version: 66.03
glider: 119
mission: 4
dive: 17
start: 7 24 108 9 32 29
data:
$ID,119
$MISSION,4
$DIVE,17
$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,-208914.48
$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,20
$R_STBD_OVSHOOT,17
$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
$GPS1,091845,4807.000,-12222.851,8,1.8,8,18.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.26
$_SM_ANGLEo,-69.2
$GPS2,093139,4806.861,-12222.771,12,1.5,12,18.3
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.139,-0.001
$KALMAN_X,-619.7,-168.3,30.0,1200.6,113.6
$KALMAN_Y,7231.7,669.0,-94.4,-10101.8,252.6
$MHEAD_RNG_PITCHd_Wd,251.3,382,-27.7,-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,-1.31,-44.4,0.0,0.0,0,136,0.00,0.00,-102.72,0.000,2,0.000,0.000,860,2075,3052
$GC,139,-1.34,-67.4,3.3,-5.2,19,168,10.23,2.35,-10.23,0.000,4,0.149,0.087,2372,3483,3522
$GC,269,-1.34,-67.4,22.7,-11.8,40,275,0.00,2.30,0.00,0.000,6,0.000,0.062,2373,2075,3521
$GC,466,-1.34,-67.4,49.6,-14.8,59,474,0.00,2.33,0.00,0.000,4,0.000,0.076,2372,3486,3522
$GC,501,-1.34,-67.4,55.2,-15.5,61,505,0.00,2.33,0.00,0.000,6,0.000,0.066,2373,2071,3521
$GC,822,-1.34,-67.4,97.0,-12.3,77,826,0.00,2.35,0.00,0.000,4,0.000,0.082,2373,3484,3522
$STATE,916,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,916,begin apogee
$GC,923,-0.23,0.0,109.8,14.4,84,980,1.45,0.00,51.75,0.809,6,0.099,0.000,2612,2173,3245
$STATE,981,end apogee,CONTROL_FINISHED_OK
$STATE,981,begin climb
$GC,983,1.34,67.4,111.7,0.0,90,1047,1.90,2.53,52.35,0.786,4,0.039,0.091,2964,771,2970
$GC,1093,1.34,67.4,102.4,12.1,100,1097,0.00,2.40,0.00,0.000,6,0.000,0.077,2964,2183,2970
$GC,1409,1.34,67.4,68.3,9.0,116,1413,0.00,2.40,0.00,0.000,4,0.000,0.096,2963,3581,2970
$GC,1666,1.37,90.7,50.3,5.2,127,1694,0.00,2.35,18.73,0.770,6,0.000,0.077,2964,2178,2875
$GC,1884,1.37,90.7,32.5,8.7,148,1888,0.00,2.40,0.00,0.000,4,0.000,0.091,2964,3581,2874
$GC,1955,1.37,90.7,26.0,9.6,154,1962,0.00,2.35,0.00,0.000,6,0.000,0.075,2964,2182,2874
$GC,2160,1.39,107.8,13.7,5.9,183,2183,0.00,2.45,14.20,0.754,4,0.000,0.093,2964,772,2805
$GC,2223,1.42,134.2,10.8,4.8,194,2252,0.00,2.33,21.20,0.758,6,0.000,0.075,2964,2177,2697
$GC,2320,1.49,189.7,8.6,1.3,211,2371,0.15,2.45,42.78,0.757,4,0.066,0.090,2996,3581,2470
$GC,2624,1.58,260.1,6.9,-0.5,265,2685,0.00,2.33,53.50,0.750,6,0.000,0.069,2996,2168,2184
$STATE,2689,end climb,SURFACE_DEPTH_REACHED
$STATE,2689,begin surface coast
$FINISH,3.7,1.018210
$STATE,2814,end surface coast,CONTROL_FINISHED_OK
$STATE,2814,begin surface
$SM_CCo,2835,155.95,0.698,2,0,799,600.00
$SM_GC,0.55,0.00,0.00,155.95,0.000,0.000,0.698,865,2072,799,-8.30,-0.08,600.00
$IRIDIUM_FIX,4748.51,-12221.84,181097,090958
$TT8_MAMPS,0.028379
$HUMID,2078
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,18.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,91.9,27.7
$24V_AH,24.4,33.262
$10V_AH,10.7,21.808
$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,26.000,37.950,254.500,155.950,0.000,118.297,117.986,231.205,1.500,0.000,0.000,14.232,486.972,1537.959,483.276,689.756,592.567,33.316,863.035,0.000,683.061,0.000,11.504
$DEVICE_MAMPS,148.798,95.875,809.185,697.970,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,195.995,213.826,504.505,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15953,299
$CAP_FILE_SIZE,45591,0
$CFSIZE,260165632,258641920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0
$GPS,240708,102335,4806.817,-12222.728,8,3.2,27,18.3