version: 66.02
glider: 119
mission: 3
dive: 96
start: 1 26 108 13 54 24
data:
$ID,119
$MISSION,3
$DIVE,96
$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,-16479.488
$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,34
$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
$GPS1,133937,4807.008,-12537.923,30,1.7,30,18.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-64.4
$GPS2,135333,4807.121,-12537.872,16,1.1,16,18.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,CAPE_FLATTERY
$TGT_LATLONG,4809.000,-12540.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.141,-0.223
$KALMAN_X,-29056.5,-363.9,578.7,32039.2,-32986.2
$KALMAN_Y,40897.6,2344.1,-1048.0,-33067.5,44231.1
$MHEAD_RNG_PITCHd_Wd,128.8,4362,-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,-111.68,0.000,2,0.000,0.000,1378,2230,2635
$GC,135,-1.00,-146.6,3.5,-4.9,11,178,12.20,2.47,-20.83,0.000,4,0.164,0.088,3137,3616,3460
$GC,296,-1.00,-146.6,32.2,-16.2,25,303,0.00,2.28,0.00,0.000,6,0.000,0.044,3137,2223,3460
$GC,634,-1.00,-146.6,91.2,-17.3,76,638,0.00,2.38,0.00,0.000,4,0.000,0.060,3137,808,3460
$GC,662,-1.00,-146.6,96.2,-17.9,78,666,0.00,2.30,0.00,0.000,6,0.000,0.047,3138,2212,3460
$GC,987,-1.00,-146.6,139.3,-11.7,108,991,0.00,2.35,0.00,0.000,4,0.000,0.058,3138,812,3460
$GC,1041,-1.00,-146.6,146.2,-11.7,112,1049,0.00,2.35,0.00,0.000,6,0.000,0.047,3138,2218,3460
$STATE,1203,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1203,begin apogee
$GC,1208,-0.23,0.0,165.2,12.1,122,1327,1.02,0.00,115.20,0.870,6,0.094,0.000,3309,2162,2860
$STATE,1327,end apogee,CONTROL_FINISHED_OK
$STATE,1327,begin climb
$GC,1329,1.00,146.6,170.7,0.0,128,1450,1.60,0.00,116.68,0.826,6,0.054,0.000,3581,2162,2262
$GC,1756,1.01,156.7,147.7,9.5,150,1767,0.00,0.00,9.65,0.781,6,0.000,0.000,3581,2162,2220
$GC,2086,1.08,207.7,118.7,7.7,181,2132,0.00,2.58,40.08,0.831,4,0.000,0.071,3581,3579,2013
$GC,2195,1.08,207.7,106.8,12.2,191,2200,0.00,2.38,0.00,0.000,6,0.000,0.043,3581,2180,2013
$GC,2521,1.20,309.6,83.5,5.4,221,2607,0.20,2.58,78.95,0.797,4,0.057,0.068,3624,3590,1596
$GC,2860,1.20,309.6,39.0,14.8,276,2866,0.00,2.35,0.00,0.000,6,0.000,0.042,3624,2178,1596
$STATE,3129,end climb,SURFACE_DEPTH_REACHED
$STATE,3129,begin surface coast
$FINISH,0.6,1.025163
$STATE,3142,end surface coast,CONTROL_FINISHED_OK
$STATE,3143,begin surface
$SM_CCo,3163,125.78,0.725,0,0,425,597.31
$SM_GC,1.35,0.00,0.00,125.78,0.000,0.000,0.725,1379,2231,425,-9.12,0.31,597.31
$IRIDIUM_FIX,4748.51,-12621.29,180497,101046
$TT8_MAMPS,0.027612
$HUMID,1852
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,16.60
$XPDR_PINGS,14
$ALTIM_BOTTOM_PING,150.3,23.0
$24V_AH,24.0,16.213
$10V_AH,10.7,6.997
$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,27.550,24.175,360.550,125.775,0.000,203.216,300.671,0.000,4.000,0.000,0.000,17.594,508.659,1828.800,573.648,649.034,580.604,33.332,908.141,0.000,644.985,0.000,5.415
$DEVICE_MAMPS,164.138,93.574,869.778,724.815,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,215.708,219.354,509.168,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12849,303
$CFSIZE,260165632,254279680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,260108,145020,4806.946,-12537.422,17,1.9,32,18.9