version: 66.02
glider: 119
mission: 3
dive: 98
start: 1 26 108 16 2 55
data:
$ID,119
$MISSION,3
$DIVE,98
$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,-16526.498
$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,34
$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
$GPS1,155437,4806.801,-12537.017,28,1.3,28,18.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-63.8
$GPS2,160203,4806.858,-12536.974,11,1.4,11,18.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,CAPE_FLATTERY
$TGT_LATLONG,4809.000,-12540.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.135,-0.227
$KALMAN_X,-29908.7,-66.6,598.4,33685.4,-42615.3
$KALMAN_Y,45269.3,485.0,-817.9,-36296.7,69341.4
$MHEAD_RNG_PITCHd_Wd,130.4,5451,-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,-146.6,0.0,0.0,0,133,0.00,0.00,-111.25,0.000,2,0.000,0.000,1378,2241,2635
$GC,135,-1.00,-146.6,3.4,-4.0,11,179,12.23,2.42,-21.35,0.000,4,0.164,0.084,3137,3611,3461
$GC,281,-1.00,-146.6,29.2,-17.1,24,285,0.00,2.30,0.00,0.000,6,0.000,0.044,3137,2220,3461
$GC,618,-1.00,-146.6,88.3,-17.8,74,622,0.00,2.38,0.00,0.000,4,0.000,0.061,3138,810,3461
$GC,680,-1.00,-146.6,99.8,-18.3,79,684,0.00,2.30,0.00,0.000,6,0.000,0.048,3138,2212,3461
$GC,1005,-1.00,-146.6,143.9,-12.3,109,1006,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2212,3461
$STATE,1117,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1117,begin apogee
$GC,1122,-0.23,0.0,157.8,11.9,117,1240,1.02,0.00,114.85,0.873,6,0.095,0.000,3308,2212,2860
$STATE,1241,end apogee,CONTROL_FINISHED_OK
$STATE,1241,begin climb
$GC,1243,1.00,146.6,163.2,0.0,123,1368,1.58,2.60,116.57,0.835,4,0.054,0.054,3579,765,2261
$GC,1581,1.03,169.0,149.2,9.0,138,1607,0.00,2.38,18.75,0.823,6,0.000,0.045,3579,2180,2169
$GC,1932,1.09,216.7,117.9,7.8,171,1976,0.00,2.53,37.65,0.832,4,0.000,0.071,3579,3587,1976
$GC,2183,1.11,237.1,96.2,9.1,193,2205,0.10,2.40,17.12,0.805,6,0.051,0.042,3606,2171,1892
$GC,2533,1.12,244.5,63.7,9.7,240,2546,0.00,2.53,7.55,0.728,4,0.000,0.067,3606,3590,1863
$GC,2653,1.12,244.5,50.8,10.4,261,2659,0.00,2.35,0.00,0.000,6,0.000,0.042,3605,2174,1863
$GC,2990,1.16,275.8,18.9,8.6,302,3022,0.00,2.47,25.35,0.789,4,0.000,0.068,3606,3582,1734
$STATE,3140,end climb,SURFACE_DEPTH_REACHED
$STATE,3140,begin surface coast
$FINISH,0.6,1.025124
$STATE,3149,end surface coast,CONTROL_FINISHED_OK
$STATE,3149,begin surface
$SM_CCo,3172,141.25,0.721,0,0,425,597.31
$SM_GC,1.28,0.00,0.00,141.25,0.000,0.000,0.721,1377,2199,425,-9.14,-0.59,597.31
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1825
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,18.60
$XPDR_PINGS,15
$ALTIM_BOTTOM_PING,150.4,15.0
$24V_AH,24.0,16.441
$10V_AH,10.6,7.083
$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,27.400,28.975,337.850,141.250,0.000,116.722,0.000,0.000,4.250,0.000,0.000,12.590,549.164,1706.168,552.893,768.119,199.171,33.339,945.525,0.000,765.979,0.000,5.392
$DEVICE_MAMPS,164.138,84.370,872.846,720.980,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,223.381,226.079,531.063,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15936,316
$CFSIZE,260165632,254193664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,260108,165911,4806.673,-12536.709,8,2.8,27,18.9