version: 66.02
glider: 119
mission: 3
dive: 115
start: 1 27 108 9 42 18
data:
$ID,119
$MISSION,3
$DIVE,115
$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,-16989.424
$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,35
$R_STBD_OVSHOOT,27
$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
$GPS1,092907,4805.757,-12535.514,13,1.0,29,18.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-62.1
$GPS2,094127,4805.817,-12535.446,13,1.2,13,18.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,CAPE_FLATTERY
$TGT_LATLONG,4809.000,-12540.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.111,-0.239
$KALMAN_X,-30496.9,-540.7,432.3,36809.7,-29913.1
$KALMAN_Y,49340.0,3705.9,-884.7,-45452.0,58162.6
$MHEAD_RNG_PITCHd_Wd,136.2,8149,-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,20,-1.00,-146.6,0.0,0.0,0,134,0.00,0.00,-111.57,0.000,2,0.000,0.000,1377,2202,2599
$GC,136,-1.00,-146.6,3.2,-3.8,11,180,12.20,2.47,-23.77,0.000,4,0.164,0.085,3137,3621,3461
$GC,379,-1.00,-146.6,42.5,-15.9,33,385,0.00,2.28,0.00,0.000,6,0.000,0.042,3137,2227,3461
$GC,716,-1.00,-146.6,99.1,-16.5,84,720,0.00,2.38,0.00,0.000,4,0.000,0.058,3137,808,3461
$GC,778,-1.00,-146.6,108.0,-13.6,89,782,0.00,2.33,0.00,0.000,6,0.000,0.046,3137,2225,3461
$GC,1104,-1.00,-146.6,147.2,-12.7,119,1109,0.00,2.40,0.00,0.000,4,0.000,0.073,3138,3629,3461
$GC,1145,-1.00,-146.6,152.3,-12.1,122,1149,0.00,2.30,0.00,0.000,6,0.000,0.044,3138,2222,3461
$STATE,1180,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1180,begin apogee
$GC,1185,-0.23,0.0,156.6,11.7,124,1304,1.02,0.00,115.35,0.884,6,0.095,0.000,3308,2215,2860
$STATE,1304,end apogee,CONTROL_FINISHED_OK
$STATE,1304,begin climb
$GC,1306,1.00,146.6,161.8,0.0,130,1432,1.58,2.53,116.55,0.848,4,0.061,0.069,3575,3589,2262
$GC,1685,1.04,178.7,147.2,8.5,148,1716,0.00,2.35,26.02,0.833,6,0.000,0.041,3575,2177,2131
$GC,2036,1.10,227.7,113.9,7.8,181,2082,0.15,2.55,38.65,0.829,4,0.062,0.068,3610,3579,1931
$GC,2161,1.10,227.7,98.2,14.1,192,2168,0.00,2.35,0.00,0.000,6,0.000,0.042,3610,2180,1931
$GC,2494,1.14,262.4,64.9,8.4,238,2528,0.00,0.00,27.92,0.806,6,0.000,0.000,3610,2180,1789
$GC,2864,1.14,262.4,27.3,10.8,294,2868,0.00,2.45,0.00,0.000,4,0.000,0.068,3610,3584,1789
$GC,2907,1.14,262.4,22.1,11.8,297,2914,0.00,2.35,0.00,0.000,6,0.000,0.042,3610,2184,1788
$STATE,3103,end climb,SURFACE_DEPTH_REACHED
$STATE,3103,begin surface coast
$FINISH,0.4,1.005403
$STATE,3115,end surface coast,CONTROL_FINISHED_OK
$STATE,3115,begin surface
$SM_CCo,3136,146.75,0.744,0,0,425,597.31
$SM_GC,1.29,0.00,0.00,146.75,0.000,0.000,0.744,1377,2233,425,-9.14,0.40,597.31
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1835
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,16.70
$XPDR_PINGS,12
$ALTIM_BOTTOM_PING,150.2,16.1
$24V_AH,24.0,18.495
$10V_AH,10.6,7.768
$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,27.375,28.800,324.500,146.750,0.000,177.908,225.506,0.000,3.500,0.000,0.000,14.604,553.278,1679.279,552.124,764.002,489.554,33.342,943.522,0.000,757.564,0.000,5.394
$DEVICE_MAMPS,164.138,102.778,883.584,743.990,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,224.849,225.870,533.257,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15985,317
$CFSIZE,260165632,253513728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,270108,103745,4805.893,-12535.075,8,1.1,8,18.9