version: 66.02
glider: 119
mission: 3
dive: 16
start: 1 18 108 22 29 41
data:
$ID,119
$MISSION,3
$DIVE,16
$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,-14836.583
$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,29
$R_STBD_OVSHOOT,31
$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
$GPS1,221703,4806.273,-12540.111,11,1.5,11,18.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-73.9
$GPS2,222850,4806.210,-12540.023,12,1.5,12,18.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,CAPE_FLATTERY
$TGT_LATLONG,4809.000,-12540.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.162,0.208
$KALMAN_X,-20560.4,137.9,967.1,19976.5,-35442.7
$KALMAN_Y,-20253.1,-462.4,1017.6,27084.3,-40418.9
$MHEAD_RNG_PITCHd_Wd,19.0,5167,-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,-42.80,0.000,2,0.000,0.000,1376,2235,2149
$GC,63,-1.00,-146.6,3.2,-5.3,4,120,12.43,2.47,-37.78,0.000,4,0.173,0.075,3140,815,3459
$GC,249,-1.00,-146.6,32.8,-17.5,21,253,0.00,2.33,0.00,0.000,6,0.000,0.051,3140,2216,3459
$GC,585,-1.00,-146.6,91.7,-17.6,71,586,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2216,3459
$GC,904,-1.00,-146.6,144.8,-16.0,101,908,0.00,2.38,0.00,0.000,4,0.000,0.062,3140,812,3459
$GC,974,-1.00,-146.6,156.1,-15.2,105,979,0.00,2.38,0.00,0.000,6,0.000,0.051,3140,2220,3458
$GC,1296,-1.00,-146.6,197.1,-12.0,121,1300,0.00,2.35,0.00,0.000,4,0.000,0.062,3140,820,3459
$GC,1360,-1.00,-146.6,204.6,-11.0,124,1366,0.00,2.33,0.00,0.000,6,0.000,0.050,3140,2220,3458
$STATE,1480,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1481,begin apogee
$GC,1484,-0.23,0.0,218.2,11.5,130,1604,1.02,0.00,115.32,0.907,6,0.099,0.000,3310,2172,2860
$STATE,1604,end apogee,CONTROL_FINISHED_OK
$STATE,1604,begin climb
$GC,1606,1.00,146.6,223.3,0.0,136,1733,1.58,2.58,118.05,0.868,4,0.056,0.058,3577,778,2262
$GC,1984,1.00,146.6,195.7,12.1,153,1989,0.00,2.40,0.00,0.000,6,0.000,0.049,3577,2183,2262
$GC,2306,1.12,244.8,174.2,5.5,169,2390,0.15,2.53,76.93,0.860,4,0.064,0.059,3611,775,1861
$GC,2585,1.12,244.8,142.0,11.4,184,2593,0.00,2.40,0.00,0.000,6,0.000,0.051,3611,2171,1860
$GC,2912,1.12,244.8,108.3,11.4,215,2916,0.00,2.47,0.00,0.000,4,0.000,0.081,3611,3586,1860
$GC,3055,1.12,244.8,91.2,10.8,227,3063,0.00,2.35,0.00,0.000,6,0.000,0.044,3611,2184,1860
$GC,3393,1.16,277.1,55.6,8.5,278,3427,0.00,2.47,25.98,0.808,4,0.000,0.076,3611,3590,1729
$GC,3438,1.16,277.1,51.3,10.7,286,3444,0.00,2.35,0.00,0.000,6,0.000,0.044,3611,2180,1729
$GC,3773,1.18,294.7,17.6,9.2,327,3796,0.00,2.50,15.02,0.769,4,0.000,0.074,3612,3593,1658
$GC,3840,1.18,294.7,11.0,10.0,333,3845,0.00,2.35,0.00,0.000,6,0.000,0.044,3611,2179,1658
$STATE,3972,end climb,SURFACE_DEPTH_REACHED
$STATE,3972,begin surface coast
$FINISH,0.6,1.008351
$STATE,4005,end surface coast,CONTROL_FINISHED_OK
$STATE,4005,begin surface
$SM_CCo,4024,152.10,0.729,0,0,425,597.31
$SM_GC,1.40,0.00,0.00,152.10,0.000,0.000,0.729,1375,2233,425,-9.14,0.37,597.31
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.027612
$HUMID,1851
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,16.80
$XPDR_PINGS,14
$ALTIM_BOTTOM_PING,150.4,76.2
$24V_AH,24.0,5.038
$10V_AH,10.7,2.107
$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,27.675,38.775,351.300,152.100,0.000,160.090,182.326,51.181,4.000,0.000,0.000,14.446,613.787,2407.303,547.365,880.790,449.905,33.329,985.369,0.000,876.174,0.000,5.552
$DEVICE_MAMPS,172.575,121.186,907.361,728.650,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,247.829,252.433,586.079,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15968,348
$CFSIZE,260165632,258150400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,180108,234025,4806.250,-12539.677,29,1.1,34,18.9