version: 66.02
glider: 119
mission: 3
dive: 85
start: 1 25 108 21 50 54
data:
$ID,119
$MISSION,3
$DIVE,85
$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,-16215.901
$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,35
$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
$GPS1,213607,4809.785,-12543.671,28,1.4,28,18.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-68.8
$GPS2,215003,4809.843,-12543.684,13,1.2,13,18.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,CAPE_FLATTERY
$TGT_LATLONG,4809.000,-12540.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.155,-0.213
$KALMAN_X,-19818.8,1110.9,208.0,14496.5,-7486.9
$KALMAN_Y,30125.8,-1292.3,-770.1,-13889.2,15066.9
$MHEAD_RNG_PITCHd_Wd,125.2,4812,-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,-111.90,0.000,2,0.000,0.000,1378,2235,2692
$GC,135,-1.00,-146.6,3.5,-3.4,11,172,12.15,2.38,-18.92,0.000,4,0.162,0.086,3136,3613,3462
$GC,351,-1.00,-146.6,44.0,-17.7,32,357,0.00,2.30,0.00,0.000,6,0.000,0.044,3136,2218,3462
$GC,692,-1.00,-146.6,103.8,-17.6,81,696,0.00,2.35,0.00,0.000,4,0.000,0.061,3136,817,3462
$GC,730,-1.00,-146.6,110.7,-17.3,84,737,0.00,2.33,0.00,0.000,6,0.000,0.048,3136,2213,3462
$GC,1055,-1.00,-146.6,156.9,-13.6,113,1059,0.00,2.35,0.00,0.000,4,0.000,0.058,3137,815,3462
$GC,1075,-1.00,-146.6,160.0,-13.9,114,1080,0.00,2.35,0.00,0.000,6,0.000,0.048,3136,2219,3462
$GC,1403,-1.00,-146.6,203.5,-13.0,130,1407,0.00,2.35,0.00,0.000,4,0.000,0.058,3137,816,3461
$GC,1423,-1.00,-146.6,206.4,-13.0,131,1428,0.00,2.33,0.00,0.000,6,0.000,0.048,3137,2218,3462
$GC,1751,-1.00,-146.6,243.8,-11.2,147,1752,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2218,3462
$GC,2060,-1.00,-146.6,278.7,-10.6,162,2064,0.00,2.35,0.00,0.000,4,0.000,0.060,3136,816,3462
$GC,2103,-1.00,-146.6,283.2,-9.6,164,2107,0.00,2.30,0.00,0.000,6,0.000,0.051,3136,2223,3462
$GC,2467,-1.00,-146.6,318.2,-10.0,176,2468,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2223,3462
$GC,2771,-1.00,-146.6,351.1,-11.1,181,2772,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2223,3462
$GC,3073,-1.00,-146.6,386.7,-11.9,186,3077,0.00,2.38,0.00,0.000,4,0.000,0.061,3137,809,3461
$GC,3122,-1.00,-146.6,392.4,-11.5,186,3127,0.00,2.35,0.00,0.000,6,0.000,0.054,3137,2216,3461
$GC,3440,-1.00,-146.6,428.8,-11.8,192,3441,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2216,3461
$GC,3740,-1.00,-146.6,463.5,-11.5,197,3744,0.00,2.35,0.00,0.000,4,0.000,0.064,3136,818,3460
$GC,3767,-1.00,-146.6,466.6,-11.7,197,3771,0.00,2.33,0.00,0.000,6,0.000,0.055,3137,2228,3460
$GC,4104,-1.00,-146.6,500.9,-10.3,203,4108,0.00,2.38,0.00,0.000,4,0.000,0.064,3137,819,3459
$STATE,4265,end dive,NO_VERTICAL_VELOCITY
$STATE,4265,begin apogee
$GC,4271,-0.23,0.0,502.5,0.0,205,4394,0.95,0.00,119.18,1.121,6,0.069,0.000,3309,2190,2860
$STATE,4394,end apogee,CONTROL_FINISHED_OK
$STATE,4394,begin climb
$GC,4396,1.00,146.6,502.5,0.0,207,4527,1.62,2.67,121.62,1.073,4,0.061,0.077,3578,3585,2263
$GC,4779,1.00,146.6,479.0,10.8,213,4783,0.00,2.40,0.00,0.000,6,0.000,0.045,3578,2179,2262
$GC,5116,1.03,168.2,447.9,9.0,219,5140,0.00,2.58,18.70,1.047,4,0.000,0.076,3578,3588,2174
$GC,5213,1.03,168.2,437.0,11.0,220,5218,0.00,2.42,0.00,0.000,6,0.000,0.046,3578,2182,2174
$GC,5551,1.03,168.2,402.5,10.2,226,5555,0.00,2.47,0.00,0.000,4,0.000,0.077,3578,3589,2173
$GC,5807,1.03,168.2,374.4,11.2,229,5814,0.00,2.38,0.00,0.000,6,0.000,0.047,3578,2181,2173
$GC,6117,1.03,168.2,340.9,10.8,235,6121,0.00,2.47,0.00,0.000,4,0.000,0.075,3578,3594,2172
$GC,6261,1.03,168.2,323.8,11.2,237,6266,0.00,2.38,0.00,0.000,6,0.000,0.046,3578,2176,2173
$GC,6576,1.04,180.4,293.2,9.4,243,6592,0.00,2.47,10.93,0.960,4,0.000,0.073,3578,3589,2124
$GC,6641,1.04,180.4,286.5,10.1,245,6646,0.00,2.38,0.00,0.000,6,0.000,0.046,3578,2182,2124
$GC,6969,1.04,180.4,254.1,10.7,261,6972,0.00,2.45,0.00,0.000,4,0.000,0.075,3578,3590,2124
$GC,7225,1.04,180.4,223.9,11.0,272,7230,0.00,2.35,0.00,0.000,6,0.000,0.046,3578,2185,2124
$GC,7548,1.05,183.9,191.2,9.8,288,7557,0.00,2.45,4.47,0.707,4,0.000,0.074,3578,3597,2110
$GC,7630,1.05,183.9,182.1,10.5,291,7637,0.00,2.38,0.00,0.000,6,0.000,0.045,3578,2174,2110
$GC,7946,1.10,229.6,154.4,7.9,307,7989,0.12,2.53,36.17,0.915,4,0.071,0.071,3603,3590,1923
$GC,8016,1.10,229.6,147.5,11.6,310,8023,0.00,2.40,0.00,0.000,6,0.000,0.045,3603,2185,1923
$GC,8344,1.10,229.6,109.6,10.8,341,8345,0.00,0.00,0.00,0.000,6,0.000,0.000,3603,2185,1923
$GC,8662,1.17,283.2,77.8,7.6,373,8712,0.00,2.50,42.12,0.847,4,0.000,0.070,3603,3591,1705
$GC,8735,1.19,299.1,72.0,9.3,386,8758,0.00,2.40,14.12,0.788,6,0.000,0.043,3603,2170,1639
$GC,9092,1.19,299.1,32.4,11.7,444,9096,0.00,2.50,0.00,0.000,4,0.000,0.069,3603,3594,1639
$GC,9180,1.19,299.1,21.1,13.1,451,9187,0.00,2.38,0.00,0.000,6,0.000,0.043,3603,2182,1639
$STATE,9354,end climb,SURFACE_DEPTH_REACHED
$STATE,9354,begin surface coast
$FINISH,0.7,1.004611
$STATE,9366,end surface coast,CONTROL_FINISHED_OK
$STATE,9366,begin surface
$SM_CCo,9387,133.02,0.742,0,0,425,597.31
$SM_GC,1.44,0.00,0.00,133.02,0.000,0.000,0.742,1379,2238,425,-9.13,0.51,597.31
$IRIDIUM_FIX,4748.51,-12621.29,180497,101046
$TT8_MAMPS,0.028379
$HUMID,1880
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,16.10
$XPDR_PINGS,19
$ALTIM_BOTTOM_PING,456.8,68.0
$24V_AH,23.6,14.872
$10V_AH,10.6,6.486
$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,27.250,86.500,367.325,133.025,0.000,203.650,300.670,0.000,8.500,0.000,0.000,14.844,915.283,6841.619,622.531,1367.964,620.213,33.345,1299.204,0.000,1340.622,0.000,27.887
$DEVICE_MAMPS,161.837,91.273,1121.354,742.456,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,328.519,355.743,671.898,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22233,469
$CFSIZE,260165632,254681088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,260108,003110,4809.074,-12542.085,43,2.0,60,18.9