version: 66.02
glider: 119
mission: 3
dive: 77
start: 1 24 108 22 35 0
data:
$ID,119
$MISSION,3
$DIVE,77
$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,-16076.85
$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,29
$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
$GPS1,222638,4811.155,-12557.097,36,0.9,36,18.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-66.4
$GPS2,223409,4811.192,-12557.084,13,1.0,13,18.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,CAPE_FLATTERY
$TGT_LATLONG,4809.000,-12540.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.246,-0.094
$KALMAN_X,-13143.2,1200.7,684.7,-9360.4,-9828.9
$KALMAN_Y,15158.6,-690.4,-445.8,2642.8,7756.4
$MHEAD_RNG_PITCHd_Wd,92.0,21496,-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,-112.35,0.000,2,0.000,0.000,1377,2228,2643
$GC,135,-1.00,-146.6,3.6,-4.9,11,173,12.27,2.42,-20.23,0.000,4,0.165,0.087,3135,3624,3458
$GC,207,-1.00,-146.6,18.5,-19.5,17,211,0.00,2.35,0.00,0.000,6,0.000,0.045,3135,2218,3459
$GC,542,-1.00,-146.6,86.6,-17.6,64,543,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2218,3459
$GC,860,-1.00,-146.6,136.7,-14.2,94,864,0.00,2.35,0.00,0.000,4,0.000,0.061,3135,816,3459
$GC,920,-1.00,-146.6,145.2,-12.9,99,928,0.00,2.33,0.00,0.000,6,0.000,0.048,3135,2212,3459
$GC,1238,-1.00,-146.6,185.2,-12.8,117,1239,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2212,3459
$GC,1549,-1.00,-146.6,225.8,-13.1,132,1550,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2212,3459
$GC,1856,-1.00,-146.6,265.8,-12.3,147,1860,0.00,2.35,0.00,0.000,4,0.000,0.060,3135,816,3459
$GC,1899,-1.00,-146.6,271.5,-12.6,149,1903,0.00,2.33,0.00,0.000,6,0.000,0.051,3135,2212,3459
$GC,2244,-1.00,-146.6,316.1,-12.9,162,2248,0.00,2.35,0.00,0.000,4,0.000,0.060,3135,813,3459
$GC,2287,-1.00,-146.6,322.0,-13.4,162,2292,0.00,2.35,0.00,0.000,6,0.000,0.053,3135,2218,3459
$GC,2607,-1.00,-146.6,361.9,-12.4,168,2609,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2218,3458
$GC,2913,-1.00,-146.6,400.1,-12.6,173,2914,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2218,3459
$GC,3214,-1.00,-146.6,436.5,-11.9,178,3218,0.00,2.38,0.00,0.000,4,0.000,0.064,3135,810,3458
$GC,3291,-1.00,-146.6,445.6,-11.6,179,3295,0.00,2.35,0.00,0.000,6,0.000,0.056,3135,2216,3458
$GC,3644,-1.00,-146.6,488.4,-12.4,185,3645,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2216,3458
$GC,3949,-1.00,-146.6,524.7,-11.8,190,3954,0.00,2.38,0.00,0.000,4,0.000,0.067,3135,816,3458
$GC,3997,-1.00,-146.6,530.7,-11.4,190,4002,0.00,2.35,0.00,0.000,6,0.000,0.060,3135,2211,3458
$GC,4318,-1.00,-146.6,565.8,-10.9,196,4322,0.00,2.35,0.00,0.000,4,0.000,0.065,3135,817,3458
$GC,4357,-1.00,-146.6,570.0,-11.0,196,4361,0.00,2.35,0.00,0.000,6,0.000,0.058,3135,2223,3457
$STATE,4436,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4436,begin apogee
$GC,4441,-0.23,0.0,578.1,10.5,198,4565,1.02,0.00,120.75,1.170,6,0.094,0.000,3308,2174,2860
$STATE,4565,end apogee,CONTROL_FINISHED_OK
$STATE,4566,begin climb
$GC,4567,1.00,146.6,582.5,0.0,200,4699,1.60,2.58,123.47,1.125,4,0.058,0.063,3578,784,2262
$GC,4744,1.02,160.3,581.4,9.4,202,4764,0.00,2.47,13.20,1.035,6,0.000,0.051,3578,2184,2206
$GC,5118,1.02,160.3,541.8,10.2,209,5123,0.00,2.53,0.00,0.000,4,0.000,0.083,3578,3589,2206
$GC,5184,1.02,160.3,534.8,10.6,210,5189,0.00,2.40,0.00,0.000,6,0.000,0.047,3578,2194,2205
$GC,5549,1.04,179.5,501.3,9.1,216,5572,0.00,2.50,16.65,1.083,4,0.000,0.078,3578,3585,2128
$GC,5714,1.04,179.5,483.0,12.2,218,5718,0.00,2.40,0.00,0.000,6,0.000,0.048,3578,2171,2128
$GC,6050,1.04,179.5,445.9,11.0,224,6055,0.00,2.50,0.00,0.000,4,0.000,0.077,3578,3586,2127
$GC,6247,1.04,179.5,423.0,12.0,227,6251,0.00,2.35,0.00,0.000,6,0.000,0.048,3578,2174,2127
$GC,6617,1.04,179.5,379.7,11.6,233,6621,0.00,2.47,0.00,0.000,4,0.000,0.077,3578,3587,2127
$GC,6683,1.04,179.5,371.9,12.2,234,6687,0.00,2.38,0.00,0.000,6,0.000,0.048,3578,2180,2127
$GC,7048,1.04,179.5,331.9,11.0,240,7053,0.00,2.47,0.00,0.000,4,0.000,0.077,3578,3596,2127
$GC,7249,1.04,179.5,308.1,12.0,243,7253,0.00,2.38,0.00,0.000,6,0.000,0.047,3578,2179,2127
$GC,7579,1.04,179.8,274.1,10.0,255,7583,0.00,2.45,0.00,0.000,4,0.000,0.076,3578,3590,2127
$GC,7633,1.04,179.8,268.0,11.7,257,7640,0.00,2.35,0.00,0.000,6,0.000,0.048,3578,2186,2127
$GC,7949,1.04,179.8,234.5,11.2,273,7953,0.00,2.42,0.00,0.000,4,0.000,0.077,3578,3587,2127
$GC,8139,1.04,179.8,212.9,11.4,281,8145,0.00,2.30,0.00,0.000,6,0.000,0.047,3578,2176,2126
$GC,8454,1.05,182.8,181.6,9.9,297,8463,0.00,2.45,4.40,0.696,4,0.000,0.075,3578,3592,2114
$GC,8520,1.05,182.8,174.4,11.2,300,8524,0.00,2.33,0.00,0.000,6,0.000,0.047,3578,2181,2114
$GC,8837,1.09,215.9,144.9,8.5,318,8868,0.00,0.00,26.60,0.911,6,0.000,0.000,3578,2180,1979
$GC,9188,1.09,215.9,110.0,10.4,351,9192,0.00,2.40,0.00,0.000,4,0.000,0.066,3578,772,1979
$GC,9253,1.09,215.9,102.5,10.8,356,9261,0.00,2.38,0.00,0.000,6,0.000,0.051,3578,2188,1979
$GC,9581,1.12,239.8,75.0,8.9,391,9610,0.15,2.47,19.70,0.852,4,0.069,0.061,3611,780,1881
$GC,9633,1.12,239.8,69.9,10.5,400,9639,0.00,2.35,0.00,0.000,6,0.000,0.050,3611,2188,1881
$GC,9975,1.15,266.1,38.8,8.8,460,9999,0.00,0.00,21.65,0.822,6,0.000,0.000,3612,2188,1775
$GC,10316,1.15,266.1,5.3,10.5,492,10320,0.00,2.42,0.00,0.000,4,0.000,0.074,3611,3583,1774
$STATE,10346,end climb,SURFACE_DEPTH_REACHED
$STATE,10346,begin surface coast
$FINISH,0.5,1.025187
$STATE,10358,end surface coast,CONTROL_FINISHED_OK
$STATE,10359,begin surface
$SM_CCo,10380,147.85,0.746,0,0,425,597.31
$SM_GC,1.29,0.00,0.00,147.85,0.000,0.000,0.746,1376,2199,425,-9.14,-0.59,597.31
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.027612
$HUMID,1880
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,18.10
$XPDR_PINGS,37
$ALTIM_BOTTOM_PING,578.1,5.8
$24V_AH,23.5,13.686
$10V_AH,10.6,5.951
$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,27.500,91.125,346.425,147.850,0.000,116.512,0.000,0.000,14.000,0.000,0.000,15.810,976.919,7731.582,633.922,1406.145,238.504,33.356,1325.781,0.000,1378.663,0.000,32.848
$DEVICE_MAMPS,164.905,101.244,1169.675,746.291,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,349.542,381.496,688.537,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25358,495
$CFSIZE,260165632,255111168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,250108,013138,4811.256,-12555.186,34,1.3,34,18.9