version: 66.02
glider: 119
mission: 3
dive: 78
start: 1 25 108 1 39 54
data:
$ID,119
$MISSION,3
$DIVE,78
$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,-16089.861
$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,26
$R_STBD_OVSHOOT,25
$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
$GPS1,013138,4811.256,-12555.186,34,1.3,34,18.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-65.9
$GPS2,013903,4811.266,-12555.211,9,2.0,9,18.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,CAPE_FLATTERY
$TGT_LATLONG,4809.000,-12540.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.238,-0.113
$KALMAN_X,-14224.1,707.1,572.7,-5348.1,-9471.0
$KALMAN_Y,16956.5,-1072.7,-545.1,1465.2,9165.5
$MHEAD_RNG_PITCHd_Wd,96.4,19258,-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,-117.15,0.000,2,0.000,0.000,1377,2200,2699
$GC,140,-1.00,-146.6,3.2,-2.7,12,177,12.27,2.50,-18.83,0.000,4,0.166,0.087,3139,3623,3461
$GC,204,-1.00,-146.6,17.2,-19.2,17,211,0.00,2.38,0.00,0.000,6,0.000,0.044,3139,2220,3461
$GC,545,-1.00,-146.6,82.1,-15.7,67,549,0.00,2.38,0.00,0.000,4,0.000,0.061,3140,816,3461
$GC,617,-1.00,-146.6,93.4,-15.2,73,621,0.00,2.33,0.00,0.000,6,0.000,0.050,3139,2225,3461
$GC,947,-1.00,-146.6,137.8,-13.2,104,951,0.00,2.40,0.00,0.000,4,0.000,0.060,3139,810,3461
$GC,1008,-1.00,-146.6,146.0,-13.2,109,1012,0.00,2.33,0.00,0.000,6,0.000,0.050,3140,2219,3461
$GC,1334,-1.00,-146.6,190.9,-14.4,126,1338,0.00,2.35,0.00,0.000,4,0.000,0.059,3139,815,3461
$GC,1382,-1.00,-146.6,198.3,-14.7,128,1387,0.00,2.33,0.00,0.000,6,0.000,0.050,3139,2212,3461
$GC,1710,-1.00,-146.6,246.1,-14.0,144,1711,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2212,3461
$GC,2019,-1.00,-146.6,285.2,-12.9,159,2023,0.00,2.35,0.00,0.000,4,0.000,0.061,3140,813,3461
$GC,2050,-1.00,-146.6,289.6,-13.2,160,2058,0.00,2.33,0.00,0.000,6,0.000,0.052,3140,2212,3461
$GC,2382,-1.00,-146.6,331.2,-12.6,169,2386,0.00,2.35,0.00,0.000,4,0.000,0.061,3139,813,3461
$GC,2414,-1.00,-146.6,335.4,-12.4,169,2419,0.00,2.33,0.00,0.000,6,0.000,0.053,3139,2211,3461
$GC,2746,-1.00,-146.6,371.8,-11.0,175,2750,0.00,2.35,0.00,0.000,4,0.000,0.062,3139,813,3461
$GC,2794,-1.00,-146.6,377.3,-10.8,175,2799,0.00,2.35,0.00,0.000,6,0.000,0.054,3139,2220,3461
$GC,3109,-1.00,-146.6,410.3,-10.4,181,3113,0.00,2.38,0.00,0.000,4,0.000,0.062,3139,808,3460
$GC,3136,-1.00,-146.6,413.1,-10.5,181,3140,0.00,2.35,0.00,0.000,6,0.000,0.054,3139,2217,3461
$GC,3473,-1.00,-146.6,450.0,-11.0,187,3478,0.00,2.38,0.00,0.000,4,0.000,0.063,3139,806,3461
$GC,3539,-1.00,-146.6,457.6,-11.1,188,3543,0.00,2.33,0.00,0.000,6,0.000,0.054,3139,2223,3461
$GC,3904,-1.00,-146.6,498.5,-11.4,194,3908,0.00,2.38,0.00,0.000,4,0.000,0.064,3140,816,3460
$GC,3964,-1.00,-146.6,505.6,-11.2,195,3969,0.00,2.33,0.00,0.000,6,0.000,0.057,3140,2221,3460
$GC,4329,-1.00,-146.6,546.5,-11.2,201,4333,0.00,2.40,0.00,0.000,4,0.000,0.067,3139,809,3459
$GC,4355,-1.00,-146.6,549.6,-11.8,201,4363,0.00,2.38,0.00,0.000,6,0.000,0.060,3139,2216,3459
$GC,4694,-1.00,-146.6,589.3,-11.9,207,4695,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,2216,3459
$GC,4997,-1.00,-146.6,623.5,-11.1,212,5001,0.00,2.35,0.00,0.000,4,0.000,0.066,3139,814,3459
$GC,5042,-1.00,-146.6,628.8,-11.5,212,5046,0.00,2.35,0.00,0.000,6,0.000,0.058,3139,2221,3458
$STATE,5293,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5293,begin apogee
$GC,5298,-0.23,0.0,660.4,12.5,217,5423,1.00,0.00,121.88,1.228,6,0.096,0.000,3307,2175,2860
$STATE,5424,end apogee,CONTROL_FINISHED_OK
$STATE,5424,begin climb
$GC,5426,1.00,146.6,667.7,0.0,219,5561,1.60,2.67,124.82,1.182,4,0.059,0.068,3575,779,2262
$GC,5583,1.12,242.2,671.4,5.6,221,5672,0.17,2.53,82.25,1.160,6,0.064,0.054,3605,2187,1872
$GC,5973,1.12,242.2,610.0,17.4,228,5977,0.00,2.55,0.00,0.000,4,0.000,0.084,3605,3586,1872
$GC,6173,1.12,242.2,574.1,18.2,231,6177,0.00,2.42,0.00,0.000,6,0.000,0.048,3605,2188,1872
$GC,6538,1.12,242.2,511.0,17.3,237,6542,0.00,2.50,0.00,0.000,4,0.000,0.079,3605,3590,1872
$GC,6699,1.12,242.2,482.2,17.4,239,6703,0.00,2.38,0.00,0.000,6,0.000,0.048,3605,2180,1871
$GC,7036,1.12,242.2,425.4,16.9,245,7040,0.00,2.47,0.00,0.000,4,0.000,0.078,3605,3588,1871
$GC,7152,1.12,242.2,404.9,17.8,246,7156,0.00,2.38,0.00,0.000,6,0.000,0.048,3605,2182,1871
$GC,7467,1.12,242.2,355.5,15.5,252,7471,0.00,2.47,0.00,0.000,4,0.000,0.077,3605,3593,1871
$GC,7555,1.12,242.2,341.0,16.8,253,7559,0.00,2.38,0.00,0.000,6,0.000,0.048,3605,2182,1871
$GC,7879,1.12,242.2,289.7,16.1,260,7883,0.00,2.45,0.00,0.000,4,0.000,0.077,3605,3589,1871
$GC,8034,1.12,242.2,263.2,17.4,267,8038,0.00,2.35,0.00,0.000,6,0.000,0.048,3605,2185,1871
$GC,8361,1.12,242.2,212.9,14.7,283,8365,0.00,2.45,0.00,0.000,4,0.000,0.076,3605,3596,1871
$GC,8460,1.12,242.2,197.4,15.7,287,8467,0.00,2.38,0.00,0.000,6,0.000,0.046,3605,2173,1871
$GC,8776,1.12,242.2,153.5,14.2,303,8780,0.00,2.45,0.00,0.000,4,0.000,0.074,3606,3591,1871
$GC,8995,1.12,242.2,119.7,14.9,321,8999,0.00,2.33,0.00,0.000,6,0.000,0.046,3605,2177,1870
$GC,9320,1.13,246.7,80.0,9.8,351,9332,0.00,2.45,5.28,0.713,4,0.000,0.074,3606,3594,1852
$GC,9360,1.13,246.7,75.4,11.4,358,9367,0.00,2.33,0.00,0.000,6,0.000,0.045,3606,2171,1852
$GC,9704,1.17,282.5,43.5,8.4,419,9738,0.00,2.50,28.40,0.841,4,0.000,0.071,3606,3594,1707
$GC,9776,1.17,282.5,36.6,10.2,429,9784,0.00,2.38,0.00,0.000,6,0.000,0.043,3606,2186,1707
$GC,10102,1.17,282.5,2.9,10.6,460,10104,0.00,0.00,0.00,0.000,6,0.000,0.000,3605,2186,1707
$STATE,10111,end climb,SURFACE_DEPTH_REACHED
$STATE,10111,begin surface coast
$FINISH,0.6,1.025104
$STATE,10123,end surface coast,CONTROL_FINISHED_OK
$STATE,10123,begin surface
$SM_CCo,10143,140.77,0.760,0,0,424,597.31
$SM_GC,1.37,0.00,0.00,140.77,0.000,0.000,0.760,1378,2235,424,-9.13,0.42,597.31
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1886
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,16.10
$XPDR_PINGS,44
$ALTIM_BOTTOM_PING,625.5,44.7
$24V_AH,23.3,13.840
$10V_AH,10.6,6.015
$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,27.425,105.575,362.625,140.775,0.000,116.572,0.000,0.000,17.000,0.000,0.000,12.381,927.100,7559.843,641.841,1373.687,235.548,33.355,1338.292,0.000,1338.052,0.000,44.645
$DEVICE_MAMPS,166.439,108.147,1227.967,760.097,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,326.146,352.936,620.016,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22234,462
$CFSIZE,260165632,255053824
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,12,0,0
$GPS,250108,043237,4811.247,-12553.026,39,1.8,44,18.9