version: 66.03
glider: 119
mission: 4
dive: 9
start: 7 24 108 2 46 23
data:
$ID,119
$MISSION,4
$DIVE,9
$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,-208731.84
$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,24
$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
$GPS1,024144,4807.969,-12223.232,11,1.9,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.38
$_SM_ANGLEo,-69.3
$GPS2,024532,4808.042,-12223.276,14,1.9,31,18.3
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.055,-0.258
$KALMAN_X,-374.0,-113.4,-45.7,355.4,-102.9
$KALMAN_Y,2401.6,579.2,205.3,-3305.6,416.4
$MHEAD_RNG_PITCHd_Wd,149.6,1961,-18.1,-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,-1.00,-146.6,0.0,0.0,0,131,0.00,0.00,-97.65,0.000,2,0.000,0.000,862,2063,2935
$GC,134,-1.00,-146.6,3.1,-8.3,18,175,10.65,2.40,-21.40,0.000,4,0.146,0.092,2445,3483,3844
$GC,198,-1.00,-146.6,11.6,-13.1,29,204,0.00,2.28,0.00,0.000,6,0.000,0.061,2445,2071,3844
$GC,277,-1.00,-146.6,22.0,-13.6,42,278,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,2071,3844
$GC,468,-1.00,-146.6,49.3,-14.9,60,473,0.00,2.35,0.00,0.000,4,0.000,0.080,2444,3487,3845
$GC,557,-1.00,-146.6,62.4,-14.8,65,562,0.00,2.30,0.00,0.000,6,0.000,0.067,2445,2070,3845
$GC,874,-1.00,-146.6,103.4,-12.8,81,875,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,2070,3845
$STATE,925,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,925,begin apogee
$GC,930,-0.23,0.0,109.6,11.8,86,1048,0.98,0.00,112.07,0.807,6,0.079,0.000,2615,2193,3245
$STATE,1049,end apogee,CONTROL_FINISHED_OK
$STATE,1049,begin climb
$GC,1051,1.00,146.6,113.5,0.0,98,1177,1.50,2.60,113.15,0.781,4,0.036,0.092,2893,760,2646
$GC,1215,1.00,146.6,99.7,17.3,113,1222,0.00,2.45,0.00,0.000,6,0.000,0.074,2893,2170,2646
$GC,1531,1.00,146.6,50.4,14.1,129,1535,0.00,2.42,0.00,0.000,4,0.000,0.095,2893,3583,2646
$GC,1664,1.00,146.6,31.0,14.7,140,1671,0.00,2.38,0.00,0.000,6,0.000,0.075,2893,2171,2646
$GC,1868,1.03,170.6,6.6,8.9,169,1897,0.00,2.47,19.15,0.741,4,0.000,0.090,2893,3588,2549
$GC,1915,1.26,358.6,5.1,1.4,177,1977,0.28,2.35,56.08,0.746,2,0.054,0.073,2946,2172,2244
$STATE,1978,end climb,SURFACE_DEPTH_REACHED
$STATE,1978,begin surface coast
$FINISH,3.0,1.017351
$STATE,2117,end surface coast,CONTROL_FINISHED_OK
$STATE,2117,begin surface
$SM_CCo,2138,162.62,0.711,1,0,798,600.00
$SM_GC,0.32,0.00,0.00,162.62,0.000,0.000,0.711,861,2067,798,-8.32,-0.23,600.00
$IRIDIUM_FIX,4751.72,-12214.67,181097,020240
$TT8_MAMPS,0.027612
$HUMID,2132
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,17.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,91.5,27.2
$24V_AH,24.2,32.380
$10V_AH,10.7,21.521
$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,25.300,24.375,300.450,162.625,0.000,31.493,27.598,75.104,1.500,0.000,0.000,32.758,345.014,989.537,513.883,504.232,198.316,33.329,818.162,0.000,479.680,0.000,11.499
$DEVICE_MAMPS,146.497,95.108,806.884,711.009,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,137.835,152.441,359.470,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9702,213
$CAP_FILE_SIZE,31192,0
$CFSIZE,260165632,258859008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,1,0
$GPS,240708,032607,4807.968,-12223.261,31,1.8,42,18.3