version: 66.02
glider: 119
mission: 3
dive: 7
start: 1 18 108 7 41 12
data:
$ID,119
$MISSION,3
$DIVE,7
$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,400
$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,-14636.252
$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,17
$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
$GPS1,073602,4804.504,-12540.799,37,1.8,37,18.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-72.0
$GPS2,074021,4804.496,-12540.815,10,1.4,10,18.9
$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,-9232.8,548.7,-208.1,8458.3,-9156.4
$KALMAN_Y,-5529.6,92.7,291.2,9382.9,-5687.3
$MHEAD_RNG_PITCHd_Wd,17.0,8403,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,16,-1.00,-146.6,0.0,0.0,0,60,0.00,0.00,-42.15,0.000,2,0.000,0.000,1376,2215,2115
$GC,62,-1.00,-146.6,3.1,-5.4,4,119,12.75,2.53,-38.38,0.000,4,0.176,0.091,3139,3630,3461
$GC,259,-1.00,-146.6,33.6,-14.1,22,264,0.00,2.35,0.00,0.000,6,0.000,0.047,3139,2221,3461
$GC,597,-1.00,-146.6,85.2,-14.5,75,601,0.00,2.40,0.00,0.000,4,0.000,0.062,3139,806,3461
$GC,794,-1.00,-146.6,113.2,-12.9,92,798,0.00,2.35,0.00,0.000,6,0.000,0.051,3139,2225,3461
$GC,1117,-1.00,-146.6,153.6,-12.3,121,1121,0.00,2.42,0.00,0.000,4,0.000,0.080,3139,3627,3461
$GC,1193,-1.00,-146.6,163.3,-12.0,124,1201,0.00,2.35,0.00,0.000,6,0.000,0.047,3139,2217,3461
$GC,1510,-1.00,-146.6,201.2,-11.8,140,1514,0.00,2.35,0.00,0.000,4,0.000,0.064,3139,816,3461
$GC,1653,-1.00,-146.6,217.9,-11.6,146,1661,0.00,2.35,0.00,0.000,6,0.000,0.054,3139,2217,3461
$GC,1970,-1.00,-146.6,249.8,-9.8,162,1975,0.00,2.38,0.00,0.000,4,0.000,0.062,3139,809,3461
$GC,2029,-1.00,-146.6,256.0,-9.9,164,2037,0.00,2.38,0.00,0.000,6,0.000,0.055,3139,2215,3461
$GC,2345,-1.00,-146.6,288.4,-10.4,180,2349,0.00,2.38,0.00,0.000,4,0.000,0.064,3139,806,3461
$GC,2406,-1.00,-146.6,294.4,-9.5,183,2410,0.00,2.38,0.00,0.000,6,0.000,0.058,3139,2224,3461
$GC,2767,-1.00,-146.6,328.5,-9.3,191,2768,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,2224,3461
$GC,3069,-1.00,-146.6,358.9,-9.9,196,3073,0.00,2.40,0.00,0.000,4,0.000,0.066,3139,806,3461
$GC,3162,-1.00,-146.6,369.2,-11.1,197,3167,0.00,2.38,0.00,0.000,6,0.000,0.058,3139,2216,3461
$GC,3500,-1.00,-146.6,403.7,-9.8,203,3504,0.00,2.47,0.00,0.000,4,0.000,0.093,3139,3628,3461
$GC,3571,-1.00,-146.6,411.2,-10.5,204,3576,0.00,2.33,0.00,0.000,6,0.000,0.051,3139,2230,3461
$STATE,3748,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3748,begin apogee
$GC,3751,-0.23,0.0,426.1,8.1,207,3873,1.02,0.00,118.57,1.054,6,0.100,0.000,3310,2171,2860
$STATE,3874,end apogee,CONTROL_FINISHED_OK
$STATE,3874,begin climb
$GC,3875,1.00,146.6,430.7,0.0,209,4006,1.60,2.72,121.57,1.016,4,0.061,0.081,3576,3582,2262
$GC,4258,1.00,146.6,407.2,13.3,214,4265,0.00,2.42,0.00,0.000,6,0.000,0.050,3576,2185,2261
$GC,4567,1.03,168.0,377.7,9.0,220,4591,0.00,2.58,18.12,0.978,4,0.000,0.081,3576,3589,2175
$GC,4844,1.03,168.0,344.0,11.3,224,4849,0.00,2.42,0.00,0.000,6,0.000,0.049,3576,2173,2175
$GC,5203,1.03,168.0,304.6,11.3,230,5207,0.00,2.50,0.00,0.000,4,0.000,0.084,3576,3593,2174
$GC,5338,1.03,168.0,288.7,11.3,234,5342,0.00,2.38,0.00,0.000,6,0.000,0.050,3576,2170,2175
$GC,5664,1.03,168.0,254.0,11.2,250,5668,0.00,2.50,0.00,0.000,4,0.000,0.081,3576,3591,2174
$GC,5690,1.03,168.0,250.8,11.9,251,5694,0.00,2.38,0.00,0.000,6,0.000,0.049,3576,2181,2174
$GC,6011,1.03,168.0,214.5,11.6,267,6015,0.00,2.47,0.00,0.000,4,0.000,0.082,3575,3590,2174
$GC,6267,1.06,194.4,187.1,8.8,278,6296,0.00,2.35,21.67,0.913,6,0.000,0.048,3575,2183,2067
$GC,6603,1.07,199.3,156.5,9.8,295,6614,0.00,2.50,5.65,0.743,4,0.000,0.078,3576,3594,2047
$GC,6867,1.10,222.6,128.6,8.9,316,6892,0.12,2.35,19.05,0.871,6,0.071,0.046,3601,2176,1952
$GC,7216,1.10,222.6,94.8,10.9,349,7220,0.00,2.47,0.00,0.000,4,0.000,0.075,3601,3592,1952
$GC,7300,1.10,222.6,85.6,11.5,356,7304,0.00,2.35,0.00,0.000,6,0.000,0.045,3601,2172,1952
$GC,7639,1.13,252.2,55.9,8.6,411,7669,0.00,2.55,24.17,0.822,4,0.000,0.074,3601,3591,1831
$GC,7713,1.13,252.2,48.7,10.8,424,7720,0.00,2.35,0.00,0.000,6,0.000,0.044,3601,2178,1831
$GC,8042,1.13,252.2,12.6,10.5,462,8043,0.00,0.00,0.00,0.000,6,0.000,0.000,3600,2177,1831
$STATE,8158,end climb,SURFACE_DEPTH_REACHED
$STATE,8158,begin surface coast
$FINISH,0.5,1.023885
$STATE,8180,end surface coast,CONTROL_FINISHED_OK
$STATE,8181,begin surface
$SM_CCo,8199,76.07,0.750,1,0,1228,400.08
$SM_GC,1.71,0.00,0.00,76.07,0.000,0.000,0.750,1376,2238,1228,-9.14,0.51,400.08
$IRIDIUM_FIX,4748.51,-12539.38,180108,090928
$TT8_MAMPS,0.028379
$HUMID,1889
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,16.80
$XPDR_PINGS,60
$ALTIM_BOTTOM_PING,380.0,51.4
$24V_AH,23.7,3.985
$10V_AH,10.6,1.632
$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,27.900,77.650,328.825,76.075,0.000,39.989,34.705,114.885,17.750,0.000,0.000,11.533,924.607,5463.601,492.662,1412.313,257.754,33.331,1160.298,0.000,1392.493,0.000,20.051
$DEVICE_MAMPS,175.643,105.079,1053.858,750.126,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,335.197,355.906,724.066,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25426,475
$CFSIZE,260165632,258416640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,1,0
$GPS,180108,100031,4805.253,-12540.818,39,1.1,44,18.9