version: 66.02
glider: 119
mission: 3
dive: 74
start: 1 24 108 12 56 30
data:
$ID,119
$MISSION,3
$DIVE,74
$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,-16031.517
$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,25
$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
$GPS1,124501,4809.593,-12603.451,33,1.6,39,18.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-69.7
$GPS2,125539,4809.560,-12603.438,10,1.8,10,18.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,CAPE_FLATTERY
$TGT_LATLONG,4809.000,-12540.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.257,-0.058
$KALMAN_X,-9659.5,1327.4,609.2,-20768.5,-11051.8
$KALMAN_Y,10420.4,-728.7,-474.2,4422.9,8057.0
$MHEAD_RNG_PITCHd_Wd,83.9,28978,-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,-112.00,0.000,2,0.000,0.000,1379,2232,2618
$GC,135,-1.00,-146.6,3.3,-4.4,11,179,12.30,2.45,-21.85,0.000,4,0.167,0.088,3137,3611,3461
$GC,205,-1.00,-146.6,16.9,-17.8,17,212,0.00,2.35,0.00,0.000,6,0.000,0.045,3137,2221,3461
$GC,549,-1.00,-146.6,82.2,-17.0,67,553,0.00,2.40,0.00,0.000,4,0.000,0.062,3138,809,3461
$GC,670,-1.00,-146.6,100.5,-13.5,77,678,0.00,2.33,0.00,0.000,6,0.000,0.048,3138,2204,3461
$GC,996,-1.00,-146.6,146.1,-14.1,108,1000,0.00,2.45,0.00,0.000,4,0.000,0.074,3137,3628,3461
$GC,1028,-1.00,-146.6,150.8,-14.6,110,1035,0.00,2.30,0.00,0.000,6,0.000,0.045,3138,2216,3461
$GC,1344,-1.00,-146.6,191.7,-13.1,126,1348,0.00,2.35,0.00,0.000,4,0.000,0.061,3138,812,3461
$GC,1406,-1.00,-146.6,199.8,-12.7,129,1411,0.00,2.33,0.00,0.000,6,0.000,0.051,3138,2219,3461
$GC,1737,-1.00,-146.6,241.8,-12.6,145,1741,0.00,2.38,0.00,0.000,4,0.000,0.061,3137,809,3461
$GC,1799,-1.00,-146.6,249.9,-12.4,148,1804,0.00,2.33,0.00,0.000,6,0.000,0.052,3138,2222,3461
$GC,2130,-1.00,-146.6,291.4,-12.7,164,2135,0.00,2.38,0.00,0.000,4,0.000,0.061,3138,810,3461
$GC,2162,-1.00,-146.6,295.7,-13.0,165,2170,0.00,2.35,0.00,0.000,6,0.000,0.054,3137,2216,3461
$GC,2513,-1.00,-146.6,337.5,-11.7,173,2514,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2216,3461
$GC,2816,-1.00,-146.6,372.1,-11.4,178,2820,0.00,2.35,0.00,0.000,4,0.000,0.061,3137,818,3461
$GC,2847,-1.00,-146.6,375.9,-11.7,178,2852,0.00,2.35,0.00,0.000,6,0.000,0.055,3137,2220,3461
$GC,3179,-1.00,-146.6,414.2,-11.5,184,3183,0.00,2.38,0.00,0.000,4,0.000,0.064,3138,812,3461
$GC,3245,-1.00,-146.6,422.0,-10.8,185,3250,0.00,2.35,0.00,0.000,6,0.000,0.056,3137,2214,3461
$GC,3611,-1.00,-146.6,462.8,-11.3,191,3612,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2215,3461
$GC,3915,-1.00,-146.6,496.5,-11.2,196,3919,0.00,2.38,0.00,0.000,4,0.000,0.067,3137,812,3460
$GC,3998,-1.00,-146.6,506.1,-11.2,197,4003,0.00,2.38,0.00,0.000,6,0.000,0.059,3137,2223,3460
$GC,4346,-1.00,-146.6,543.3,-10.6,203,4350,0.00,2.38,0.00,0.000,4,0.000,0.068,3137,817,3458
$GC,4378,-1.00,-146.6,547.0,-11.3,203,4383,0.00,2.35,0.00,0.000,6,0.000,0.060,3137,2216,3459
$GC,4710,-1.00,-146.6,581.4,-10.4,209,4715,0.00,2.38,0.00,0.000,4,0.000,0.066,3138,812,3459
$GC,4772,-1.00,-146.6,587.9,-10.5,210,4776,0.00,2.35,0.00,0.000,6,0.000,0.059,3138,2226,3458
$STATE,4895,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4895,begin apogee
$GC,4900,-0.23,0.0,600.4,10.2,212,5024,1.02,0.00,121.18,1.187,6,0.097,0.000,3309,2177,2860
$STATE,5025,end apogee,CONTROL_FINISHED_OK
$STATE,5025,begin climb
$GC,5027,1.00,146.6,604.7,0.0,214,5159,1.58,2.60,123.85,1.144,4,0.057,0.064,3575,782,2262
$GC,5203,1.02,163.5,603.7,9.2,216,5224,0.00,2.50,15.88,1.065,6,0.000,0.054,3575,2189,2193
$GC,5572,1.02,163.5,562.1,11.2,223,5576,0.00,2.53,0.00,0.000,4,0.000,0.084,3576,3587,2192
$GC,5660,1.02,163.5,551.6,11.6,224,5665,0.00,2.40,0.00,0.000,6,0.000,0.047,3575,2192,2192
$GC,6003,1.02,163.5,514.7,10.7,230,6008,0.00,2.50,0.00,0.000,4,0.000,0.080,3575,3594,2192
$GC,6097,1.02,163.5,504.1,11.1,231,6102,0.00,2.40,0.00,0.000,6,0.000,0.048,3575,2183,2191
$GC,6435,1.02,163.5,469.5,10.1,237,6439,0.00,2.45,0.00,0.000,4,0.000,0.078,3575,3589,2191
$GC,6540,1.02,163.5,458.3,10.3,238,6544,0.00,2.38,0.00,0.000,6,0.000,0.048,3575,2181,2191
$GC,6866,1.04,175.5,427.5,9.5,244,6882,0.00,2.50,10.88,1.024,4,0.000,0.077,3575,3590,2143
$GC,7022,1.04,175.5,410.5,11.1,246,7026,0.00,2.35,0.00,0.000,6,0.000,0.048,3576,2180,2143
$GC,7364,1.05,188.7,377.8,9.4,252,7378,0.00,0.00,12.30,1.016,6,0.000,0.000,3575,2180,2090
$GC,7667,1.06,189.8,347.7,9.9,257,7671,0.00,2.50,0.00,0.000,4,0.000,0.077,3575,3596,2090
$GC,7796,1.06,189.8,333.2,11.6,259,7800,0.00,2.35,0.00,0.000,6,0.000,0.047,3575,2179,2090
$GC,8160,1.06,189.8,294.7,10.5,265,8164,0.00,2.47,0.00,0.000,4,0.000,0.077,3575,3590,2090
$GC,8350,1.06,189.8,273.5,11.2,273,8357,0.00,2.35,0.00,0.000,6,0.000,0.048,3576,2165,2090
$GC,8666,1.06,189.8,241.9,10.4,289,8670,0.00,2.47,0.00,0.000,4,0.000,0.077,3575,3588,2090
$GC,8809,1.06,189.8,225.5,11.2,295,8817,0.00,2.35,0.00,0.000,6,0.000,0.047,3576,2182,2090
$GC,9125,1.06,189.8,193.8,10.1,311,9126,0.00,0.00,0.00,0.000,6,0.000,0.000,3576,2181,2090
$GC,9435,1.08,207.4,164.5,9.2,326,9457,0.00,2.47,15.75,0.914,4,0.000,0.075,3575,3595,2014
$GC,9502,1.08,207.4,158.0,10.3,329,9506,0.00,2.35,0.00,0.000,6,0.000,0.045,3576,2177,2014
$GC,9825,1.10,224.8,126.6,9.2,355,9848,0.12,2.47,14.70,0.880,4,0.071,0.074,3600,3594,1943
$GC,9870,1.10,224.8,121.7,11.5,359,9875,0.00,2.38,0.00,0.000,6,0.000,0.045,3600,2174,1943
$GC,10197,1.10,224.8,86.0,11.1,389,10201,0.00,2.47,0.00,0.000,4,0.000,0.074,3600,3591,1943
$GC,10455,1.16,277.3,63.5,7.6,430,10505,0.00,2.33,41.47,0.840,6,0.000,0.044,3600,2175,1728
$GC,10835,1.16,277.4,27.8,10.0,488,10840,0.00,2.47,0.00,0.000,4,0.000,0.071,3600,3589,1728
$GC,11042,1.16,277.4,5.0,11.3,506,11046,0.00,2.33,0.00,0.000,6,0.000,0.044,3600,2181,1728
$STATE,11073,end climb,SURFACE_DEPTH_REACHED
$STATE,11073,begin surface coast
$FINISH,0.6,1.025161
$STATE,11085,end surface coast,CONTROL_FINISHED_OK
$STATE,11085,begin surface
$SM_CCo,11105,141.98,0.756,0,0,425,597.31
$SM_GC,1.19,0.00,0.00,141.98,0.000,0.000,0.756,1376,2236,425,-9.14,0.45,597.31
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1861
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,16.10
$XPDR_PINGS,50
$ALTIM_BOTTOM_PING,600.4,5.4
$24V_AH,23.5,13.231
$10V_AH,10.6,5.752
$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,27.350,110.550,356.000,141.975,0.000,153.588,155.980,0.000,17.750,0.000,0.000,12.460,1023.356,8276.370,647.878,1512.410,434.389,33.360,1401.475,0.000,1480.993,0.000,37.289
$DEVICE_MAMPS,167.206,101.244,1187.316,756.262,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,359.301,390.947,693.202,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25401,510
$CFSIZE,260165632,255279104
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,12,0,0
$GPS,240108,160508,4810.151,-12601.057,35,2.0,35,18.9