version: 66.03
glider: 119
mission: 5
dive: 123
start: 10 22 108 2 23 38
data:
$ID,119
$MISSION,5
$DIVE,123
$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,600
$T_MISSION,660
$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,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$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,350
$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,-212074.86
$T_RSLEEP,27
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,863
$PITCH_MAX,3325
$C_PITCH,2800
$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,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,200
$ROLL_MAX,3772
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,10
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,403
$VBD_MAX,3857
$C_VBD,2837
$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,1
$AH0_24V,147
$AH0_10V,122.2
$PRESSURE_YINT,-2.9385166
$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,125
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$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
$GPS1,021855,4808.322,-12532.818,39,1.2,39,18.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-68.5
$GPS2,022244,4808.310,-12532.791,9,1.8,14,18.9
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.168,-0.099
$KALMAN_X,-3782.3,-1704.4,-9729.3,-28678.8,103953.0
$KALMAN_Y,135515.1,-156.3,276.3,-6400.2,43846.9
$MHEAD_RNG_PITCHd_Wd,220.7,224891,-11.5,-5.500
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.67,-117.3,0.0,0.0,0,83,0.00,0.00,-61.85,0.000,2,0.000,0.000,861,2214,2816
$GC,86,-0.67,-117.3,3.2,-4.7,6,119,12.18,2.40,-11.40,0.000,4,0.148,0.071,2649,789,3317
$GC,245,-0.49,-117.3,24.0,-11.1,20,250,0.25,2.22,0.00,0.000,6,0.082,0.045,2690,2197,3317
$GC,574,-0.56,-117.3,45.9,-6.1,58,580,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2197,3317
$GC,917,-0.64,-117.3,66.5,-5.9,119,924,0.15,2.30,0.00,0.000,4,0.055,0.065,2653,3603,3317
$GC,942,-0.64,-117.3,68.1,-6.1,123,948,0.00,2.20,0.00,0.000,6,0.000,0.041,2653,2183,3318
$GC,1282,-0.60,-117.3,90.4,-6.1,170,1286,0.00,2.35,0.00,0.000,4,0.000,0.067,2653,3599,3318
$GC,1328,-0.54,-117.3,93.2,-7.0,173,1335,0.15,2.10,0.00,0.000,6,0.084,0.042,2679,2242,3317
$GC,1653,-0.63,-117.3,108.8,-4.7,204,1654,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2236,3318
$GC,1974,-0.85,-117.3,128.2,-6.5,234,1979,0.32,2.35,0.00,0.000,4,0.044,0.061,2608,788,3317
$GC,2014,-0.67,-117.3,131.6,-7.6,237,2019,0.25,2.12,0.00,0.000,4,0.080,0.047,2651,2151,3318
$STATE,2019,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2020,begin apogee
$GC,2025,-0.23,0.0,132.2,8.3,237,2122,0.52,0.00,91.05,0.888,6,0.072,0.000,2745,2214,2836
$STATE,2123,end apogee,CONTROL_FINISHED_OK
$STATE,2123,begin climb
$GC,2125,0.67,117.3,135.4,0.0,247,2227,1.10,2.45,92.85,0.851,4,0.051,0.062,2942,803,2356
$GC,2322,0.45,117.3,130.1,6.2,265,2329,0.20,2.28,0.00,0.000,6,0.075,0.048,2898,2188,2357
$GC,2647,0.49,152.0,115.0,4.4,296,2678,0.00,0.00,28.62,0.851,6,0.000,0.000,2898,2188,2217
$GC,2998,0.56,206.0,98.0,3.8,329,3050,0.12,2.45,45.03,0.846,4,0.061,0.068,2926,3598,1997
$GC,3094,0.56,206.0,92.1,7.4,338,3101,0.00,2.22,0.00,0.000,6,0.000,0.045,2926,2245,1997
$GC,3427,0.56,206.0,70.8,6.9,381,3432,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2244,1997
$GC,3770,0.61,206.0,45.3,7.3,442,3776,0.00,2.38,0.00,0.000,4,0.000,0.065,2926,789,1997
$GC,3816,0.61,206.0,41.9,7.3,450,3823,0.00,2.25,0.00,0.000,6,0.000,0.049,2926,2219,1997
$GC,4145,0.74,253.2,24.7,4.0,483,4187,0.15,0.00,39.50,0.823,6,0.057,0.000,2963,2219,1804
$GC,4504,0.74,253.2,4.2,5.9,517,4508,0.00,2.35,0.00,0.000,4,0.000,0.064,2962,788,1804
$STATE,4536,end climb,SURFACE_DEPTH_REACHED
$STATE,4536,begin surface coast
$FINISH,0.1,1.024689
$STATE,4560,end surface coast,CONTROL_FINISHED_OK
$STATE,4560,begin surface
$SM_CCo,4582,47.15,0.788,0,0,1410,350.04
$SM_GC,1.48,0.00,0.00,47.15,0.000,0.000,0.788,862,2211,1410,-8.91,0.31,350.04
$IRIDIUM_FIX,4751.72,-12529.64,160198,010103
$TT8_MAMPS,0.027612
$HUMID,2040
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,15.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,125.5,16.1
$24V_AH,23.9,52.652
$10V_AH,10.6,36.174
$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,26.900,36.775,297.050,47.150,0.000,29.480,24.058,89.645,0.500,0.000,0.000,15.970,849.933,2301.451,401.607,1065.549,253.105,33.350,888.971,0.000,1061.017,0.000,5.395
$DEVICE_MAMPS,148.031,104.312,888.186,788.476,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,351.478,401.829,876.994,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25327,522
$CAP_FILE_SIZE,53191,0
$CFSIZE,260165632,249802752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,221008,034141,4808.250,-12533.151,14,1.7,17,18.9