version: 66.03
glider: 119
mission: 5
dive: 152
start: 10 23 108 23 31 24
data:
$ID,119
$MISSION,5
$DIVE,152
$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,-212640.17
$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,31
$R_STBD_OVSHOOT,27
$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
$GPS1,232528,4804.321,-12537.417,34,3.2,53,18.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-69.0
$GPS2,233032,4804.278,-12537.330,16,1.2,16,18.9
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.175,-0.085
$KALMAN_X,-29780.8,1457.7,97416.3,-118803.5,-48209.8
$KALMAN_Y,115040.5,802.2,92874.1,-86988.1,-54727.1
$MHEAD_RNG_PITCHd_Wd,225.1,215971,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.67,-117.3,0.0,0.0,0,84,0.00,0.00,-61.95,0.000,2,0.000,0.000,861,2235,2799
$GC,87,-0.67,-117.3,3.2,-4.9,6,118,12.23,2.33,-11.95,0.000,4,0.146,0.077,2647,3598,3317
$GC,231,-0.48,-117.3,23.3,-11.1,19,238,0.28,2.22,0.00,0.000,6,0.080,0.041,2693,2194,3317
$GC,560,-0.48,-117.3,45.7,-5.9,58,566,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2192,3317
$GC,904,-0.56,-117.3,67.2,-6.2,119,910,0.00,2.35,0.00,0.000,4,0.000,0.066,2693,3610,3316
$GC,928,-0.64,-117.3,68.8,-6.2,123,935,0.15,2.15,0.00,0.000,6,0.041,0.044,2649,2263,3317
$GC,1262,-0.55,-117.3,92.0,-4.9,166,1264,0.17,0.00,0.00,0.000,6,0.080,0.000,2679,2262,3317
$GC,1582,-0.63,-117.3,101.1,-3.0,196,1586,0.00,2.40,0.00,0.000,4,0.000,0.061,2679,793,3317
$GC,1611,-0.74,-117.3,102.2,-3.9,198,1616,0.22,2.38,0.00,0.000,6,0.048,0.047,2631,2306,3317
$GC,1938,-0.64,-117.3,124.3,-6.7,228,1940,0.15,0.00,0.00,0.000,6,0.084,0.000,2657,2307,3317
$GC,2255,-0.64,-117.3,144.6,-6.6,258,2256,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2307,3317
$GC,2566,-0.64,-117.3,165.6,-6.5,277,2570,0.00,2.45,0.00,0.000,4,0.000,0.061,2657,789,3317
$GC,2592,-0.64,-117.3,167.5,-7.2,278,2596,0.00,2.35,0.00,0.000,6,0.000,0.048,2657,2288,3317
$GC,2913,-0.64,-117.3,186.0,-5.7,294,2915,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2288,3317
$GC,3223,-0.64,-117.3,202.4,-5.3,309,3227,0.00,2.42,0.00,0.000,4,0.000,0.061,2657,786,3317
$GC,3250,-0.64,-117.3,203.8,-4.8,310,3254,0.00,2.30,0.00,0.000,6,0.000,0.048,2657,2257,3317
$GC,3572,-0.64,-117.3,220.4,-5.2,326,3573,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2258,3317
$GC,3881,-0.64,-117.3,238.3,-5.9,341,3885,0.00,2.38,0.00,0.000,4,0.000,0.063,2657,788,3317
$GC,3936,-0.70,-117.3,241.7,-6.2,343,3942,0.00,2.25,0.00,0.000,6,0.000,0.048,2657,2237,3317
$GC,4252,-0.70,-117.3,259.4,-5.5,359,4253,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2237,3317
$GC,4561,-0.70,-117.3,276.9,-5.6,374,4562,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2237,3317
$GC,4870,-0.75,-117.3,296.1,-6.1,389,4874,0.00,2.35,0.00,0.000,4,0.000,0.064,2657,792,3316
$GC,4897,-0.80,-117.3,297.7,-5.6,390,4902,0.17,2.28,0.00,0.000,6,0.053,0.048,2618,2249,3317
$GC,5253,-0.67,-117.3,324.1,-7.5,398,5257,0.15,2.35,0.00,0.000,4,0.086,0.065,2648,800,3316
$GC,5290,-0.67,-117.3,326.7,-6.8,398,5294,0.00,2.25,0.00,0.000,6,0.000,0.048,2648,2220,3316
$GC,5616,-0.67,-117.3,345.7,-5.8,404,5617,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2220,3316
$GC,5920,-0.67,-117.3,360.4,-4.8,409,5921,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2220,3315
$GC,6222,-0.67,-117.3,379.5,-6.5,414,6224,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2220,3316
$GC,6526,-0.67,-117.3,393.4,-4.7,419,6530,0.00,2.35,0.00,0.000,4,0.000,0.069,2648,795,3315
$GC,6558,-0.67,-117.3,395.3,-5.1,419,6562,0.00,2.20,0.00,0.000,6,0.000,0.049,2648,2192,3315
$STATE,6767,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6767,begin apogee
$GC,6772,-0.23,0.0,406.4,5.2,423,6869,0.57,0.00,94.65,1.088,6,0.068,0.000,2749,2192,2837
$STATE,6870,end apogee,CONTROL_FINISHED_OK
$STATE,6870,begin climb
$GC,6872,0.67,117.3,408.7,0.0,424,6978,1.12,2.58,97.72,1.038,4,0.043,0.072,2950,3596,2358
$GC,7002,0.41,136.3,411.2,4.9,426,7027,0.38,2.35,18.02,0.996,6,0.093,0.047,2893,2205,2280
$GC,7381,0.41,136.3,391.0,5.8,433,7385,0.00,2.38,0.00,0.000,4,0.000,0.073,2893,795,2280
$GC,7519,0.41,136.3,383.2,5.8,435,7524,0.00,2.17,0.00,0.000,6,0.000,0.050,2893,2138,2280
$GC,7879,0.41,136.3,362.4,5.9,441,7884,0.00,2.42,0.00,0.000,4,0.000,0.072,2893,3602,2279
$GC,7923,0.41,136.3,359.7,6.2,441,7927,0.00,2.35,0.00,0.000,6,0.000,0.048,2893,2123,2280
$GC,8244,0.41,136.3,341.5,5.7,447,8247,0.00,2.20,0.00,0.000,4,0.000,0.073,2893,796,2279
$GC,8288,0.42,142.3,338.8,5.3,447,8299,0.00,2.08,6.40,0.884,6,0.000,0.050,2893,2114,2256
$GC,8602,0.42,142.3,319.4,6.3,452,8606,0.00,2.47,0.00,0.000,4,0.000,0.071,2893,3602,2256
$GC,8633,0.42,142.3,317.0,7.5,452,8638,0.00,2.38,0.00,0.000,6,0.000,0.047,2893,2125,2256
$GC,8946,0.42,142.3,297.6,5.9,459,8947,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2126,2255
$GC,9256,0.47,186.0,283.0,4.1,474,9299,0.00,2.58,37.15,1.015,4,0.000,0.070,2893,3599,2078
$GC,9349,0.55,186.0,277.5,6.6,478,9354,0.15,2.33,0.00,0.000,6,0.060,0.047,2925,2162,2078
$GC,9670,0.55,186.0,256.2,7.0,494,9674,0.00,2.28,0.00,0.000,4,0.000,0.071,2924,787,2078
$GC,9741,0.49,186.0,250.6,8.3,497,9745,0.00,2.15,0.00,0.000,6,0.000,0.050,2924,2138,2078
$GC,10063,0.49,186.0,226.4,7.2,513,10067,0.00,2.42,0.00,0.000,4,0.000,0.070,2924,3603,2078
$GC,10103,0.44,186.0,223.3,8.2,515,10107,0.15,2.33,0.00,0.000,6,0.091,0.047,2899,2138,2078
$GC,10429,0.51,186.0,200.8,7.1,531,10433,0.00,2.20,0.00,0.000,4,0.000,0.068,2899,795,2078
$GC,10513,0.56,186.0,194.4,8.0,535,10518,0.12,2.03,0.00,0.000,6,0.062,0.049,2927,2081,2078
$GC,10840,0.56,186.0,167.2,8.1,551,10844,0.00,2.53,0.00,0.000,4,0.000,0.069,2927,3610,2078
$GC,10879,0.50,186.0,163.9,8.6,553,10883,0.00,2.42,0.00,0.000,6,0.000,0.048,2927,2084,2078
$GC,11199,0.50,186.0,141.2,6.4,574,11203,0.00,2.08,0.00,0.000,4,0.000,0.068,2927,798,2078
$GC,11226,0.45,186.0,139.3,6.8,576,11233,0.17,2.00,0.00,0.000,6,0.087,0.048,2898,2081,2078
$GC,11551,0.59,232.3,124.9,4.0,607,11593,0.15,0.00,39.00,0.913,6,0.059,0.000,2930,2081,1890
$GC,11910,0.63,232.3,104.3,6.8,641,11911,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2081,1890
$GC,12229,0.67,232.3,81.6,7.9,671,12234,0.00,2.50,0.00,0.000,4,0.000,0.068,2930,3601,1890
$GC,12325,0.67,232.3,73.3,8.6,685,12331,0.00,2.38,0.00,0.000,6,0.000,0.048,2930,2099,1890
$GC,12671,0.76,232.3,51.3,5.5,746,12677,0.15,2.12,0.00,0.000,4,0.058,0.066,2966,792,1890
$GC,12746,0.68,232.3,45.9,7.2,759,12753,0.00,1.85,0.00,0.000,6,0.000,0.048,2967,1955,1890
$GC,13082,0.72,263.5,26.2,4.5,798,13115,0.00,2.75,27.25,0.845,4,0.000,0.067,2966,3611,1761
$GC,13221,0.72,263.5,17.2,7.6,810,13228,0.00,2.60,0.00,0.000,6,0.000,0.047,2966,1981,1761
$STATE,13470,end climb,SURFACE_DEPTH_REACHED
$STATE,13470,begin surface coast
$FINISH,0.1,1.012821
$STATE,13494,end surface coast,CONTROL_FINISHED_OK
$STATE,13494,begin surface
$SM_CCo,13514,41.50,0.796,0,0,1409,350.04
$SM_GC,1.45,0.00,0.00,41.50,0.000,0.000,0.796,864,2217,1409,-8.91,0.48,350.04
$IRIDIUM_FIX,4748.51,-12534.88,170198,202016
$TT8_MAMPS,0.027612
$HUMID,2061
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,351.3,63.3
$24V_AH,23.3,55.381
$10V_AH,10.6,38.139
$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,28.025,107.025,320.200,41.500,0.000,27.586,36.570,135.956,2.750,0.000,0.000,17.778,1499.237,9611.400,474.336,1885.066,393.534,33.355,1321.956,0.000,1866.383,0.000,19.846
$DEVICE_MAMPS,146.497,76.700,1088.373,796.146,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,569.414,659.852,1296.509,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41055,836
$CAP_FILE_SIZE,111288,0
$CFSIZE,260165632,248606720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,241008,031900,4804.070,-12538.826,55,1.1,62,18.9