version: 66.02
glider: 119
mission: 3
dive: 81
start: 1 25 108 9 32 49
data:
$ID,119
$MISSION,3
$DIVE,81
$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,-16149.799
$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,31
$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
$GPS1,092435,4811.295,-12550.355,10,5.6,29,18.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-67.5
$GPS2,093157,4811.351,-12550.395,9,1.7,9,18.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,CAPE_FLATTERY
$TGT_LATLONG,4809.000,-12540.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.222,-0.143
$KALMAN_X,-19352.0,746.9,570.8,5708.1,-13383.7
$KALMAN_Y,21209.5,-638.4,-528.4,-3079.2,12545.8
$MHEAD_RNG_PITCHd_Wd,103.9,13562,-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,-111.80,0.000,2,0.000,0.000,1377,2238,2660
$GC,135,-1.00,-146.6,3.4,-3.9,11,178,12.27,2.47,-20.70,0.000,4,0.165,0.072,3140,821,3461
$GC,193,-1.00,-146.6,14.9,-18.2,16,201,0.00,2.35,0.00,0.000,6,0.000,0.049,3140,2212,3461
$GC,529,-1.00,-146.6,79.5,-18.5,65,535,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2212,3461
$GC,853,-1.00,-146.6,130.9,-14.5,96,854,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2212,3461
$GC,1166,-1.00,-146.6,174.3,-12.2,117,1170,0.00,2.35,0.00,0.000,4,0.000,0.057,3140,812,3461
$GC,1197,-1.00,-146.6,178.2,-11.9,118,1205,0.00,2.33,0.00,0.000,6,0.000,0.048,3140,2217,3461
$GC,1514,-1.00,-146.6,212.7,-11.0,134,1515,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2218,3461
$GC,1823,-1.00,-146.6,244.5,-10.7,149,1824,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2218,3460
$GC,2132,-1.00,-146.6,278.7,-11.5,164,2136,0.00,2.35,0.00,0.000,4,0.000,0.060,3140,817,3461
$GC,2242,-1.00,-146.6,291.6,-10.9,169,2247,0.00,2.33,0.00,0.000,6,0.000,0.051,3140,2218,3461
$GC,2564,-1.00,-146.6,328.6,-11.6,177,2566,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2219,3460
$GC,2868,-1.00,-146.6,365.8,-12.3,182,2872,0.00,2.35,0.00,0.000,4,0.000,0.062,3140,820,3461
$GC,2923,-1.00,-146.6,372.8,-12.5,182,2930,0.00,2.33,0.00,0.000,6,0.000,0.054,3140,2219,3461
$GC,3232,-1.00,-146.6,411.2,-12.6,188,3233,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2219,3461
$GC,3535,-1.00,-146.6,447.5,-11.8,193,3539,0.00,2.35,0.00,0.000,4,0.000,0.064,3140,812,3461
$GC,3583,-1.00,-146.6,453.1,-11.1,193,3588,0.00,2.33,0.00,0.000,6,0.000,0.054,3140,2213,3461
$GC,3898,-1.00,-146.6,486.6,-10.6,199,3900,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2213,3460
$GC,4203,-1.00,-146.6,517.6,-10.2,204,4204,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2214,3459
$GC,4505,-1.00,-146.6,547.2,-9.6,209,4509,0.00,2.38,0.00,0.000,4,0.000,0.069,3140,814,3459
$GC,4587,-1.00,-146.6,555.2,-9.5,210,4591,0.00,2.33,0.00,0.000,6,0.000,0.058,3140,2222,3459
$GC,4936,-1.00,-146.6,588.0,-9.5,216,4937,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2222,3459
$GC,5239,-1.00,-146.6,617.1,-9.5,221,5243,0.00,2.35,0.00,0.000,4,0.000,0.067,3140,823,3458
$GC,5271,-1.00,-146.6,620.4,-9.8,221,5275,0.00,2.33,0.00,0.000,6,0.000,0.058,3140,2214,3458
$GC,5605,-1.00,-146.6,653.9,-10.2,227,5609,0.00,2.38,0.00,0.000,4,0.000,0.068,3140,814,3457
$GC,5659,-1.00,-146.6,660.0,-10.9,227,5666,0.00,2.35,0.00,0.000,6,0.000,0.057,3140,2218,3457
$STATE,5850,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5850,begin apogee
$GC,5854,-0.23,0.0,679.2,10.3,231,5979,1.00,0.00,121.80,1.245,6,0.100,0.000,3306,2219,2860
$STATE,5980,end apogee,CONTROL_FINISHED_OK
$STATE,5980,begin climb
$GC,5982,1.00,146.6,684.6,0.0,233,6117,1.60,2.75,125.35,1.197,4,0.058,0.068,3576,782,2262
$GC,6183,1.00,146.6,680.2,11.2,236,6188,0.00,2.47,0.00,0.000,6,0.000,0.054,3576,2183,2261
$GC,6537,1.00,146.6,643.2,10.4,242,6541,0.00,2.53,0.00,0.000,4,0.000,0.084,3575,3589,2261
$GC,6670,1.00,146.6,627.8,11.3,244,6675,0.00,2.40,0.00,0.000,6,0.000,0.048,3576,2190,2261
$GC,7036,1.00,146.6,589.2,10.5,250,7040,0.00,2.47,0.00,0.000,4,0.000,0.080,3576,3588,2261
$GC,7174,1.00,146.6,573.6,11.7,252,7179,0.00,2.38,0.00,0.000,6,0.000,0.048,3576,2185,2261
$GC,7534,1.00,146.6,536.7,10.0,258,7538,0.00,2.47,0.00,0.000,4,0.000,0.080,3576,3589,2260
$GC,7724,1.00,146.6,517.0,10.1,260,7730,0.00,2.35,0.00,0.000,6,0.000,0.048,3576,2174,2260
$GC,8032,1.02,163.1,488.6,9.2,266,8051,0.00,2.53,14.40,1.101,4,0.000,0.081,3576,3594,2195
$GC,8107,1.02,163.1,481.0,10.2,267,8112,0.00,2.40,0.00,0.000,6,0.000,0.048,3576,2186,2195
$GC,8467,1.02,163.1,444.9,10.3,273,8472,0.00,2.47,0.00,0.000,4,0.000,0.078,3576,3590,2195
$GC,8701,1.02,163.1,418.9,11.4,276,8706,0.00,2.38,0.00,0.000,6,0.000,0.048,3576,2178,2194
$GC,9033,1.02,163.1,385.7,10.1,282,9037,0.00,2.47,0.00,0.000,4,0.000,0.078,3576,3592,2194
$GC,9195,1.02,163.6,368.6,10.0,284,9199,0.00,2.35,0.00,0.000,6,0.000,0.048,3576,2171,2194
$GC,9532,1.02,163.6,334.8,10.1,290,9536,0.00,2.47,0.00,0.000,4,0.000,0.078,3576,3596,2194
$GC,9648,1.02,163.6,322.4,11.1,291,9652,0.00,2.38,0.00,0.000,6,0.000,0.047,3576,2175,2194
$GC,9964,1.04,173.4,291.2,9.6,299,9979,0.00,2.47,9.35,0.951,4,0.000,0.077,3576,3592,2152
$GC,10035,1.04,173.4,284.2,10.6,302,10039,0.00,2.38,0.00,0.000,6,0.000,0.047,3576,2180,2153
$GC,10362,1.07,197.8,256.2,8.9,318,10388,0.00,2.53,20.95,0.983,4,0.000,0.077,3576,3596,2052
$GC,10448,1.07,197.8,247.3,11.3,322,10453,0.00,2.40,0.00,0.000,6,0.000,0.046,3576,2181,2052
$GC,10776,1.07,197.8,212.1,11.0,338,10780,0.00,2.47,0.00,0.000,4,0.000,0.077,3576,3589,2052
$GC,10904,1.07,197.8,196.5,12.2,344,10908,0.00,2.35,0.00,0.000,6,0.000,0.046,3576,2174,2052
$GC,11230,1.08,207.6,163.6,9.6,360,11244,0.00,2.47,9.10,0.865,4,0.000,0.075,3576,3590,2013
$GC,11283,1.08,207.6,158.1,10.8,362,11287,0.00,2.35,0.00,0.000,6,0.000,0.046,3576,2177,2013
$GC,11612,1.09,216.4,124.9,9.6,389,11627,0.12,2.50,8.60,0.834,4,0.071,0.073,3601,3590,1977
$GC,11694,1.09,216.4,114.4,13.4,396,11701,0.00,2.38,0.00,0.000,6,0.000,0.045,3601,2182,1977
$GC,12021,1.13,246.2,81.1,8.6,427,12055,0.00,2.50,24.15,0.858,4,0.000,0.072,3601,3582,1855
$GC,12274,1.13,249.3,56.2,9.9,470,12286,0.00,2.33,4.50,0.636,6,0.000,0.044,3601,2177,1842
$GC,12614,1.17,279.8,25.9,8.6,517,12647,0.00,2.53,24.38,0.815,4,0.000,0.073,3601,3587,1719
$GC,12685,1.17,279.8,18.8,11.4,523,12692,0.00,2.38,0.00,0.000,6,0.000,0.043,3601,2186,1719
$STATE,12838,end climb,SURFACE_DEPTH_REACHED
$STATE,12838,begin surface coast
$FINISH,0.8,1.025249
$STATE,12850,end surface coast,CONTROL_FINISHED_OK
$STATE,12850,begin surface
$SM_CCo,12871,142.88,0.739,0,0,425,597.31
$SM_GC,1.22,0.00,0.00,142.88,0.000,0.000,0.739,1376,2233,425,-9.14,0.37,597.31
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1874
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,16.20
$XPDR_PINGS,78
$ALTIM_BOTTOM_PING,679.2,5.8
$24V_AH,23.5,14.276
$10V_AH,10.6,6.214
$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,27.475,111.000,362.575,142.875,0.000,116.543,0.000,0.000,25.750,0.000,0.000,11.215,1089.899,9871.553,680.522,1579.523,246.909,33.348,1459.882,0.000,1545.341,0.000,44.936
$DEVICE_MAMPS,164.905,108.147,1244.841,738.621,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,380.733,420.809,698.513,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25351,539
$CFSIZE,260165632,254885888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,17,0,0
$GPS,250108,131056,4811.154,-12548.151,38,1.4,38,18.9