version: 66.02
glider: 119
mission: 3
dive: 113
start: 1 27 108 7 35 58
data:
$ID,119
$MISSION,3
$DIVE,113
$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,-16938.656
$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,25
$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
$GPS1,072556,4805.625,-12535.907,32,1.8,32,18.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-63.6
$GPS2,073508,4805.675,-12535.858,8,1.4,13,18.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,CAPE_FLATTERY
$TGT_LATLONG,4809.000,-12540.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.105,-0.242
$KALMAN_X,-31239.9,-505.3,490.8,36947.1,-36479.8
$KALMAN_Y,52790.0,-256.4,-1054.3,-45029.1,77975.2
$MHEAD_RNG_PITCHd_Wd,137.5,8007,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.00,-146.6,0.0,0.0,0,134,0.00,0.00,-111.95,0.000,2,0.000,0.000,1374,2212,2623
$GC,136,-1.00,-146.6,3.2,-4.0,11,180,12.27,2.47,-21.98,0.000,4,0.166,0.083,3136,3618,3461
$GC,326,-1.00,-146.6,34.9,-16.0,28,330,0.00,2.30,0.00,0.000,6,0.000,0.043,3137,2220,3461
$GC,663,-1.00,-146.6,90.1,-14.8,79,667,0.00,2.35,0.00,0.000,4,0.000,0.059,3137,810,3461
$GC,701,-1.00,-146.6,96.2,-15.4,82,708,0.00,2.35,0.00,0.000,6,0.000,0.048,3136,2223,3461
$GC,1027,-1.00,-146.6,137.8,-11.1,113,1031,0.00,2.38,0.00,0.000,4,0.000,0.072,3137,3625,3461
$GC,1084,-1.00,-146.6,144.9,-12.7,118,1088,0.00,2.30,0.00,0.000,6,0.000,0.043,3137,2216,3461
$STATE,1213,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1213,begin apogee
$GC,1218,-0.23,0.0,160.8,12.1,126,1337,1.02,0.00,115.18,0.873,6,0.095,0.000,3307,2208,2860
$STATE,1337,end apogee,CONTROL_FINISHED_OK
$STATE,1337,begin climb
$GC,1339,1.00,146.6,166.3,0.0,132,1465,1.60,2.58,116.25,0.830,4,0.058,0.055,3577,779,2261
$GC,1509,1.19,301.4,169.6,3.0,140,1638,0.25,2.42,122.15,0.821,6,0.058,0.044,3623,2190,1631
$GC,1956,1.19,301.4,96.5,16.8,174,1960,0.00,2.45,0.00,0.000,4,0.000,0.069,3623,3585,1631
$GC,2213,1.19,301.4,56.2,15.2,210,2220,0.00,2.33,0.00,0.000,6,0.000,0.042,3623,2182,1631
$GC,2544,1.19,301.4,8.5,12.9,250,2548,0.00,2.42,0.00,0.000,4,0.000,0.067,3623,3584,1631
$STATE,2593,end climb,SURFACE_DEPTH_REACHED
$STATE,2593,begin surface coast
$FINISH,0.6,1.025156
$STATE,2605,end surface coast,CONTROL_FINISHED_OK
$STATE,2606,begin surface
$SM_CCo,2629,128.65,0.742,0,0,425,597.31
$SM_GC,1.16,0.00,0.00,128.65,0.000,0.000,0.742,1376,2208,425,-9.14,-0.37,597.31
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1855
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,16.80
$XPDR_PINGS,15
$ALTIM_BOTTOM_PING,150.9,19.8
$24V_AH,23.9,18.260
$10V_AH,10.6,7.677
$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,27.650,28.650,353.575,128.650,0.000,131.722,75.167,0.000,4.250,0.000,0.000,20.594,454.670,1400.966,558.086,621.350,288.203,33.335,891.634,0.000,611.674,0.000,5.405
$DEVICE_MAMPS,166.439,82.836,872.846,742.456,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,179.958,183.363,428.978,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12806,255
$CFSIZE,260165632,253595648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,270108,082259,4805.726,-12535.743,8,2.1,27,18.9