version: 66.03
glider: 119
mission: 5
dive: 317
start: 12 24 108 6 7 42
data:
$ID,119
$MISSION,5
$DIVE,317
$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,-215570.94
$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,41
$R_STBD_OVSHOOT,35
$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
$GPS1,060158,4808.539,-12541.535,8,1.5,10,18.9
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-66.1
$GPS2,060650,4808.563,-12541.540,14,1.5,14,18.9
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.121,-0.153
$KALMAN_X,-64923.2,1105.0,-780.8,9567.8,-15263.8
$KALMAN_Y,398644.9,-1491.4,1015.6,-268434.7,73758.1
$MHEAD_RNG_PITCHd_Wd,199.6,216119,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.67,-117.3,0.0,0.0,0,70,0.00,0.00,-46.70,0.000,2,0.000,0.000,859,2213,2359
$GC,73,-0.67,-117.3,3.0,-2.7,5,127,12.12,2.35,-35.42,0.000,4,0.143,0.068,2648,800,3316
$GC,221,-0.50,-117.3,15.0,-10.5,18,226,0.22,2.20,0.00,0.000,6,0.083,0.044,2686,2205,3316
$GC,547,-0.50,-117.3,41.4,-6.6,51,553,0.00,2.25,0.00,0.000,4,0.000,0.061,2686,795,3316
$GC,605,-0.50,-117.3,45.7,-7.7,61,612,0.00,2.12,0.00,0.000,6,0.000,0.044,2686,2173,3316
$GC,949,-0.50,-117.3,70.7,-7.4,122,955,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2173,3316
$GC,1289,-0.59,-117.3,89.7,-4.5,167,1293,0.00,2.35,0.00,0.000,4,0.000,0.066,2685,3598,3316
$GC,1338,-0.67,-117.3,92.2,-5.1,171,1345,0.17,2.22,0.00,0.000,6,0.052,0.042,2648,2175,3316
$GC,1664,-0.62,-117.3,116.9,-9.0,202,1668,0.00,2.28,0.00,0.000,4,0.000,0.061,2648,793,3316
$GC,1782,-0.62,-117.3,126.5,-8.6,212,1786,0.00,2.10,0.00,0.000,6,0.000,0.045,2648,2147,3316
$GC,2125,-0.57,-117.3,152.4,-7.7,243,2127,0.15,0.00,0.00,0.000,6,0.087,0.000,2674,2147,3316
$GC,2433,-0.64,-117.3,176.3,-8.2,258,2437,0.00,2.17,0.00,0.000,4,0.000,0.062,2674,792,3316
$GC,2461,-0.74,-117.3,178.6,-7.8,259,2465,0.20,2.08,0.00,0.000,6,0.051,0.044,2632,2135,3316
$GC,2777,-0.61,-117.3,207.7,-8.7,274,2782,0.15,2.42,0.00,0.000,4,0.087,0.064,2661,3605,3316
$GC,2821,-0.61,-117.3,211.2,-7.4,276,2825,0.00,2.30,0.00,0.000,6,0.000,0.043,2661,2149,3316
$GC,3142,-0.61,-117.3,228.6,-5.6,292,3146,0.00,2.25,0.00,0.000,4,0.000,0.064,2661,797,3316
$GC,3182,-0.67,-117.3,231.6,-7.5,294,3185,0.00,2.08,0.00,0.000,6,0.000,0.044,2661,2136,3316
$GC,3515,-0.67,-117.3,246.0,-3.1,310,3516,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2136,3316
$GC,3823,-0.67,-117.3,262.4,-7.2,325,3827,0.00,2.15,0.00,0.000,4,0.000,0.064,2661,803,3316
$GC,3856,-0.73,-117.3,265.5,-9.1,326,3863,0.00,1.95,0.00,0.000,6,0.000,0.044,2661,2077,3316
$GC,4173,-0.73,-117.3,281.0,-2.9,342,4177,0.00,2.50,0.00,0.000,4,0.000,0.066,2661,3598,3316
$GC,4213,-0.73,-117.3,282.3,-3.7,344,4217,0.00,2.38,0.00,0.000,6,0.000,0.044,2661,2106,3316
$GC,4540,-0.73,-117.3,297.1,-4.8,360,4541,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2099,3316
$GC,4865,-0.73,-117.3,311.5,-4.8,368,4869,0.00,2.50,0.00,0.000,4,0.000,0.065,2660,3601,3316
$GC,4914,-0.73,-117.3,314.4,-5.5,368,4918,0.00,2.33,0.00,0.000,6,0.000,0.044,2661,2145,3316
$GC,5224,-1.01,-117.3,318.2,-0.1,373,5229,0.43,2.22,0.00,0.000,4,0.047,0.063,2574,796,3316
$GC,5246,-1.25,-117.3,318.2,-0.2,373,5251,0.28,2.10,0.00,0.000,6,0.045,0.046,2518,2149,3316
$STATE,5399,end dive,NO_VERTICAL_VELOCITY
$STATE,5399,begin apogee
$GC,5405,-0.23,0.0,318.2,0.0,376,5504,1.33,0.00,95.45,1.040,6,0.065,0.000,2748,2211,2837
$STATE,5505,end apogee,CONTROL_FINISHED_OK
$STATE,5505,begin climb
$GC,5507,0.67,117.3,318.1,0.0,377,5614,1.10,2.45,99.50,1.001,4,0.057,0.064,2940,3603,2357
$GC,5721,0.49,117.3,309.1,7.7,380,5726,0.20,2.30,0.00,0.000,6,0.091,0.046,2908,2207,2358
$GC,6042,0.45,117.3,288.7,7.2,391,6046,0.00,2.35,0.00,0.000,4,0.000,0.065,2908,3599,2358
$GC,6137,0.40,117.3,282.3,6.0,395,6141,0.00,2.25,0.00,0.000,6,0.000,0.047,2908,2213,2357
$GC,6452,0.40,117.3,262.6,5.9,410,6456,0.00,2.35,0.00,0.000,4,0.000,0.066,2908,796,2358
$GC,6496,0.40,117.3,259.6,6.7,412,6500,0.00,2.20,0.00,0.000,6,0.000,0.047,2909,2206,2357
$GC,6817,0.44,150.5,243.7,4.5,428,6848,0.00,0.00,29.52,0.990,6,0.000,0.000,2909,2206,2222
$GC,7147,0.50,157.9,223.6,5.3,444,7161,0.00,2.35,7.93,0.874,4,0.000,0.064,2908,797,2193
$GC,7252,0.50,157.9,217.4,5.7,448,7258,0.00,2.12,0.00,0.000,6,0.000,0.047,2908,2153,2193
$GC,7568,0.55,157.9,199.9,5.9,464,7572,0.00,2.20,0.00,0.000,4,0.000,0.064,2908,796,2193
$GC,7617,0.55,157.9,196.5,7.2,466,7621,0.00,2.05,0.00,0.000,6,0.000,0.046,2908,2109,2193
$GC,7940,0.59,157.9,178.0,5.6,482,7941,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2109,2193
$GC,8249,0.65,175.6,162.0,4.9,497,8269,0.17,0.00,16.73,0.933,6,0.056,0.000,2946,2109,2120
$GC,8584,0.59,175.6,140.3,6.5,520,8585,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2108,2120
$GC,8902,0.52,175.6,119.0,6.9,550,8907,0.20,2.15,0.00,0.000,4,0.084,0.063,2910,785,2121
$GC,8953,0.52,175.6,115.8,5.7,554,8956,0.00,2.08,0.00,0.000,6,0.000,0.046,2910,2114,2120
$GC,9287,0.64,208.1,100.2,4.5,585,9321,0.15,2.22,28.00,0.906,4,0.058,0.064,2947,796,1988
$GC,9484,0.59,208.1,86.5,6.8,602,9490,0.00,1.98,0.00,0.000,6,0.000,0.045,2947,2040,1988
$GC,9821,0.59,208.1,66.2,6.8,653,9827,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2039,1988
$GC,10165,0.68,244.1,46.5,4.4,714,10204,0.00,2.65,30.65,0.867,4,0.000,0.064,2947,3601,1841
$GC,10315,0.76,265.4,39.7,4.8,740,10340,0.00,2.53,18.92,0.841,6,0.000,0.047,2947,2045,1755
$GC,10667,0.86,265.4,20.8,5.9,773,10672,0.17,2.10,0.00,0.000,4,0.051,0.064,2990,797,1754
$GC,10733,0.78,265.4,15.0,9.2,778,10740,0.00,1.95,0.00,0.000,6,0.000,0.044,2990,2024,1754
$STATE,10896,end climb,SURFACE_DEPTH_REACHED
$STATE,10897,begin surface coast
$FINISH,1.0,1.025107
$STATE,10919,end surface coast,CONTROL_FINISHED_OK
$STATE,10919,begin surface
$SM_CCo,10941,38.20,0.815,0,0,1409,350.04
$SM_GC,2.04,0.00,0.00,38.20,0.000,0.000,0.815,862,2206,1409,-8.91,0.20,350.04
$IRIDIUM_FIX,4748.51,-12543.87,200398,040429
$TT8_MAMPS,0.027612
$HUMID,2016
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,275.0,55.9
$24V_AH,23.3,80.858
$10V_AH,10.5,59.658
$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,28.575,89.925,326.700,38.200,0.000,26.263,29.848,130.462,2.000,0.000,0.000,16.072,1400.300,7214.504,465.501,1793.019,405.642,33.374,1262.292,0.000,1781.982,0.000,15.049
$DEVICE_MAMPS,142.662,105.079,1040.052,814.554,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,541.769,618.639,1304.297,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37923,796
$CAP_FILE_SIZE,100239,0
$CFSIZE,260165632,234467328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,241208,091221,4808.155,-12542.984,46,1.8,60,18.9