460
$GC,4021,-1.00,-146.6,533.1,-10.9,194,4025,0.00,2.38,0.00,0.000,4,0.000,0.068,3137,814,3460
$GC,4053,-1.00,-146.6,536.8,-10.2,194,4058,0.00,2.38,0.00,0.000,6,0.000,0.060,3136,2222,3460
$GC,4386,-1.00,-146.6,572.5,-10.9,200,4391,0.00,2.40,0.00,0.000,4,0.000,0.070,3136,813,3459
$GC,4448,-1.00,-146.6,579.5,-11.1,201,4452,0.00,2.35,0.00,0.000,6,0.000,0.061,3137,2221,3459
$GC,4813,-1.00,-146.6,617.7,-10.4,207,4815,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2222,3459
$GC,5115,-1.00,-146.6,648.6,-10.2,212,5119,0.00,2.40,0.00,0.000,4,0.000,0.071,3136,816,3458
$STATE,5132,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5132,begin apogee
$GC,5138,-0.23,0.0,650.3,10.2,212,5263,1.00,0.00,121.55,1.223,6,0.098,0.000,3306,2186,2860
$STATE,5264,end apogee,CONTROL_FINISHED_OK
$STATE,5264,begin climb
$GC,5266,1.00,146.6,654.0,0.0,214,5400,1.60,2.65,124.62,1.169,4,0.059,0.067,3575,780,2262
$GC,5423,1.06,196.5,654.3,7.7,216,5473,0.00,2.53,43.65,1.124,6,0.000,0.054,3575,2190,2057
$GC,5816,1.06,196.5,602.9,13.5,223,5820,0.00,2.53,0.00,0.000,4,0.000,0.085,3575,3586,2058
$GC,5904,1.06,196.5,590.4,14.8,224,5908,0.00,2.42,0.00,0.000,6,0.000,0.048,3575,2186,2057
$GC,6247,1.06,196.5,545.9,12.8,230,6251,0.00,2.50,0.00,0.000,4,0.000,0.080,3575,3589,2057
$GC,6312,1.06,196.5,536.8,13.7,231,6317,0.00,2.40,0.00,0.000,6,0.000,0.048,3575,2183,2057
$GC,6677,1.06,196.5,493.1,11.8,237,6682,0.00,2.47,0.00,0.000,4,0.000,0.079,3575,3594,2057
$GC,6760,1.06,196.5,482.7,12.6,238,6764,0.00,2.40,0.00,0.000,6,0.000,0.048,3575,2180,2057
$GC,7108,1.06,196.5,442.9,11.3,244,7113,0.00,2.45,0.00,0.000,4,0.000,0.079,3575,3589,2056
$GC,7174,1.06,196.5,435.2,11.3,245,7179,0.00,2.38,0.00,0.000,6,0.000,0.049,3575,2183,2056
$GC,7540,1.06,196.5,391.6,11.7,251,7544,0.00,2.45,0.00,0.000,4,0.000,0.077,3575,3589,2056
$GC,7628,1.06,196.5,380.3,13.2,252,7632,0.00,2.35,0.00,0.000,6,0.000,0.048,3575,2186,2056
$GC,7970,1.06,196.5,336.8,12.8,258,7975,0.00,2.42,0.00,0.000,4,0.000,0.077,3575,3590,2056
$GC,8025,1.06,196.5,329.5,13.1,258,8032,0.00,2.35,0.00,0.000,6,0.000,0.048,3575,2185,2056
$GC,8336,1.06,196.5,292.6,11.5,266,8340,0.00,2.45,0.00,0.000,4,0.000,0.077,3575,3593,2056
$GC,8468,1.06,196.5,276.3,11.7,272,8473,0.00,2.38,0.00,0.000,6,0.000,0.047,3575,2172,2056
$GC,8796,1.06,196.5,241.7,10.6,288,8799,0.00,2.45,0.00,0.000,4,0.000,0.077,3576,3590,2055
$GC,8840,1.06,196.5,236.9,11.0,290,8844,0.00,2.33,0.00,0.000,6,0.000,0.048,3575,2179,2056
$GC,9166,1.09,216.4,205.6,9.1,306,9188,0.12,2.47,16.35,0.924,4,0.071,0.076,3602,3590,1976
$GC,9295,1.09,216.4,191.2,11.3,311,9301,0.00,2.33,0.00,0.000,6,0.000,0.048,3602,2182,1976
$GC,9610,1.09,216.4,157.1,11.2,327,9613,0.00,2.45,0.00,0.000,4,0.000,0.074,3602,3597,1976
$GC,9722,1.09,216.4,142.9,12.4,334,9726,0.00,2.35,0.00,0.000,6,0.000,0.046,3602,2174,1976
$GC,10047,1.09,216.4,104.4,13.0,364,10051,0.00,2.45,0.00,0.000,4,0.000,0.073,3602,3592,1976
$GC,10142,1.09,216.4,91.9,11.3,372,10146,0.00,2.33,0.00,0.000,6,0.000,0.045,3602,2176,1977
$GC,10479,1.20,305.5,67.0,5.9,420,10556,0.00,2.58,68.43,0.841,4,0.000,0.072,3602,3587,1614
$GC,10640,1.20,305.5,50.8,12.5,449,10647,0.00,2.38,0.00,0.000,6,0.000,0.044,3602,2183,1614
$GC,10976,1.20,305.5,12.7,11.4,489,10980,0.00,2.42,0.00,0.000,4,0.000,0.064,3602,768,1614
$GC,11007,1.20,305.5,8.6,12.0,491,11014,0.00,2.38,0.00,0.000,6,0.000,0.048,3602,2180,1614
$STATE,11065,end climb,SURFACE_DEPTH_REACHED
$STATE,11065,begin surface coast
$FINISH,0.5,1.025218
$STATE,11077,end surface coast,CONTROL_FINISHED_OK
$STATE,11077,begin surface
$SM_CCo,11097,129.07,0.755,0,0,425,597.31
$SM_GC,1.21,0.00,0.00,129.07,0.000,0.000,0.755,1378,2232,425,-9.13,0.34,597.31
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1886
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,16.10
$XPDR_PINGS,47
$ALTIM_BOTTOM_PING,650.3,5.8
$24V_AH,23.5,13.078
$10V_AH,10.6,5.681
$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,27.325,120.050,374.600,129.075,0.000,116.542,0.000,0.000,17.500,0.000,0.000,24.488,994.684,8340.106,633.810,1484.256,241.670,33.359,1391.895,0.000,1440.720,0.000,40.498
$DEVICE_MAMPS,164.138,138.060,1222.598,754.728,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,351.412,383.623,667.196,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25398,498
$CFSIZE,260165632,255340544
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,15,0,0
$GPS,240108,124501,4809.593,-12603.451,33,1.6,39,18.9