version: 66.02
glider: 119
mission: 3
dive: 89
start: 1 26 108 5 13 55
data:
$ID,119
$MISSION,3
$DIVE,89
$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,-16296.805
$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,30
$R_STBD_OVSHOOT,27
$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
$GPS1,050537,4807.350,-12541.055,35,0.9,39,18.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-69.2
$GPS2,051303,4807.329,-12541.061,12,1.2,12,18.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,CAPE_FLATTERY
$TGT_LATLONG,4809.000,-12540.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.143,-0.221
$KALMAN_X,-22366.6,-520.1,256.1,21880.9,-16575.7
$KALMAN_Y,34048.7,37.9,-824.8,-23742.3,30676.1
$MHEAD_RNG_PITCHd_Wd,128.1,3361,-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,-146.6,0.0,0.0,0,133,0.00,0.00,-111.57,0.000,2,0.000,0.000,1379,2174,2684
$GC,135,-1.00,-146.6,3.6,-4.2,11,172,12.18,2.53,-18.95,0.000,4,0.163,0.084,3137,3625,3458
$GC,240,-1.00,-146.6,24.2,-18.3,20,244,0.00,2.33,0.00,0.000,6,0.000,0.043,3137,2221,3459
$GC,580,-1.00,-146.6,89.0,-19.2,69,581,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2216,3458
$GC,899,-1.00,-146.6,134.7,-12.2,99,902,0.00,2.42,0.00,0.000,4,0.000,0.073,3137,3622,3459
$GC,925,-1.00,-146.6,138.0,-11.9,101,932,0.00,2.33,0.00,0.000,6,0.000,0.043,3137,2219,3459
$GC,1254,-1.00,-146.6,182.6,-13.3,122,1258,0.00,2.35,0.00,0.000,4,0.000,0.060,3137,809,3458
$GC,1331,-1.00,-146.6,192.8,-12.5,125,1339,0.00,2.33,0.00,0.000,6,0.000,0.048,3137,2215,3458
$STATE,1625,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1625,begin apogee
$GC,1629,-0.23,0.0,229.6,12.2,140,1748,1.02,0.00,115.22,0.911,6,0.094,0.000,3309,2215,2860
$STATE,1749,end apogee,CONTROL_FINISHED_OK
$STATE,1749,begin climb
$GC,1751,1.00,146.6,235.2,0.0,146,1876,1.55,2.65,117.18,0.865,4,0.053,0.055,3576,777,2262
$GC,1922,1.07,201.9,235.9,7.5,154,1972,0.00,2.42,45.12,0.866,6,0.000,0.046,3576,2185,2036
$GC,2294,1.07,201.9,192.7,12.0,172,2295,0.00,0.00,0.00,0.000,6,0.000,0.000,3576,2185,2035
$GC,2602,1.07,201.9,158.6,11.1,187,2606,0.00,2.40,0.00,0.000,4,0.000,0.058,3576,777,2035
$GC,2687,1.13,251.9,151.1,7.7,191,2733,0.17,2.33,39.60,0.861,6,0.068,0.048,3608,2178,1831
$GC,3057,1.13,251.9,106.2,13.6,225,3061,0.00,2.45,0.00,0.000,4,0.000,0.074,3609,3583,1831
$GC,3253,1.13,251.9,78.4,13.9,242,3259,0.00,2.30,0.00,0.000,6,0.000,0.044,3609,2179,1831
$GC,3596,1.18,288.2,43.8,8.3,303,3630,0.00,2.53,28.83,0.811,4,0.000,0.069,3609,3586,1684
$GC,3687,1.18,288.2,33.6,12.3,315,3691,0.00,2.35,0.00,0.000,6,0.000,0.043,3609,2179,1684
$STATE,3967,end climb,SURFACE_DEPTH_REACHED
$STATE,3967,begin surface coast
$FINISH,0.7,1.001373
$STATE,3980,end surface coast,CONTROL_FINISHED_OK
$STATE,3980,begin surface
$SM_CCo,4000,136.48,0.724,0,0,425,597.31
$SM_GC,1.40,0.00,0.00,136.48,0.000,0.000,0.724,1378,2233,425,-9.13,0.37,597.31
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1852
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,16.60
$XPDR_PINGS,15
$ALTIM_BOTTOM_PING,151.5,87.3
$24V_AH,24.0,15.363
$10V_AH,10.6,6.687
$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,27.350,33.775,345.950,136.475,0.000,116.617,0.000,0.000,4.250,0.000,0.000,14.073,590.207,2459.116,557.269,797.537,194.197,33.336,961.194,0.000,790.911,0.000,5.585
$DEVICE_MAMPS,162.604,105.846,911.196,724.048,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,242.670,248.807,575.579,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15989,342
$CFSIZE,260165632,254554112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,260108,062358,4806.930,-12540.794,11,5.0,30,18.9