version: 66.03
glider: 119
mission: 4
dive: 21
start: 7 24 108 12 53 48
data:
$ID,119
$MISSION,4
$DIVE,21
$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,50
$T_MISSION,60
$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,-208981.53
$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,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,16
$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
$GPS1,124638,4806.911,-12223.104,6,1.3,11,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.35
$_SM_ANGLEo,-72.9
$GPS2,125257,4806.858,-12223.087,13,1.6,13,18.3
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.163,0.124
$KALMAN_X,1328.7,106.0,246.5,-1624.1,596.0
$KALMAN_Y,7387.6,-267.3,-495.6,-8929.4,-112.5
$MHEAD_RNG_PITCHd_Wd,288.9,283,-23.7,-10.000
$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,29,end surface,CONTROL_FINISHED_OK
$STATE,29,begin dive
$GC,31,-1.18,-86.2,0.0,0.0,0,121,0.00,0.00,-86.90,0.000,2,0.000,0.000,863,2067,2987
$GC,123,-1.22,-117.7,3.1,-7.6,16,158,10.45,2.40,-15.60,0.000,4,0.153,0.090,2397,3489,3726
$GC,349,-1.22,-117.7,40.1,-15.4,45,353,0.00,2.30,0.00,0.000,6,0.000,0.064,2397,2067,3726
$GC,543,-1.22,-117.7,69.8,-15.3,57,544,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2066,3726
$STATE,810,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,810,begin apogee
$GC,816,-0.23,0.0,108.4,14.1,72,913,1.27,0.00,89.88,0.806,6,0.091,0.000,2613,2265,3244
$STATE,914,end apogee,CONTROL_FINISHED_OK
$STATE,914,begin climb
$GC,916,1.22,117.7,110.7,0.0,82,1015,1.77,2.58,90.72,0.776,4,0.036,0.090,2942,838,2765
$GC,1182,1.22,117.7,74.4,16.8,100,1187,0.00,2.38,0.00,0.000,6,0.000,0.077,2942,2249,2765
$GC,1508,1.22,117.7,27.8,12.8,123,1512,0.00,2.42,0.00,0.000,4,0.000,0.097,2942,3660,2764
$GC,1766,1.39,250.9,8.3,-0.3,162,1876,0.15,2.33,99.85,0.751,6,0.068,0.074,2970,2246,2221
$STATE,1899,end climb,SURFACE_DEPTH_REACHED
$STATE,1899,begin surface coast
$FINISH,4.6,1.018720
$STATE,2016,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2017,begin surface
$SM_CCo,2037,163.68,0.695,2,0,799,600.00
$SM_GC,0.38,0.00,0.00,163.68,0.000,0.000,0.695,864,2065,799,-8.31,-0.25,600.00
$IRIDIUM_FIX,4748.51,-12221.84,181097,121235
$TT8_MAMPS,0.027612
$HUMID,2086
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,17.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,82.2,36.0
$24V_AH,24.3,33.694
$10V_AH,10.7,21.941
$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,25.750,15.025,280.450,163.675,0.000,57.213,53.614,129.451,1.250,0.000,0.000,14.901,338.198,1002.428,477.266,486.338,303.562,33.313,764.725,0.000,481.193,0.000,9.989
$DEVICE_MAMPS,152.633,97.409,806.117,694.902,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,134.499,148.884,349.339,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9694,207
$CAP_FILE_SIZE,30473,0
$CFSIZE,260165632,258560000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,2,0
$GPS,240708,133127,4806.959,-12223.153,11,1.6,11,18.3