version: 66.02
glider: 119
mission: 3
dive: 91
start: 1 26 108 7 55 28
data:
$ID,119
$MISSION,3
$DIVE,91
$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,-16380.728
$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,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
$GPS1,074639,4806.771,-12540.524,9,1.5,9,18.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-67.9
$GPS2,075437,4806.791,-12540.562,27,1.3,44,18.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,CAPE_FLATTERY
$TGT_LATLONG,4809.000,-12540.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.176,-0.196
$KALMAN_X,-25651.4,-587.9,689.7,25414.9,-24593.4
$KALMAN_Y,35881.5,1519.9,-1026.3,-27860.9,32186.2
$MHEAD_RNG_PITCHd_Wd,119.1,4151,-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,-111.68,0.000,2,0.000,0.000,1377,2232,2650
$GC,135,-1.00,-146.6,3.3,-3.1,11,171,12.27,0.00,-20.67,0.000,6,0.166,0.000,3137,2231,3461
$GC,499,-1.00,-146.6,72.2,-19.2,59,505,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2231,3461
$GC,831,-1.00,-146.6,127.8,-13.0,94,835,0.00,2.40,0.00,0.000,4,0.000,0.059,3137,809,3461
$GC,919,-1.00,-146.6,139.2,-12.2,101,926,0.00,2.33,0.00,0.000,6,0.000,0.048,3138,2211,3461
$GC,1248,-1.00,-146.6,178.2,-11.7,122,1249,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2211,3461
$GC,1557,-1.00,-146.6,213.6,-11.4,137,1558,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2211,3461
$STATE,1658,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1658,begin apogee
$GC,1663,-0.23,0.0,225.3,11.5,142,1782,1.02,0.00,115.85,0.921,6,0.100,0.000,3307,2211,2860
$STATE,1783,end apogee,CONTROL_FINISHED_OK
$STATE,1783,begin climb
$GC,1785,1.00,146.6,229.2,0.0,148,1912,1.62,2.58,117.15,0.877,4,0.064,0.072,3576,3580,2262
$GC,2164,1.01,156.4,206.3,9.6,165,2179,0.00,2.38,9.48,0.806,6,0.000,0.042,3577,2186,2221
$GC,2502,1.05,182.4,176.6,8.8,182,2528,0.00,2.50,21.42,0.873,4,0.000,0.070,3577,3583,2116
$GC,2780,1.05,182.4,145.5,10.2,196,2787,0.00,2.38,0.00,0.000,6,0.000,0.043,3577,2174,2116
$GC,3106,1.12,240.7,119.2,7.3,227,3160,0.15,2.53,45.53,0.855,4,0.065,0.071,3607,3581,1878
$GC,3261,1.12,240.7,102.0,11.4,241,3265,0.00,2.38,0.00,0.000,6,0.000,0.043,3607,2174,1878
$GC,3592,1.14,257.7,68.5,9.2,281,3614,0.00,2.50,14.70,0.811,4,0.000,0.071,3607,3579,1808
$GC,3778,1.14,257.7,48.2,11.1,314,3784,0.00,2.33,0.00,0.000,6,0.000,0.044,3607,2179,1809
$GC,4112,1.14,257.7,13.9,10.3,352,4116,0.00,2.38,0.00,0.000,4,0.000,0.061,3607,773,1808
$GC,4146,1.14,257.7,10.2,10.7,355,4150,0.00,2.33,0.00,0.000,6,0.000,0.048,3607,2185,1808
$STATE,4224,end climb,SURFACE_DEPTH_REACHED
$STATE,4224,begin surface coast
$FINISH,0.7,1.025188
$STATE,4236,end surface coast,CONTROL_FINISHED_OK
$STATE,4236,begin surface
$SM_CCo,4255,149.20,0.727,0,0,425,597.31
$SM_GC,1.41,0.00,0.00,149.20,0.000,0.000,0.727,1375,2190,425,-9.14,-0.85,597.31
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1844
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,16.50
$XPDR_PINGS,15
$ALTIM_BOTTOM_PING,151.3,82.1
$24V_AH,23.9,15.601
$10V_AH,10.7,6.783
$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,27.325,28.975,324.125,149.200,0.000,116.670,0.000,0.000,4.250,0.000,0.000,45.712,624.532,2608.677,561.897,904.490,197.656,33.344,990.809,0.000,866.341,0.000,5.571
$DEVICE_MAMPS,166.439,72.098,921.167,727.116,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,259.446,263.225,610.098,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19064,363
$CFSIZE,260165632,254468096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,260108,090939,4806.925,-12540.128,11,1.8,11,18.9