version: 66.02
glider: 119
mission: 3
dive: 76
start: 1 24 108 18 57 31
data:
$ID,119
$MISSION,3
$DIVE,76
$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,-16060.409
$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,19
$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
$GPS1,184918,4810.648,-12559.056,35,2.0,46,18.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-62.4
$GPS2,185639,4810.696,-12559.080,10,1.4,10,18.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,CAPE_FLATTERY
$TGT_LATLONG,4809.000,-12540.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.251,-0.081
$KALMAN_X,-12346.0,1628.9,577.3,-12948.7,-12197.3
$KALMAN_Y,13101.4,-454.5,-310.7,3409.2,8420.5
$MHEAD_RNG_PITCHd_Wd,89.0,23784,-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,-146.6,0.0,0.0,0,138,0.00,0.00,-117.18,0.000,2,0.000,0.000,1378,2202,2714
$GC,140,-1.00,-146.6,3.6,-4.3,12,176,12.20,2.55,-17.62,0.000,4,0.163,0.090,3140,3627,3460
$GC,209,-1.00,-146.6,19.0,-19.1,18,216,0.00,2.38,0.00,0.000,6,0.000,0.044,3140,2221,3460
$GC,544,-1.00,-146.6,84.3,-18.3,67,548,0.00,2.38,0.00,0.000,4,0.000,0.061,3140,815,3461
$GC,606,-1.00,-146.6,94.8,-15.0,72,610,0.00,2.33,0.00,0.000,6,0.000,0.048,3140,2226,3460
$GC,932,-1.00,-146.6,139.6,-12.8,102,933,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2226,3460
$GC,1241,-1.00,-146.6,179.1,-13.2,121,1246,0.00,2.38,0.00,0.000,4,0.000,0.059,3140,816,3460
$GC,1303,-1.00,-146.6,187.3,-13.1,124,1307,0.00,2.33,0.00,0.000,6,0.000,0.050,3141,2227,3460
$GC,1628,-1.00,-146.6,229.6,-13.2,140,1633,0.00,2.40,0.00,0.000,4,0.000,0.077,3141,3624,3460
$GC,1655,-1.00,-146.6,233.3,-13.6,141,1659,0.00,2.33,0.00,0.000,6,0.000,0.044,3140,2220,3460
$GC,1976,-1.00,-146.6,273.9,-12.3,157,1980,0.00,2.35,0.00,0.000,4,0.000,0.061,3140,813,3460
$GC,2031,-1.00,-146.6,280.9,-12.6,159,2038,0.00,2.35,0.00,0.000,6,0.000,0.052,3140,2219,3460
$GC,2385,-1.00,-146.6,324.2,-12.3,171,2390,0.00,2.38,0.00,0.000,4,0.000,0.061,3140,806,3460
$GC,2418,-1.00,-146.6,328.4,-12.1,171,2422,0.00,2.35,0.00,0.000,6,0.000,0.053,3140,2224,3460
$GC,2749,-1.00,-146.6,367.0,-11.6,177,2753,0.00,2.38,0.00,0.000,4,0.000,0.062,3140,814,3460
$GC,2797,-1.00,-146.6,372.9,-11.7,177,2802,0.00,2.35,0.00,0.000,6,0.000,0.054,3140,2220,3460
$GC,3112,-1.00,-146.6,409.3,-11.6,183,3114,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2220,3460
$GC,3415,-1.00,-146.6,443.2,-11.1,188,3419,0.00,2.38,0.00,0.000,4,0.000,0.064,3140,815,3460
$GC,3479,-1.00,-146.6,450.0,-10.9,189,3483,0.00,2.33,0.00,0.000,6,0.000,0.056,3140,2221,3460
$GC,3843,-1.00,-146.6,489.7,-10.6,195,3847,0.00,2.38,0.00,0.000,4,0.000,0.066,3140,817,3459
$GC,3880,-1.00,-146.6,493.6,-10.4,195,3884,0.00,2.35,0.00,0.000,6,0.000,0.058,3140,2216,3459
$GC,4207,-1.00,-146.6,526.2,-10.2,201,4211,0.00,2.38,0.00,0.000,4,0.000,0.067,3140,816,3459
$GC,4244,-1.00,-146.6,530.5,-11.2,201,4248,0.00,2.35,0.00,0.000,6,0.000,0.059,3140,2212,3459
$GC,4570,-1.00,-146.6,564.9,-10.4,207,4574,0.00,2.35,0.00,0.000,4,0.000,0.067,3140,816,3458
$GC,4613,-1.00,-146.6,569.6,-10.6,207,4617,0.00,2.35,0.00,0.000,6,0.000,0.058,3140,2216,3458
$GC,4936,-1.00,-146.6,602.6,-10.3,213,4937,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2216,3458
$GC,5236,-1.00,-146.6,634.9,-10.6,218,5240,0.00,2.38,0.00,0.000,4,0.000,0.068,3140,816,3458
$GC,5291,-1.00,-146.6,640.3,-10.1,218,5298,0.00,2.35,0.00,0.000,6,0.000,0.058,3140,2216,3458
$GC,5600,-1.00,-146.6,671.2,-10.2,224,5604,0.00,2.38,0.00,0.000,4,0.000,0.069,3140,809,3457
$STATE,5641,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5641,begin apogee
$GC,5647,-0.23,0.0,675.2,11.1,224,5772,0.98,0.00,122.00,1.242,6,0.097,0.000,3306,2183,2860
$STATE,5773,end apogee,CONTROL_FINISHED_OK
$STATE,5773,begin climb
$GC,5775,1.00,146.6,678.6,0.0,226,5909,1.65,0.00,125.68,1.196,6,0.059,0.000,3579,2183,2262
$GC,6211,1.00,146.6,650.5,11.1,234,6215,0.00,2.50,0.00,0.000,4,0.000,0.070,3579,778,2262
$GC,6276,1.00,146.6,643.0,11.2,235,6281,0.00,2.45,0.00,0.000,6,0.000,0.055,3579,2184,2262
$GC,6642,1.03,167.0,608.5,9.1,241,6666,0.00,2.60,17.95,1.152,4,0.000,0.084,3579,3588,2179
$GC,6863,1.03,167.0,582.9,11.7,244,6867,0.00,2.42,0.00,0.000,6,0.000,0.047,3579,2179,2179
$GC,7211,1.03,167.0,540.4,12.5,250,7216,0.00,2.53,0.00,0.000,4,0.000,0.081,3579,3595,2178
$GC,7300,1.03,167.0,528.9,13.4,251,7304,0.00,2.40,0.00,0.000,6,0.000,0.048,3579,2179,2179
$GC,7643,1.03,167.0,487.5,11.9,257,7647,0.00,2.50,0.00,0.000,4,0.000,0.079,3579,3596,2178
$GC,7704,1.03,167.0,479.9,12.1,258,7708,0.00,2.38,0.00,0.000,6,0.000,0.048,3578,2172,2178
$GC,8068,1.03,167.0,437.6,11.5,264,8072,0.00,2.47,0.00,0.000,4,0.000,0.080,3579,3593,2178
$GC,8139,1.03,167.0,429.1,11.6,265,8143,0.00,2.38,0.00,0.000,6,0.000,0.048,3579,2182,2178
$GC,8498,1.03,167.0,390.3,10.6,271,8503,0.00,2.45,0.00,0.000,4,0.000,0.077,3579,3590,2178
$GC,8660,1.03,167.0,373.3,10.9,273,8664,0.00,2.35,0.00,0.000,6,0.000,0.048,3579,2186,2177
$GC,8997,1.04,177.3,341.5,9.5,279,9012,0.00,2.45,9.38,0.976,4,0.000,0.077,3579,3589,2137
$GC,9214,1.04,177.3,317.9,11.3,282,9218,0.00,2.38,0.00,0.000,6,0.000,0.047,3578,2176,2137
$GC,9530,1.07,200.1,287.9,9.0,290,9554,0.00,2.42,19.40,0.999,4,0.000,0.067,3579,778,2044
$GC,9577,1.07,200.1,283.2,10.2,292,9582,0.00,2.40,0.00,0.000,6,0.000,0.054,3579,2181,2044
$GC,9904,1.07,203.3,250.1,9.9,308,9913,0.00,2.47,4.50,0.726,4,0.000,0.078,3579,3586,2031
$GC,10009,1.07,203.3,238.3,12.1,312,10016,0.00,2.38,0.00,0.000,6,0.000,0.047,3579,2180,2031
$GC,10325,1.07,203.3,205.8,10.1,328,10329,0.00,2.47,0.00,0.000,4,0.000,0.076,3579,3594,2031
$GC,10454,1.07,203.3,191.2,11.7,334,10458,0.00,2.35,0.00,0.000,6,0.000,0.046,3579,2174,2031
$GC,10779,1.07,203.3,154.3,11.5,350,10780,0.00,0.00,0.00,0.000,6,0.000,0.000,3579,2174,2031
$GC,11096,1.07,203.3,121.4,10.2,377,11100,0.00,2.42,0.00,0.000,4,0.000,0.074,3579,3586,2032
$GC,11202,1.11,230.9,110.6,8.7,386,11235,0.12,2.33,22.40,0.887,6,0.074,0.046,3604,2171,1918
$GC,11555,1.12,238.9,74.7,9.6,424,11568,0.00,2.53,7.88,0.784,4,0.000,0.071,3603,3589,1886
$GC,11821,1.15,265.1,48.8,8.8,471,11849,0.00,2.33,21.70,0.831,6,0.000,0.044,3604,2177,1778
$GC,12172,1.17,285.7,15.3,9.1,512,12195,0.00,2.55,17.45,0.801,4,0.000,0.071,3603,3593,1695
$GC,12289,1.17,285.7,2.3,11.7,522,12296,0.00,2.40,0.00,0.000,6,0.000,0.044,3603,2175,1694
$STATE,12305,end climb,SURFACE_DEPTH_REACHED
$STATE,12305,begin surface coast
$FINISH,0.6,1.005660
$STATE,12317,end surface coast,CONTROL_FINISHED_OK
$STATE,12317,begin surface
$SM_CCo,12337,138.05,0.739,0,0,425,597.31
$SM_GC,1.22,0.00,0.00,138.05,0.000,0.000,0.739,1376,2227,425,-9.14,0.20,597.31
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.026845
$HUMID,1870
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,16.30
$XPDR_PINGS,79
$ALTIM_BOTTOM_PING,675.2,5.8
$24V_AH,23.4,13.544
$10V_AH,10.6,5.885
$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,27.450,124.875,368.325,138.050,0.000,116.491,0.000,0.000,25.750,0.000,0.000,12.108,1069.234,9373.695,673.629,1566.222,246.475,33.353,1454.739,0.000,1533.325,0.000,41.985
$DEVICE_MAMPS,163.371,92.040,1241.773,739.388,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,371.062,403.199,683.553,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25473,525
$CFSIZE,260165632,255164416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,0,0
$GPS,240108,222638,4811.155,-12557.097,36,0.9,36,18.9