version: 66.02
glider: 119
mission: 3
dive: 117
start: 1 27 108 12 4 58
data:
$ID,119
$MISSION,3
$DIVE,117
$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,-17055.578
$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,28
$R_STBD_OVSHOOT,37
$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
$GPS1,114950,4806.033,-12534.511,33,1.4,33,18.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-65.8
$GPS2,120407,4806.109,-12534.416,29,1.5,29,18.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,CAPE_FLATTERY
$TGT_LATLONG,4809.000,-12540.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.096,-0.245
$KALMAN_X,-31688.0,1120.7,512.4,37533.8,-33781.6
$KALMAN_Y,54669.3,1630.0,-961.6,-48086.1,73669.2
$MHEAD_RNG_PITCHd_Wd,139.6,8734,-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,-111.62,0.000,2,0.000,0.000,1376,2232,2567
$GC,136,-1.00,-146.6,3.1,-4.1,11,180,12.23,2.38,-24.98,0.000,4,0.165,0.084,3138,3613,3459
$GC,349,-1.00,-146.6,37.1,-15.7,30,353,0.00,2.30,0.00,0.000,6,0.000,0.044,3138,2217,3459
$GC,687,-1.00,-146.6,91.5,-14.8,82,688,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2217,3459
$GC,1006,-1.00,-146.6,132.2,-10.4,112,1010,0.00,2.33,0.00,0.000,4,0.000,0.060,3138,818,3459
$GC,1085,-1.00,-146.6,141.4,-12.7,119,1089,0.00,2.25,0.00,0.000,6,0.000,0.048,3138,2210,3459
$STATE,1161,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1161,begin apogee
$GC,1166,-0.23,0.0,150.2,10.9,126,1284,1.02,0.00,115.05,0.877,6,0.097,0.000,3309,2211,2860
$STATE,1285,end apogee,CONTROL_FINISHED_OK
$STATE,1285,begin climb
$GC,1287,1.00,146.6,153.4,0.0,132,1412,1.55,2.60,116.75,0.841,4,0.054,0.071,3575,3590,2262
$GC,1664,1.08,209.8,135.9,7.1,156,1724,0.08,2.40,50.17,0.831,6,0.057,0.042,3596,2180,2003
$GC,2042,1.08,209.8,98.8,10.3,192,2046,0.00,2.45,0.00,0.000,4,0.000,0.070,3596,3582,2003
$GC,2300,1.14,254.9,74.5,7.9,220,2345,0.00,2.33,35.62,0.813,6,0.000,0.042,3595,2171,1820
$GC,2687,1.14,261.7,37.9,9.7,287,2699,0.00,2.53,6.85,0.697,4,0.000,0.068,3596,3586,1793
$GC,2951,1.14,261.7,8.3,10.4,310,2958,0.00,2.35,0.00,0.000,6,0.000,0.042,3596,2182,1793
$STATE,3019,end climb,SURFACE_DEPTH_REACHED
$STATE,3020,begin surface coast
$FINISH,0.5,1.007907
$STATE,3031,end surface coast,CONTROL_FINISHED_OK
$STATE,3032,begin surface
$SM_CCo,3052,148.00,0.747,0,0,424,597.31
$SM_GC,1.19,0.00,0.00,148.00,0.000,0.000,0.747,1378,2225,424,-9.13,0.14,597.31
$IRIDIUM_FIX,4751.72,-12513.52,220497,101006
$TT8_MAMPS,0.028379
$HUMID,1837
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,16.70
$XPDR_PINGS,14
$ALTIM_BOTTOM_PING,150.2,7.8
$24V_AH,24.0,18.753
$10V_AH,10.6,7.866
$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,27.200,23.975,324.450,148.000,0.000,201.418,300.672,0.000,4.000,0.000,0.000,32.487,550.450,1581.033,553.123,799.630,588.343,33.337,944.598,0.000,779.155,0.000,5.368
$DEVICE_MAMPS,164.905,106.613,876.681,747.058,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,225.509,226.570,534.435,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15966,318
$CFSIZE,260165632,253431808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,270108,125903,4806.276,-12533.888,8,1.3,8,18.9