version: 66.02
glider: 119
mission: 3
dive: 15
start: 1 18 108 21 8 57
data:
$ID,119
$MISSION,3
$DIVE,15
$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,-14821.508
$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,26
$R_STBD_OVSHOOT,24
$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
$GPS1,210405,4806.346,-12540.246,11,2.5,30,18.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-72.6
$GPS2,210807,4806.340,-12540.229,15,1.2,31,18.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,CAPE_FLATTERY
$TGT_LATLONG,4809.000,-12540.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.170,0.202
$KALMAN_X,-20730.3,421.5,970.7,19601.8,-41782.1
$KALMAN_Y,-19665.3,-10.4,1058.9,26243.2,-45027.0
$MHEAD_RNG_PITCHd_Wd,21.2,4934,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.00,-146.6,0.0,0.0,0,61,0.00,0.00,-42.78,0.000,2,0.000,0.000,1378,2221,2153
$GC,63,-1.00,-146.6,3.0,-3.6,4,120,12.57,2.47,-36.80,0.000,4,0.173,0.074,3140,817,3459
$GC,294,-1.00,-146.6,39.9,-16.7,25,298,0.00,2.35,0.00,0.000,6,0.000,0.051,3140,2228,3459
$GC,630,-1.00,-146.6,101.2,-18.4,75,634,0.00,2.42,0.00,0.000,4,0.000,0.081,3140,3622,3459
$GC,697,-1.00,-146.6,112.0,-15.8,81,701,0.00,2.33,0.00,0.000,6,0.000,0.047,3140,2212,3459
$GC,1029,-1.00,-146.6,164.5,-13.2,107,1033,0.00,2.35,0.00,0.000,4,0.000,0.062,3140,813,3458
$GC,1180,-1.00,-146.6,186.5,-14.3,114,1184,0.00,2.33,0.00,0.000,6,0.000,0.052,3140,2220,3459
$STATE,1442,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1442,begin apogee
$GC,1446,-0.23,0.0,222.0,12.3,127,1565,1.02,0.00,115.75,0.908,6,0.101,0.000,3309,2170,2860
$STATE,1566,end apogee,CONTROL_FINISHED_OK
$STATE,1566,begin climb
$GC,1567,1.00,146.6,227.3,0.0,133,1695,1.62,2.58,118.10,0.872,4,0.060,0.058,3579,781,2262
$GC,1947,1.03,171.6,211.8,8.9,150,1975,0.00,2.40,20.92,0.858,6,0.000,0.050,3579,2187,2160
$GC,2283,1.10,223.2,186.1,7.7,167,2330,0.12,2.50,40.88,0.867,4,0.068,0.060,3604,781,1949
$GC,2521,1.10,223.2,155.6,14.0,178,2525,0.00,2.38,0.00,0.000,6,0.000,0.052,3604,2185,1949
$GC,2844,1.10,224.7,116.6,9.9,206,2848,0.00,2.40,0.00,0.000,4,0.000,0.060,3604,780,1949
$GC,2870,1.10,224.7,113.7,10.8,208,2875,0.00,2.33,0.00,0.000,6,0.000,0.051,3604,2181,1949
$GC,3195,1.20,308.3,88.4,6.2,238,3269,0.00,2.60,65.85,0.821,4,0.000,0.079,3604,3582,1603
$GC,3342,1.20,308.3,73.6,12.3,256,3348,0.00,2.38,0.00,0.000,6,0.000,0.045,3604,2182,1603
$GC,3687,1.20,308.3,32.0,12.2,312,3691,0.00,2.47,0.00,0.000,4,0.000,0.076,3605,3585,1603
$GC,3726,1.20,308.3,27.1,12.5,315,3730,0.00,2.35,0.00,0.000,6,0.000,0.045,3605,2169,1603
$STATE,3953,end climb,SURFACE_DEPTH_REACHED
$STATE,3953,begin surface coast
$FINISH,0.6,1.011086
$STATE,3976,end surface coast,CONTROL_FINISHED_OK
$STATE,3976,begin surface
$SM_CCo,3995,46.78,0.760,0,0,1229,400.08
$SM_GC,1.58,0.00,0.00,46.78,0.000,0.000,0.760,1376,2236,1229,-9.14,0.45,400.08
$IRIDIUM_FIX,4748.51,-12536.76,180108,232320
$TT8_MAMPS,0.027612
$HUMID,1872
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,16.80
$XPDR_PINGS,10
$ALTIM_BOTTOM_PING,150.5,81.0
$24V_AH,23.9,4.904
$10V_AH,10.7,2.057
$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,27.775,38.825,361.500,46.775,0.000,39.598,33.357,85.507,3.000,0.000,0.000,32.809,602.835,2153.022,441.336,895.110,206.653,33.334,876.074,0.000,867.413,0.000,5.564
$DEVICE_MAMPS,173.342,95.108,908.128,760.097,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,239.015,244.506,569.282,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15970,338
$CFSIZE,260165632,258191360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,180108,221703,4806.273,-12540.111,11,1.5,11,18.9