version: 66.02
glider: 119
mission: 3
dive: 87
start: 1 26 108 2 36 20
data:
$ID,119
$MISSION,3
$DIVE,87
$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,-16266.73
$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,24
$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
$GPS1,022743,4808.472,-12541.487,12,1.8,23,18.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-67.7
$GPS2,023529,4808.484,-12541.489,12,3.5,31,18.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,CAPE_FLATTERY
$TGT_LATLONG,4809.000,-12540.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.123,-0.233
$KALMAN_X,-20357.7,-259.8,315.0,19018.7,-8237.1
$KALMAN_Y,33083.1,-1189.6,-800.5,-19428.4,20101.9
$MHEAD_RNG_PITCHd_Wd,133.3,2074,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.00,-146.6,0.0,0.0,0,128,0.00,0.00,-106.80,0.000,2,0.000,0.000,1377,2215,2556
$GC,130,-1.00,-146.6,3.1,-3.5,11,171,12.23,0.00,-25.83,0.000,6,0.164,0.000,3136,2212,3461
$GC,494,-1.00,-146.6,71.6,-20.2,59,500,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2212,3461
$GC,826,-1.00,-146.6,129.2,-14.8,94,830,0.00,2.42,0.00,0.000,4,0.000,0.072,3136,3624,3461
$GC,854,-1.00,-146.6,133.2,-15.4,96,858,0.00,2.33,0.00,0.000,6,0.000,0.044,3136,2209,3461
$GC,1172,-1.00,-146.6,172.9,-12.7,117,1176,0.00,2.33,0.00,0.000,4,0.000,0.060,3136,817,3461
$GC,1215,-1.00,-146.6,178.6,-12.8,119,1219,0.00,2.33,0.00,0.000,6,0.000,0.048,3136,2219,3461
$GC,1542,-1.00,-146.6,220.0,-12.3,135,1546,0.00,2.35,0.00,0.000,4,0.000,0.059,3136,819,3461
$GC,1653,-1.00,-146.6,232.3,-3.8,140,1658,0.00,2.30,0.00,0.000,6,0.000,0.049,3136,2228,3461
$STATE,1793,end dive,NO_VERTICAL_VELOCITY
$STATE,1793,begin apogee
$GC,1798,-0.23,0.0,232.2,0.0,147,1918,0.98,0.00,116.00,0.925,6,0.064,0.000,3310,2173,2860
$STATE,1918,end apogee,CONTROL_FINISHED_OK
$STATE,1918,begin climb
$GC,1920,1.00,146.6,232.1,0.0,153,2046,1.55,2.65,117.45,0.881,4,0.056,0.071,3575,3580,2263
$GC,2057,1.11,232.8,229.2,6.1,159,2134,0.12,2.45,69.68,0.865,6,0.051,0.041,3603,2193,1909
$GC,2455,1.11,232.8,174.2,14.5,179,2459,0.00,2.45,0.00,0.000,4,0.000,0.060,3603,772,1910
$GC,2486,1.11,232.8,169.4,14.4,180,2494,0.00,2.40,0.00,0.000,6,0.000,0.048,3603,2178,1909
$GC,2807,1.11,232.8,122.7,13.5,204,2812,0.00,2.45,0.00,0.000,4,0.000,0.073,3603,3589,1909
$GC,2896,1.11,232.8,110.4,13.9,211,2903,0.00,2.38,0.00,0.000,6,0.000,0.044,3602,2179,1909
$GC,3222,1.19,295.5,80.2,7.1,242,3277,0.00,2.53,48.78,0.831,4,0.000,0.069,3603,3587,1655
$GC,3473,1.19,295.5,53.9,11.7,286,3479,0.00,2.35,0.00,0.000,6,0.000,0.043,3603,2178,1655
$GC,3810,1.19,295.5,14.3,11.9,328,3814,0.00,2.45,0.00,0.000,4,0.000,0.068,3603,3587,1654
$GC,3882,1.19,295.5,5.1,12.7,334,3886,0.00,2.33,0.00,0.000,6,0.000,0.043,3603,2175,1654
$STATE,3907,end climb,SURFACE_DEPTH_REACHED
$STATE,3907,begin surface coast
$FINISH,0.8,1.025211
$STATE,3919,end surface coast,CONTROL_FINISHED_OK
$STATE,3919,begin surface
$SM_CCo,3940,133.30,0.735,0,0,424,597.31
$SM_GC,1.49,0.00,0.00,133.30,0.000,0.000,0.735,1379,2231,424,-9.13,0.31,597.31
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1846
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,16.40
$XPDR_PINGS,15
$ALTIM_BOTTOM_PING,175.7,69.2
$24V_AH,23.9,15.131
$10V_AH,10.6,6.593
$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,27.200,38.650,351.900,133.300,0.000,116.609,0.000,0.000,4.500,0.000,0.000,33.510,574.997,2423.522,577.134,780.851,195.132,33.364,968.663,0.000,757.235,0.000,7.152
$DEVICE_MAMPS,164.138,93.574,925.002,734.786,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,240.445,244.952,566.687,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15973,337
$CFSIZE,260165632,254636032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,260108,034525,4807.926,-12541.105,37,1.3,37,18.9