version: 66.03
glider: 119
mission: 4
dive: 12
start: 7 24 108 5 1 22
data:
$ID,119
$MISSION,4
$DIVE,12
$D_SURF,5
$D_FLARE,3
$D_TGT,150
$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,62.5
$T_MISSION,80
$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,48.130001
$TGT_DEFAULT_LON,-122.366
$TGT_AUTO_DEFAULT,0
$SM_CC,600
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,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,-208798.47
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,863
$PITCH_MAX,3325
$C_PITCH,2670
$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,200
$ROLL_MAX,3772
$ROLL_DEG,40
$C_ROLL_DIVE,2075
$C_ROLL_CLIMB,2175
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,403
$VBD_MAX,3857
$C_VBD,3245
$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,0
$AH0_24V,147
$AH0_10V,122.2
$PRESSURE_YINT,-4.1069918
$PRESSURE_SLOPE,0.0001159777
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,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,50
$ALTIM_PING_DELTA,10
$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,0.0044304794
$SEABIRD_T_H,0.00064686994
$SEABIRD_T_I,2.8000688e-05
$SEABIRD_T_J,3.1833417e-06
$SEABIRD_C_G,-9.8991232
$SEABIRD_C_H,1.099651
$SEABIRD_C_I,-0.0012204468
$SEABIRD_C_J,0.00018128238
$GPS1,045709,4807.947,-12223.152,8,1.7,8,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.33
$_SM_ANGLEo,-69.6
$GPS2,050032,4807.995,-12223.177,15,1.7,15,18.3
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.033,-0.243
$KALMAN_X,-697.3,-150.5,-64.5,855.8,-124.3
$KALMAN_Y,4555.0,672.5,171.7,-5604.6,906.5
$MHEAD_RNG_PITCHd_Wd,153.9,1855,-14.8,-8.000
$D_GRID,150
$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,28,end surface,CONTROL_FINISHED_OK
$STATE,28,begin dive
$GC,31,-0.85,-146.6,0.0,0.0,0,125,0.00,0.00,-91.88,0.000,2,0.000,0.000,865,2067,3089
$GC,128,-0.85,-146.6,3.2,-5.7,17,163,11.02,2.35,-16.70,0.000,4,0.153,0.090,2477,3478,3843
$GC,175,-0.85,-146.6,10.5,-9.2,25,181,0.00,2.28,0.00,0.000,6,0.000,0.061,2477,2070,3843
$GC,249,-0.85,-146.6,18.5,-11.2,38,255,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2070,3843
$GC,319,-0.85,-146.6,26.4,-10.8,46,323,0.00,2.35,0.00,0.000,4,0.000,0.077,2477,3484,3844
$GC,363,-0.85,-146.6,32.1,-12.2,49,370,0.00,2.30,0.00,0.000,6,0.000,0.064,2477,2080,3844
$GC,570,-0.85,-146.6,55.3,-11.1,67,571,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2080,3845
$GC,879,-0.85,-146.6,87.5,-9.9,82,883,0.00,2.35,0.00,0.000,4,0.000,0.084,2477,3484,3845
$GC,928,-0.85,-146.6,92.8,-10.4,84,932,0.00,2.33,0.00,0.000,6,0.000,0.070,2477,2074,3844
$STATE,1116,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1116,begin apogee
$GC,1122,-0.23,0.0,111.1,9.3,98,1239,0.77,0.00,112.07,0.817,6,0.076,0.000,2614,2181,3245
$STATE,1240,end apogee,CONTROL_FINISHED_OK
$STATE,1240,begin climb
$GC,1242,0.85,146.6,114.8,0.0,110,1360,1.33,0.00,113.38,0.787,6,0.038,0.000,2855,2181,2647
$GC,1668,0.85,146.6,68.5,13.0,140,1672,0.00,2.40,0.00,0.000,4,0.000,0.094,2855,3576,2647
$GC,1924,0.85,146.6,34.4,12.8,156,1931,0.00,2.35,0.00,0.000,6,0.000,0.076,2855,2178,2646
$GC,2125,0.85,146.6,14.3,8.8,180,2131,0.00,2.38,0.00,0.000,4,0.000,0.091,2855,3574,2645
$GC,2273,1.23,449.6,6.4,-3.0,206,2373,0.43,2.30,93.62,0.762,2,0.048,0.072,2938,2166,2138
$STATE,2374,end climb,SURFACE_DEPTH_REACHED
$STATE,2374,begin surface coast
$FINISH,2.2,1.017977
$STATE,2614,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2614,begin surface
$SM_CCo,2634,144.32,0.717,0,0,798,600.00
$SM_GC,0.25,0.00,0.00,144.32,0.000,0.000,0.717,861,2073,798,-8.32,-0.06,600.00
$IRIDIUM_FIX,4751.72,-12214.67,181097,040421
$TT8_MAMPS,0.027612
$HUMID,2149
$INTERNAL_PRESSURE,8.76987
$TCM_TEMP,18.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.5,30.2
$24V_AH,24.2,32.699
$10V_AH,10.7,21.624
$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,25.325,23.700,319.075,144.325,0.000,23.712,25.414,75.049,1.500,0.000,0.000,17.387,424.715,1281.407,494.920,603.222,193.202,33.329,840.160,0.000,594.574,0.000,12.692
$DEVICE_MAMPS,152.633,93.574,816.855,717.145,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,174.451,191.894,450.657,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12828,267
$CAP_FILE_SIZE,34060,0
$CFSIZE,260165632,258777088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,240708,054901,4807.879,-12223.089,38,1.4,44,18.3