version: 66.02
glider: 119
mission: 3
dive: 80
start: 1 25 108 7 11 19
data:
$ID,119
$MISSION,3
$DIVE,80
$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,-16137.954
$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,34
$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
$GPS1,065501,4811.135,-12551.770,36,1.5,37,18.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-68.6
$GPS2,071027,4811.175,-12551.823,13,1.2,13,18.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,CAPE_FLATTERY
$TGT_LATLONG,4809.000,-12540.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.228,-0.132
$KALMAN_X,-17598.0,728.9,425.8,2354.1,-11348.2
$KALMAN_Y,19734.6,-982.5,-562.9,-1549.5,11065.5
$MHEAD_RNG_PITCHd_Wd,101.3,15154,-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,19,-1.00,-146.6,0.0,0.0,0,133,0.00,0.00,-111.65,0.000,2,0.000,0.000,1376,2234,2627
$GC,135,-1.00,-146.6,3.4,-3.9,11,179,12.30,2.47,-21.45,0.000,4,0.166,0.072,3138,819,3460
$GC,228,-1.00,-146.6,21.7,-19.1,19,235,0.00,2.33,0.00,0.000,6,0.000,0.049,3138,2201,3460
$GC,570,-1.00,-146.6,83.5,-16.1,70,572,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2201,3460
$GC,889,-1.00,-146.6,134.6,-15.4,100,893,0.00,2.35,0.00,0.000,4,0.000,0.058,3137,809,3461
$GC,933,-1.00,-146.6,141.1,-14.1,104,937,0.00,2.33,0.00,0.000,6,0.000,0.049,3138,2221,3460
$GC,1250,-1.00,-146.6,184.5,-13.8,122,1251,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2221,3460
$GC,1559,-1.00,-146.6,224.3,-12.8,137,1567,0.00,2.35,0.00,0.000,4,0.000,0.059,3138,816,3460
$GC,1593,-1.00,-146.6,228.9,-12.2,138,1598,0.00,2.33,0.00,0.000,6,0.000,0.050,3138,2219,3460
$GC,1915,-1.00,-146.6,267.9,-12.4,154,1916,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2219,3460
$GC,2264,-1.00,-146.6,308.6,-11.2,169,2268,0.00,2.35,0.00,0.000,4,0.000,0.061,3138,817,3460
$GC,2312,-1.00,-146.6,314.1,-11.2,169,2317,0.00,2.33,0.00,0.000,6,0.000,0.053,3137,2214,3460
$GC,2629,-1.00,-146.6,350.8,-11.8,175,2633,0.00,2.35,0.00,0.000,4,0.000,0.061,3137,814,3460
$GC,2678,-1.00,-146.6,356.9,-11.0,175,2683,0.00,2.33,0.00,0.000,6,0.000,0.054,3138,2213,3460
$GC,2995,-1.00,-146.6,392.4,-11.3,181,2999,0.00,2.33,0.00,0.000,4,0.000,0.062,3137,817,3460
$GC,3021,-1.00,-146.6,395.7,-12.2,181,3025,0.00,2.33,0.00,0.000,6,0.000,0.054,3137,2215,3460
$STATE,3300,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3301,begin apogee
$GC,3305,-0.23,0.0,429.4,12.2,186,3427,1.02,0.00,118.47,1.072,6,0.094,0.000,3310,2215,2860
$STATE,3427,end apogee,CONTROL_FINISHED_OK
$STATE,3427,begin climb
$GC,3429,1.00,146.6,436.0,0.0,188,3560,1.58,2.67,120.88,1.032,4,0.054,0.061,3577,778,2261
$GC,3616,1.05,186.4,438.6,8.2,191,3655,0.00,2.45,33.90,1.012,6,0.000,0.051,3577,2181,2099
$GC,3982,1.05,186.4,400.2,10.8,197,3983,0.00,0.00,0.00,0.000,6,0.000,0.000,3577,2181,2098
$GC,4285,1.05,186.4,367.9,10.7,202,4289,0.00,2.47,0.00,0.000,4,0.000,0.077,3577,3586,2098
$GC,4367,1.05,186.4,358.4,12.0,203,4372,0.00,2.38,0.00,0.000,6,0.000,0.045,3577,2183,2098
$GC,4716,1.05,186.4,319.3,11.4,209,4720,0.00,2.47,0.00,0.000,4,0.000,0.075,3577,3594,2098
$GC,4764,1.05,186.4,312.8,13.7,209,4768,0.00,2.38,0.00,0.000,6,0.000,0.045,3577,2184,2097
$GC,5083,1.05,186.4,275.0,11.6,221,5087,0.00,2.45,0.00,0.000,4,0.000,0.075,3578,3587,2097
$GC,5176,1.05,186.4,263.6,11.9,225,5181,0.00,2.35,0.00,0.000,6,0.000,0.045,3577,2184,2097
$GC,5498,1.05,186.4,229.8,10.8,241,5502,0.00,2.45,0.00,0.000,4,0.000,0.074,3577,3593,2097
$GC,5682,1.05,186.4,207.7,11.4,249,5687,0.00,2.33,0.00,0.000,6,0.000,0.044,3577,2175,2097
$GC,5997,1.07,203.9,175.3,9.2,264,6019,0.00,2.45,14.65,0.913,4,0.000,0.074,3577,3587,2028
$GC,6087,1.07,203.9,165.8,11.3,268,6091,0.00,2.35,0.00,0.000,6,0.000,0.045,3577,2172,2028
$GC,6407,1.09,215.5,134.4,9.5,291,6423,0.12,2.47,10.35,0.856,4,0.071,0.073,3602,3587,1982
$GC,6675,1.09,215.5,103.6,11.1,314,6682,0.00,2.35,0.00,0.000,6,0.000,0.044,3602,2183,1981
$GC,7005,1.13,250.3,71.2,8.4,354,7040,0.00,2.47,27.88,0.851,4,0.000,0.069,3602,3589,1838
$GC,7186,1.13,250.3,55.3,10.0,386,7192,0.00,2.35,0.00,0.000,6,0.000,0.043,3602,2169,1838
$GC,7520,1.15,269.0,25.6,9.1,432,7541,0.00,0.00,15.88,0.808,6,0.000,0.000,3602,2169,1763
$STATE,7751,end climb,SURFACE_DEPTH_REACHED
$STATE,7751,begin surface coast
$FINISH,0.6,1.012978
$STATE,7763,end surface coast,CONTROL_FINISHED_OK
$STATE,7763,begin surface
$SM_CCo,7783,146.15,0.744,0,0,424,597.31
$SM_GC,1.41,0.00,0.00,146.15,0.000,0.000,0.744,1377,2237,424,-9.14,0.48,597.31
$IRIDIUM_FIX,4748.51,-12621.29,180497,101046
$TT8_MAMPS,0.028379
$HUMID,1846
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,16.30
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,429.4,5.8
$24V_AH,23.7,14.125
$10V_AH,10.6,6.142
$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,27.400,67.125,342.000,146.150,0.000,221.061,375.841,0.000,5.000,0.000,0.000,14.712,841.487,5566.372,609.272,1155.729,695.548,33.356,1177.035,0.000,1136.353,0.000,23.154
$DEVICE_MAMPS,165.672,76.700,1072.266,743.990,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,322.948,343.414,689.833,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22199,455
$CFSIZE,260165632,254971904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,250108,092435,4811.295,-12550.355,10,5.6,29,18.9