version: 66.02
glider: 119
mission: 3
dive: 103
start: 1 26 108 20 55 4
data:
$ID,119
$MISSION,3
$DIVE,103
$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,-16675.217
$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,34
$R_STBD_OVSHOOT,35
$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
$GPS1,204632,4806.769,-12536.819,9,1.2,14,18.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-62.2
$GPS2,205413,4806.810,-12536.843,12,1.2,28,18.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,CAPE_FLATTERY
$TGT_LATLONG,4809.000,-12540.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.127,-0.231
$KALMAN_X,-29677.7,-2651.6,476.2,36328.3,-48185.9
$KALMAN_Y,46438.3,4426.0,-747.4,-41572.5,84983.5
$MHEAD_RNG_PITCHd_Wd,132.4,5627,-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,-146.6,0.0,0.0,0,129,0.00,0.00,-107.32,0.000,2,0.000,0.000,1376,2238,2517
$GC,132,-1.00,-146.6,3.2,-3.9,10,176,12.15,2.47,-26.15,0.000,4,0.163,0.087,3139,3620,3461
$GC,345,-1.00,-146.6,39.3,-16.4,29,349,0.00,2.30,0.00,0.000,6,0.000,0.043,3139,2224,3461
$GC,682,-1.00,-146.6,93.9,-15.4,81,686,0.00,2.35,0.00,0.000,4,0.000,0.058,3139,816,3460
$GC,748,-1.00,-146.6,103.5,-14.4,86,755,0.00,2.30,0.00,0.000,6,0.000,0.048,3139,2204,3461
$GC,1076,-1.00,-146.6,145.8,-12.4,117,1080,0.00,2.33,0.00,0.000,4,0.000,0.058,3139,815,3461
$GC,1142,-1.00,-146.6,154.1,-11.6,121,1146,0.00,2.35,0.00,0.000,6,0.000,0.048,3139,2221,3461
$STATE,1152,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1152,begin apogee
$GC,1157,-0.23,0.0,155.4,11.7,121,1275,1.00,0.00,114.43,0.862,6,0.096,0.000,3307,2168,2860
$STATE,1276,end apogee,CONTROL_FINISHED_OK
$STATE,1276,begin climb
$GC,1278,1.00,146.6,160.9,0.0,127,1402,1.58,2.47,116.10,0.829,4,0.054,0.053,3578,780,2261
$GC,1654,1.04,178.9,144.9,8.5,146,1685,0.00,2.38,26.17,0.831,6,0.000,0.045,3578,2184,2129
$GC,2010,1.13,249.8,109.6,6.8,180,2075,0.15,2.53,55.45,0.820,4,0.064,0.055,3612,784,1840
$GC,2097,1.13,249.8,100.7,12.9,188,2102,0.00,2.40,0.00,0.000,6,0.000,0.048,3613,2180,1840
$GC,2428,1.13,249.8,68.8,10.7,228,2434,0.00,2.40,0.00,0.000,4,0.000,0.056,3612,772,1839
$GC,2547,1.13,249.8,55.9,11.1,249,2553,0.00,2.33,0.00,0.000,6,0.000,0.047,3612,2183,1840
$GC,2879,1.13,249.8,18.5,11.0,292,2881,0.00,0.00,0.00,0.000,6,0.000,0.000,3612,2183,1840
$STATE,3047,end climb,SURFACE_DEPTH_REACHED
$STATE,3048,begin surface coast
$FINISH,0.7,1.018429
$STATE,3070,end surface coast,CONTROL_FINISHED_OK
$STATE,3070,begin surface
$SM_CCo,3090,152.43,0.730,0,0,425,597.31
$SM_GC,1.21,0.00,0.00,152.43,0.000,0.000,0.730,1376,2186,425,-9.14,-0.96,597.31
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.027612
$HUMID,1837
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,16.80
$XPDR_PINGS,15
$ALTIM_BOTTOM_PING,150.7,14.6
$24V_AH,24.0,17.110
$10V_AH,10.6,7.260
$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,27.175,28.675,312.150,152.425,0.000,115.676,0.000,0.000,4.250,0.000,0.000,30.111,543.801,1681.964,544.852,758.014,193.465,33.326,923.589,0.000,736.188,0.000,5.391
$DEVICE_MAMPS,163.371,92.040,862.108,730.184,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,218.559,221.428,521.580,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15973,310
$CFSIZE,260165632,254001152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,260108,214957,4806.856,-12536.901,15,1.6,15,18.9