version: 66.02
glider: 119
mission: 3
dive: 79
start: 1 25 108 4 41 14
data:
$ID,119
$MISSION,3
$DIVE,79
$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,-16122.614
$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,27
$R_STBD_OVSHOOT,33
$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
$GPS1,043237,4811.247,-12553.026,39,1.8,44,18.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-68.8
$GPS2,044023,4811.235,-12553.076,10,2.3,29,18.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,CAPE_FLATTERY
$TGT_LATLONG,4809.000,-12540.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.231,-0.127
$KALMAN_X,-15230.4,624.5,482.0,-1525.1,-8639.8
$KALMAN_Y,18368.1,-1163.2,-536.6,83.0,9462.9
$MHEAD_RNG_PITCHd_Wd,99.8,16679,-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,-112.25,0.000,2,0.000,0.000,1379,2235,2638
$GC,135,-1.00,-146.6,3.4,-3.8,11,178,12.25,2.50,-20.75,0.000,4,0.165,0.074,3138,818,3461
$GC,216,-1.00,-146.6,20.0,-20.1,18,223,0.00,2.35,0.00,0.000,6,0.000,0.049,3137,2211,3461
$GC,558,-1.00,-146.6,85.6,-17.5,68,562,0.00,2.38,0.00,0.000,4,0.000,0.060,3138,814,3461
$GC,619,-1.00,-146.6,94.7,-14.7,73,623,0.00,2.33,0.00,0.000,6,0.000,0.050,3138,2227,3461
$GC,949,-1.00,-146.6,138.9,-13.4,104,950,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2227,3461
$GC,1260,-1.00,-146.6,183.5,-14.8,123,1264,0.00,2.38,0.00,0.000,4,0.000,0.059,3138,810,3461
$GC,1292,-1.00,-146.6,188.4,-14.4,124,1297,0.00,2.35,0.00,0.000,6,0.000,0.049,3138,2221,3460
$GC,1614,-1.00,-146.6,231.1,-13.0,140,1618,0.00,2.38,0.00,0.000,4,0.000,0.060,3138,810,3461
$GC,1653,-1.00,-146.6,236.0,-12.1,142,1657,0.00,2.33,0.00,0.000,6,0.000,0.051,3138,2226,3461
$GC,1984,-1.00,-146.6,278.8,-12.6,158,1988,0.00,2.38,0.00,0.000,4,0.000,0.061,3138,812,3461
$GC,2016,-1.00,-146.6,283.1,-12.4,159,2021,0.00,2.35,0.00,0.000,6,0.000,0.051,3138,2221,3460
$GC,2355,-1.00,-146.6,325.6,-12.7,170,2356,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2221,3461
$GC,2657,-1.00,-146.6,362.8,-12.1,175,2662,0.00,2.38,0.00,0.000,4,0.000,0.062,3137,810,3460
$GC,2701,-1.00,-146.6,367.9,-11.8,175,2705,0.00,2.35,0.00,0.000,6,0.000,0.054,3138,2217,3461
$GC,3022,-1.00,-146.6,403.6,-11.4,181,3023,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2217,3461
$STATE,3265,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3265,begin apogee
$GC,3270,-0.23,0.0,431.3,11.4,185,3392,1.02,0.00,118.95,1.073,6,0.098,0.000,3308,2177,2860
$STATE,3393,end apogee,CONTROL_FINISHED_OK
$STATE,3393,begin climb
$GC,3395,1.00,146.6,436.7,0.0,187,3525,1.58,2.60,120.90,1.032,4,0.059,0.061,3574,786,2262
$GC,3603,1.01,150.6,434.4,9.8,190,3613,0.00,2.45,5.03,0.742,6,0.000,0.051,3574,2193,2246
$GC,3951,1.02,161.1,401.2,9.5,196,3966,0.00,2.50,10.27,0.943,4,0.000,0.076,3574,3593,2203
$GC,4094,1.02,161.1,384.8,11.5,198,4098,0.00,2.40,0.00,0.000,6,0.000,0.044,3574,2190,2203
$GC,4448,1.02,162.4,349.6,9.9,204,4453,0.00,2.47,0.00,0.000,4,0.000,0.075,3574,3591,2202
$GC,4509,1.02,162.4,343.2,10.3,205,4514,0.00,2.35,0.00,0.000,6,0.000,0.045,3574,2180,2202
$GC,4874,1.03,172.6,308.0,9.5,211,4889,0.00,2.50,10.35,0.940,4,0.000,0.074,3575,3590,2156
$GC,5002,1.03,172.6,294.8,10.4,213,5006,0.00,2.35,0.00,0.000,6,0.000,0.045,3574,2179,2156
$GC,5328,1.03,172.6,262.0,10.2,229,5332,0.00,2.47,0.00,0.000,4,0.000,0.075,3574,3593,2155
$GC,5562,1.04,178.2,237.8,9.7,239,5573,0.00,2.35,6.15,0.816,6,0.000,0.044,3574,2185,2133
$GC,5894,1.08,211.5,209.3,8.5,256,5928,0.12,2.55,27.10,0.940,4,0.069,0.074,3600,3592,1997
$GC,5972,1.08,211.5,200.3,12.9,259,5979,0.00,2.40,0.00,0.000,6,0.000,0.044,3601,2185,1997
$GC,6288,1.08,211.5,161.8,12.8,275,6292,0.00,2.45,0.00,0.000,4,0.000,0.073,3601,3587,1997
$GC,6421,1.08,211.5,142.6,14.8,282,6428,0.00,2.35,0.00,0.000,6,0.000,0.044,3601,2187,1997
$GC,6747,1.08,211.5,102.7,10.8,313,6751,0.00,2.42,0.00,0.000,4,0.000,0.071,3601,3588,1996
$GC,6898,1.08,211.5,85.8,10.3,326,6902,0.00,2.33,0.00,0.000,6,0.000,0.044,3601,2179,1997
$GC,7237,1.17,282.3,57.6,6.8,381,7297,0.00,0.00,54.58,0.834,6,0.000,0.000,3601,2178,1708
$GC,7623,1.18,289.5,19.2,9.7,433,7636,0.00,2.53,7.53,0.726,4,0.000,0.070,3600,3590,1679
$GC,7685,1.18,289.5,12.2,11.8,438,7692,0.00,2.38,0.00,0.000,6,0.000,0.043,3601,2186,1679
$STATE,7785,end climb,SURFACE_DEPTH_REACHED
$STATE,7785,begin surface coast
$FINISH,0.8,1.025158
$STATE,7797,end surface coast,CONTROL_FINISHED_OK
$STATE,7797,begin surface
$SM_CCo,7818,136.85,0.749,0,0,424,597.31
$SM_GC,1.28,0.00,0.00,136.85,0.000,0.000,0.749,1376,2232,424,-9.14,0.37,597.31
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.027612
$HUMID,1863
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,16.30
$XPDR_PINGS,12
$ALTIM_BOTTOM_PING,431.3,5.7
$24V_AH,23.7,13.974
$10V_AH,10.6,6.076
$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,27.400,72.400,360.850,136.850,0.000,116.541,0.000,0.000,6.250,0.000,0.000,32.123,844.472,5531.322,610.101,1230.852,214.083,33.359,1211.788,0.000,1191.099,0.000,23.141
$DEVICE_MAMPS,164.905,124.254,1073.033,748.592,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,316.348,336.943,676.680,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22288,449
$CFSIZE,260165632,255016960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,250108,065501,4811.135,-12551.770,36,1.5,37,18.9