version: 66.02
glider: 119
mission: 3
dive: 88
start: 1 26 108 3 53 43
data:
$ID,119
$MISSION,3
$DIVE,88
$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,-16282.1
$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,33
$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
$GPS1,034525,4807.926,-12541.105,37,1.3,37,18.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-67.6
$GPS2,035251,4807.910,-12541.123,13,1.5,13,18.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,CAPE_FLATTERY
$TGT_LATLONG,4809.000,-12540.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.120,-0.235
$KALMAN_X,-21136.1,-448.2,136.0,20618.8,-13346.4
$KALMAN_Y,33903.9,-685.9,-762.8,-21851.3,30768.7
$MHEAD_RNG_PITCHd_Wd,134.0,2450,-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,-146.6,0.0,0.0,0,123,0.00,0.00,-101.62,0.000,2,0.000,0.000,1379,2233,2436
$GC,125,-1.00,-146.6,3.0,-3.6,10,179,12.20,2.45,-32.50,0.000,4,0.164,0.085,3140,3617,3460
$GC,306,-1.00,-146.6,31.3,-16.9,26,314,0.00,2.33,0.00,0.000,6,0.000,0.043,3140,2228,3460
$GC,649,-1.00,-146.6,94.3,-17.7,76,650,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2228,3460
$GC,966,-1.00,-146.6,141.7,-13.0,106,970,0.00,2.40,0.00,0.000,4,0.000,0.071,3140,3621,3460
$GC,993,-1.00,-146.6,145.4,-13.8,108,1000,0.00,2.33,0.00,0.000,6,0.000,0.043,3140,2213,3460
$GC,1310,-1.00,-146.6,184.0,-11.3,126,1314,0.00,2.33,0.00,0.000,4,0.000,0.059,3140,817,3460
$GC,1381,-1.00,-146.6,192.9,-12.0,129,1385,0.00,2.30,0.00,0.000,6,0.000,0.048,3141,2208,3460
$STATE,1577,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1577,begin apogee
$GC,1581,-0.23,0.0,216.2,11.7,139,1700,1.02,0.00,115.53,0.913,6,0.099,0.000,3310,2208,2860
$STATE,1701,end apogee,CONTROL_FINISHED_OK
$STATE,1701,begin climb
$GC,1703,1.00,146.6,221.9,0.0,145,1828,1.55,2.65,117.15,0.873,4,0.055,0.057,3576,780,2262
$GC,1945,1.04,175.0,219.9,8.7,156,1975,0.00,2.40,23.48,0.863,6,0.000,0.046,3576,2188,2146
$GC,2292,1.06,192.9,186.1,9.2,173,2314,0.00,2.47,16.08,0.858,4,0.000,0.071,3576,3589,2073
$GC,2392,1.06,192.9,175.5,11.8,177,2396,0.00,2.40,0.00,0.000,6,0.000,0.042,3576,2183,2073
$GC,2715,1.06,192.9,142.3,10.2,196,2719,0.00,2.40,0.00,0.000,4,0.000,0.058,3576,768,2072
$GC,2758,1.06,192.9,137.8,10.3,199,2765,0.00,2.38,0.00,0.000,6,0.000,0.048,3576,2184,2072
$GC,3084,1.11,233.5,107.7,8.1,230,3122,0.15,2.47,31.92,0.851,4,0.064,0.072,3609,3590,1906
$GC,3160,1.11,233.5,99.3,13.7,236,3167,0.00,2.40,0.00,0.000,6,0.000,0.043,3610,2183,1906
$GC,3493,1.15,267.7,66.6,8.4,281,3527,0.00,2.47,27.40,0.818,4,0.000,0.068,3610,3581,1768
$GC,3779,1.15,267.7,33.4,12.2,327,3786,0.00,2.35,0.00,0.000,6,0.000,0.042,3610,2184,1767
$STATE,4060,end climb,SURFACE_DEPTH_REACHED
$STATE,4060,begin surface coast
$FINISH,0.8,1.025213
$STATE,4074,end surface coast,CONTROL_FINISHED_OK
$STATE,4074,begin surface
$SM_CCo,4094,146.48,0.726,0,0,424,597.31
$SM_GC,1.49,0.00,0.00,146.48,0.000,0.000,0.726,1379,2174,424,-9.12,-1.27,597.31
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1839
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,16.60
$XPDR_PINGS,14
$ALTIM_BOTTOM_PING,151.3,74.6
$24V_AH,23.9,15.247
$10V_AH,10.7,6.641
$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,27.325,38.525,331.550,146.475,0.000,116.607,0.000,0.000,4.000,0.000,0.000,14.740,613.477,2490.607,573.269,827.338,197.625,33.343,991.549,0.000,821.057,0.000,5.551
$DEVICE_MAMPS,164.138,85.137,912.730,725.582,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,251.413,258.035,597.072,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15994,355
$CFSIZE,260165632,254595072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,260108,050537,4807.350,-12541.055,35,0.9,39,18.9