version: 66.02
glider: 119
mission: 3
dive: 116
start: 1 27 108 10 53 53
data:
$ID,119
$MISSION,3
$DIVE,116
$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,-17022.463
$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,27
$R_STBD_OVSHOOT,39
$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
$GPS1,103745,4805.893,-12535.075,8,1.1,8,18.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-64.9
$GPS2,105302,4805.949,-12534.971,13,1.1,30,18.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,CAPE_FLATTERY
$TGT_LATLONG,4809.000,-12540.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.108,-0.241
$KALMAN_X,-31788.8,710.2,511.9,37358.8,-33968.1
$KALMAN_Y,52663.7,2352.2,-974.5,-47086.3,67759.6
$MHEAD_RNG_PITCHd_Wd,137.0,8399,-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,-146.6,0.0,0.0,0,134,0.00,0.00,-111.70,0.000,2,0.000,0.000,1377,2233,2593
$GC,136,-1.00,-146.6,3.2,-4.3,11,180,12.23,2.40,-23.60,0.000,4,0.165,0.084,3135,3611,3459
$GC,371,-1.00,-146.6,42.0,-15.8,33,377,0.00,2.30,0.00,0.000,6,0.000,0.044,3135,2213,3459
$GC,709,-1.00,-146.6,94.8,-14.8,85,713,0.00,2.35,0.00,0.000,4,0.000,0.059,3135,811,3459
$GC,732,-1.00,-146.6,98.0,-14.8,87,736,0.00,2.30,0.00,0.000,6,0.000,0.048,3135,2212,3459
$GC,1062,-1.00,-146.6,140.6,-11.5,118,1066,0.00,2.35,0.00,0.000,4,0.000,0.058,3136,814,3459
$GC,1117,-1.00,-146.6,147.7,-12.7,122,1124,0.00,2.33,0.00,0.000,6,0.000,0.048,3135,2215,3459
$STATE,1164,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1164,begin apogee
$GC,1169,-0.23,0.0,152.6,10.7,126,1287,1.05,0.00,115.07,0.880,6,0.094,0.000,3311,2215,2860
$STATE,1288,end apogee,CONTROL_FINISHED_OK
$STATE,1288,begin climb
$GC,1290,1.00,146.6,157.1,0.0,132,1415,1.55,2.50,116.68,0.844,4,0.057,0.069,3576,3587,2262
$GC,1667,1.05,181.3,142.5,8.4,152,1705,0.00,2.40,28.02,0.832,6,0.000,0.041,3576,2174,2120
$GC,2023,1.05,188.7,107.2,9.7,186,2037,0.00,2.53,7.78,0.739,4,0.000,0.069,3576,3585,2090
$GC,2095,1.09,217.0,100.8,8.7,192,2124,0.12,2.33,22.80,0.813,6,0.067,0.042,3601,2182,1975
$GC,2446,1.14,256.6,72.1,8.2,234,2486,0.00,2.45,31.88,0.811,4,0.000,0.059,3601,778,1812
$GC,2554,1.14,256.6,61.1,11.3,253,2560,0.00,2.35,0.00,0.000,6,0.000,0.046,3601,2182,1812
$GC,2889,1.14,256.6,24.4,11.9,301,2893,0.00,2.42,0.00,0.000,4,0.000,0.071,3601,3584,1812
$GC,2922,1.14,256.6,20.6,12.1,303,2928,0.00,2.35,0.00,0.000,6,0.000,0.042,3601,2183,1812
$STATE,3107,end climb,SURFACE_DEPTH_REACHED
$STATE,3107,begin surface coast
$FINISH,0.7,1.025184
$STATE,3119,end surface coast,CONTROL_FINISHED_OK
$STATE,3119,begin surface
$SM_CCo,3140,148.85,0.746,0,0,425,597.31
$SM_GC,1.35,0.00,0.00,148.85,0.000,0.000,0.746,1376,2236,425,-9.14,0.45,597.31
$IRIDIUM_FIX,4751.72,-12513.52,220497,101006
$TT8_MAMPS,0.028379
$HUMID,1840
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,16.70
$XPDR_PINGS,11
$ALTIM_BOTTOM_PING,150.5,10.9
$24V_AH,24.0,18.625
$10V_AH,10.6,7.817
$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,27.275,33.425,322.225,148.850,0.000,207.133,354.643,0.000,3.250,0.000,0.000,32.412,555.061,1683.558,558.625,775.185,648.144,33.331,950.132,0.000,750.864,0.000,5.382
$DEVICE_MAMPS,164.905,103.545,879.749,746.291,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,229.840,229.398,541.207,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15931,322
$CFSIZE,260165632,253472768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,270108,114950,4806.033,-12534.511,33,1.4,33,18.9