version: 66.02
glider: 119
mission: 3
dive: 92
start: 1 26 108 9 19 30
data:
$ID,119
$MISSION,3
$DIVE,92
$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,-16396.869
$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,29
$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
$GPS1,090939,4806.925,-12540.128,11,1.8,11,18.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-64.7
$GPS2,091838,4806.961,-12540.165,14,1.3,14,18.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,CAPE_FLATTERY
$TGT_LATLONG,4809.000,-12540.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.171,-0.201
$KALMAN_X,-26961.7,-677.2,642.5,27349.9,-25287.1
$KALMAN_Y,37951.0,1428.0,-826.7,-29722.7,33767.2
$MHEAD_RNG_PITCHd_Wd,120.7,3782,-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,-101.47,0.000,2,0.000,0.000,1374,2190,2446
$GC,125,-1.00,-146.6,3.1,-3.9,10,179,12.18,2.53,-31.92,0.000,4,0.164,0.085,3138,3617,3460
$GC,202,-1.00,-146.6,12.9,-16.6,17,206,0.00,2.30,0.00,0.000,6,0.000,0.043,3138,2223,3460
$GC,535,-1.00,-146.6,73.0,-17.7,63,541,0.00,2.38,0.00,0.000,4,0.000,0.061,3137,809,3460
$GC,596,-1.00,-146.6,83.9,-17.5,72,603,0.00,2.35,0.00,0.000,6,0.000,0.047,3138,2216,3460
$GC,921,-1.00,-146.6,133.1,-13.4,103,925,0.00,2.35,0.00,0.000,4,0.000,0.057,3138,816,3460
$GC,989,-1.00,-146.6,141.9,-11.9,109,993,0.00,2.30,0.00,0.000,6,0.000,0.048,3138,2220,3460
$GC,1306,-1.00,-146.6,180.7,-11.7,127,1310,0.00,2.35,0.00,0.000,4,0.000,0.058,3138,816,3460
$GC,1354,-1.00,-146.6,186.2,-11.2,129,1359,0.00,2.33,0.00,0.000,6,0.000,0.048,3138,2219,3460
$STATE,1571,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1571,begin apogee
$GC,1576,-0.23,0.0,211.5,11.9,140,1695,1.02,0.00,115.43,0.911,6,0.097,0.000,3308,2164,2860
$STATE,1696,end apogee,CONTROL_FINISHED_OK
$STATE,1696,begin climb
$GC,1698,1.00,146.6,216.1,0.0,146,1824,1.62,2.67,117.07,0.870,4,0.065,0.074,3577,3576,2262
$GC,2077,1.27,363.9,216.0,0.1,163,2257,0.28,2.38,171.55,0.867,6,0.044,0.042,3643,2184,1375
$GC,2571,1.27,363.9,120.4,23.0,193,2575,0.00,2.50,0.00,0.000,4,0.000,0.070,3643,3591,1376
$GC,2767,1.27,363.9,80.9,15.6,210,2771,0.00,2.38,0.00,0.000,6,0.000,0.043,3643,2174,1375
$GC,3109,1.27,363.9,23.2,17.7,262,3110,0.00,0.00,0.00,0.000,6,0.000,0.000,3643,2173,1375
$STATE,3235,end climb,SURFACE_DEPTH_REACHED
$STATE,3235,begin surface coast
$FINISH,0.8,1.024465
$STATE,3247,end surface coast,CONTROL_FINISHED_OK
$STATE,3247,begin surface
$SM_CCo,3267,101.40,0.739,0,0,425,597.31
$SM_GC,1.39,0.00,0.00,101.40,0.000,0.000,0.739,1378,2229,425,-9.14,0.25,597.31
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1851
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,16.40
$XPDR_PINGS,17
$ALTIM_BOTTOM_PING,150.3,69.7
$24V_AH,23.9,15.729
$10V_AH,10.6,6.824
$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,27.725,28.975,404.050,101.400,0.000,131.607,75.168,0.000,4.750,0.000,0.000,15.512,490.917,1877.574,562.233,712.755,279.724,33.338,947.365,0.000,705.763,0.000,5.538
$DEVICE_MAMPS,164.138,92.807,911.196,739.388,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,196.191,199.388,462.349,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12843,275
$CFSIZE,260165632,254435328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,260108,101655,4807.047,-12539.580,24,1.0,41,18.9