version: 66.02
glider: 119
mission: 3
dive: 75
start: 1 24 108 16 16 42
data:
$ID,119
$MISSION,3
$DIVE,75
$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,-16047.672
$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,30
$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
$GPS1,160508,4810.151,-12601.057,35,2.0,35,18.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-63.4
$GPS2,161551,4810.194,-12601.127,13,1.7,13,18.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,CAPE_FLATTERY
$TGT_LATLONG,4809.000,-12540.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.255,-0.067
$KALMAN_X,-11185.4,1706.9,684.3,-16828.9,-11073.7
$KALMAN_Y,11673.2,-399.0,-469.4,4012.1,7559.8
$MHEAD_RNG_PITCHd_Wd,85.8,26199,-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,-146.6,0.0,0.0,0,132,0.00,0.00,-111.43,0.000,2,0.000,0.000,1376,2237,2601
$GC,134,-1.00,-146.6,3.3,-4.5,11,177,12.32,2.45,-22.27,0.000,4,0.168,0.088,3136,3614,3461
$GC,200,-1.00,-146.6,16.1,-19.7,17,204,0.00,2.33,0.00,0.000,6,0.000,0.044,3136,2220,3461
$GC,534,-1.00,-146.6,82.4,-18.4,65,539,0.00,2.38,0.00,0.000,4,0.000,0.062,3136,813,3461
$GC,596,-1.00,-146.6,92.0,-13.2,70,600,0.00,2.33,0.00,0.000,6,0.000,0.049,3136,2215,3461
$GC,922,-1.00,-146.6,138.5,-14.3,100,926,0.00,2.42,0.00,0.000,4,0.000,0.074,3136,3625,3461
$GC,965,-1.00,-146.6,144.9,-13.5,103,973,0.00,2.33,0.00,0.000,6,0.000,0.043,3136,2223,3461
$GC,1283,-1.00,-146.6,187.5,-13.8,121,1287,0.00,2.35,0.00,0.000,4,0.000,0.061,3136,816,3461
$GC,1359,-1.00,-146.6,198.3,-13.2,124,1366,0.00,2.33,0.00,0.000,6,0.000,0.050,3136,2214,3461
$GC,1675,-1.00,-146.6,240.6,-13.4,140,1676,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2214,3461
$GC,1984,-1.00,-146.6,280.3,-12.5,155,1988,0.00,2.35,0.00,0.000,4,0.000,0.061,3136,816,3461
$GC,2033,-1.00,-146.6,286.7,-12.3,157,2038,0.00,2.33,0.00,0.000,6,0.000,0.052,3136,2212,3461
$GC,2391,-1.00,-146.6,329.5,-11.9,167,2392,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2212,3461
$GC,2695,-1.00,-146.6,363.9,-11.2,172,2699,0.00,2.35,0.00,0.000,4,0.000,0.061,3136,811,3461
$GC,2749,-1.00,-146.6,370.0,-11.1,172,2756,0.00,2.35,0.00,0.000,6,0.000,0.054,3136,2216,3461
$GC,3059,-1.00,-146.6,403.6,-11.0,178,3063,0.00,2.35,0.00,0.000,4,0.000,0.061,3136,816,3461
$GC,3124,-1.00,-146.6,411.2,-10.9,179,3129,0.00,2.35,0.00,0.000,6,0.000,0.055,3136,2220,3461
$GC,3490,-1.00,-146.6,452.8,-11.4,185,3495,0.00,2.38,0.00,0.000,4,0.000,0.064,3136,813,3461
$GC,3523,-1.00,-146.6,456.7,-11.6,185,3527,0.00,2.35,0.00,0.000,6,0.000,0.056,3135,2220,3461
$GC,3856,-1.00,-146.6,494.3,-11.3,191,3860,0.00,2.38,0.00,0.000,4,0.000,0.065,3136,816,3460
$GC,3899,-1.00,-146.6,499.6,-11.4,191,3904,0.00,2.33,0.00,0.000,6,0.000,0.057,3135,2220,3460
$GC,4219,-1.00,-146.6,536.2,-11.6,197,4220,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2220,3459
$GC,4522,-1.00,-146.6,573.3,-12.3,202,4526,0.00,2.40,0.00,0.000,4,0.000,0.068,3136,812,3459
$GC,4559,-1.00,-146.6,578.0,-12.3,202,4563,0.00,2.35,0.00,0.000,6,0.000,0.058,3136,2215,3458
$STATE,4767,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4767,begin apogee
$GC,4771,-0.23,0.0,601.6,11.5,206,4895,1.02,0.00,121.22,1.191,6,0.097,0.000,3307,2215,2860
$STATE,4896,end apogee,CONTROL_FINISHED_OK
$STATE,4896,begin climb
$GC,4898,1.00,146.6,607.5,0.0,208,5030,1.60,2.62,123.97,1.148,4,0.058,0.083,3577,3593,2262
$GC,5041,1.14,261.7,611.1,4.8,210,5147,0.20,2.55,98.05,1.127,6,0.061,0.046,3613,2168,1793
$GC,5506,1.14,261.7,530.4,19.1,218,5511,0.00,2.58,0.00,0.000,4,0.000,0.079,3613,3592,1793
$GC,5589,1.14,261.7,513.9,19.0,219,5594,0.00,2.45,0.00,0.000,6,0.000,0.048,3612,2179,1793
$GC,5938,1.14,261.7,450.2,18.1,225,5942,0.00,2.50,0.00,0.000,4,0.000,0.077,3613,3591,1792
$GC,6014,1.14,261.7,435.3,19.1,226,6019,0.00,2.42,0.00,0.000,6,0.000,0.048,3613,2176,1792
$GC,6368,1.14,261.7,372.0,17.7,232,6373,0.00,2.50,0.00,0.000,4,0.000,0.077,3613,3593,1792
$GC,6462,1.14,261.7,354.4,18.5,233,6467,0.00,2.40,0.00,0.000,6,0.000,0.048,3613,2178,1791
$GC,6800,1.14,261.7,297.2,16.9,239,6804,0.00,2.47,0.00,0.000,4,0.000,0.077,3613,3596,1791
$GC,6866,1.14,261.7,285.1,17.7,242,6870,0.00,2.38,0.00,0.000,6,0.000,0.048,3613,2169,1791
$GC,7193,1.14,261.7,232.5,16.2,258,7197,0.00,2.47,0.00,0.000,4,0.000,0.076,3613,3589,1791
$GC,7286,1.14,261.7,216.5,16.9,262,7291,0.00,2.35,0.00,0.000,6,0.000,0.048,3612,2187,1791
$GC,7608,1.14,261.7,167.6,14.8,278,7612,0.00,2.45,0.00,0.000,4,0.000,0.076,3612,3594,1791
$GC,7723,1.14,261.7,148.9,16.1,283,7728,0.00,2.35,0.00,0.000,6,0.000,0.046,3613,2182,1791
$GC,8055,1.14,261.7,101.9,14.6,314,8056,0.00,0.00,0.00,0.000,6,0.000,0.000,3613,2182,1791
$GC,8382,1.20,305.7,64.3,8.0,358,8422,0.00,2.53,34.47,0.854,4,0.000,0.071,3613,3591,1613
$GC,8489,1.20,305.7,52.7,12.2,377,8496,0.00,2.35,0.00,0.000,6,0.000,0.044,3613,2178,1613
$GC,8825,1.20,305.7,13.4,11.9,418,8830,0.00,2.47,0.00,0.000,4,0.000,0.072,3613,3596,1613
$STATE,8912,end climb,SURFACE_DEPTH_REACHED
$STATE,8912,begin surface coast
$FINISH,0.5,1.025171
$STATE,8924,end surface coast,CONTROL_FINISHED_OK
$STATE,8925,begin surface
$SM_CCo,8946,128.35,0.764,0,0,424,597.31
$SM_GC,1.15,0.00,0.00,128.35,0.000,0.000,0.764,1378,2204,424,-9.13,-0.40,597.31
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1888
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,18.00
$XPDR_PINGS,25
$ALTIM_BOTTOM_PING,601.6,5.4
$24V_AH,23.3,13.392
$10V_AH,10.6,5.813
$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,27.650,91.325,377.725,128.350,0.000,160.105,150.338,0.000,11.250,0.000,0.000,15.527,836.142,6654.621,628.887,1192.808,413.624,33.355,1240.610,0.000,1162.750,0.000,34.469
$DEVICE_MAMPS,167.973,88.205,1191.151,763.932,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,301.630,321.849,587.601,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22240,426
$CFSIZE,260165632,255242240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
$GPS,240108,184918,4810.648,-12559.056,35,2.0,46,18.9