version: 66.02
glider: 119
mission: 3
dive: 97
start: 1 26 108 15 0 32
data:
$ID,119
$MISSION,3
$DIVE,97
$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,-16513.279
$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,32
$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
$GPS1,145020,4806.946,-12537.422,17,1.9,32,18.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-64.9
$GPS2,145941,4807.015,-12537.342,11,3.7,30,18.9
$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,-29537.4,-241.7,594.1,33037.4,-38409.7
$KALMAN_Y,43725.4,1199.0,-839.4,-35158.1,59106.4
$MHEAD_RNG_PITCHd_Wd,128.7,4930,-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,-111.70,0.000,2,0.000,0.000,1379,2233,2631
$GC,135,-1.00,-146.6,3.5,-4.2,11,179,12.18,2.42,-21.55,0.000,4,0.164,0.084,3138,3609,3460
$GC,269,-1.00,-146.6,26.7,-17.2,23,273,0.00,2.30,0.00,0.000,6,0.000,0.044,3138,2218,3460
$GC,611,-1.00,-146.6,85.8,-17.4,74,615,0.00,2.35,0.00,0.000,4,0.000,0.060,3138,816,3460
$GC,633,-1.00,-146.6,90.0,-19.2,76,637,0.00,2.30,0.00,0.000,6,0.000,0.048,3138,2216,3460
$GC,963,-1.00,-146.6,135.5,-13.0,107,968,0.00,2.35,0.00,0.000,4,0.000,0.057,3138,816,3460
$GC,1003,-1.00,-146.6,140.7,-13.4,110,1007,0.00,2.30,0.00,0.000,6,0.000,0.048,3138,2230,3460
$STATE,1149,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1149,begin apogee
$GC,1154,-0.23,0.0,157.7,11.6,121,1273,1.02,0.00,114.90,0.871,6,0.094,0.000,3309,2163,2860
$STATE,1274,end apogee,CONTROL_FINISHED_OK
$STATE,1274,begin climb
$GC,1275,1.00,146.6,163.4,0.0,127,1402,1.58,2.55,116.43,0.831,4,0.050,0.056,3579,781,2261
$GC,1541,1.01,155.7,157.4,9.6,139,1557,0.00,2.40,8.82,0.757,6,0.000,0.046,3579,2177,2225
$GC,1876,1.01,156.5,125.5,10.0,167,1879,0.00,2.45,0.00,0.000,4,0.000,0.071,3579,3585,2224
$GC,1966,1.08,212.9,118.0,7.4,175,2020,0.00,2.33,44.67,0.832,6,0.000,0.042,3579,2183,1991
$GC,2337,1.17,285.8,84.9,6.7,210,2402,0.17,2.55,57.10,0.808,4,0.059,0.067,3619,3591,1694
$GC,2430,1.17,285.8,74.9,13.6,221,2436,0.00,2.40,0.00,0.000,6,0.000,0.041,3619,2181,1694
$GC,2770,1.17,285.8,30.4,12.7,275,2771,0.00,0.00,0.00,0.000,6,0.000,0.000,3619,2181,1693
$STATE,3012,end climb,SURFACE_DEPTH_REACHED
$STATE,3012,begin surface coast
$FINISH,0.6,1.012651
$STATE,3024,end surface coast,CONTROL_FINISHED_OK
$STATE,3024,begin surface
$SM_CCo,3045,137.07,0.730,0,0,425,597.31
$SM_GC,1.36,0.00,0.00,137.07,0.000,0.000,0.730,1378,2239,425,-9.13,0.54,597.31
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1837
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,16.70
$XPDR_PINGS,11
$ALTIM_BOTTOM_PING,150.6,16.9
$24V_AH,24.0,16.329
$10V_AH,10.6,7.040
$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,27.425,28.900,341.925,137.075,0.000,135.583,75.168,0.000,3.250,0.000,0.000,33.161,515.525,1692.010,557.486,706.910,286.891,33.335,919.392,0.000,682.070,0.000,5.399
$DEVICE_MAMPS,164.138,90.506,870.545,730.184,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,212.782,214.623,502.635,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12782,299
$CFSIZE,260165632,254234624
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,260108,155437,4806.801,-12537.017,28,1.3,28,18.9