version: 66.03
glider: 119
mission: 4
dive: 16
start: 7 24 108 8 27 53
data:
$ID,119
$MISSION,4
$DIVE,16
$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,62.5
$T_MISSION,80
$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,-208899.62
$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,17
$R_STBD_OVSHOOT,19
$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
$GPS1,082331,4807.311,-12223.015,17,1.1,35,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.26
$_SM_ANGLEo,-70.9
$GPS2,082703,4807.290,-12223.023,14,1.1,14,18.3
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.017,-0.245
$KALMAN_X,-976.3,-105.4,60.6,1154.2,-47.2
$KALMAN_Y,7033.8,690.1,-14.4,-9212.3,635.0
$MHEAD_RNG_PITCHd_Wd,157.8,538,-14.8,-8.000
$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,28,end surface,CONTROL_FINISHED_OK
$STATE,28,begin dive
$GC,31,-0.85,-146.6,0.0,0.0,0,136,0.00,0.00,-102.88,0.000,2,0.000,0.000,862,2077,3006
$GC,139,-0.85,-146.6,3.4,-6.8,19,179,11.10,2.40,-20.02,0.000,4,0.156,0.092,2476,664,3844
$GC,365,-0.85,-146.6,27.9,-10.7,53,369,0.00,2.30,0.00,0.000,6,0.000,0.067,2476,2075,3844
$GC,561,-0.85,-146.6,48.6,-10.6,71,563,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2075,3844
$GC,748,-0.85,-146.6,67.7,-10.3,81,752,0.00,2.35,0.00,0.000,4,0.000,0.086,2476,3486,3844
$GC,814,-0.85,-146.6,74.9,-10.1,84,818,0.00,2.35,0.00,0.000,6,0.000,0.071,2477,2070,3844
$GC,1132,-0.85,-146.6,105.6,-8.9,102,1136,0.00,2.38,0.00,0.000,4,0.000,0.088,2476,3483,3844
$STATE,1181,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1181,begin apogee
$GC,1188,-0.23,0.0,110.2,9.3,106,1305,0.77,0.00,112.22,0.818,6,0.076,0.000,2614,2165,3244
$STATE,1306,end apogee,CONTROL_FINISHED_OK
$STATE,1306,begin climb
$GC,1308,0.85,146.6,113.9,0.0,118,1434,1.33,2.58,113.40,0.789,4,0.036,0.095,2859,769,2647
$GC,1483,0.85,146.6,100.2,14.2,134,1490,0.00,2.45,0.00,0.000,6,0.000,0.076,2858,2174,2647
$GC,1799,0.85,146.6,57.5,13.0,150,1803,0.00,2.42,0.00,0.000,4,0.000,0.096,2858,3587,2647
$GC,2057,0.85,146.6,24.8,11.0,170,2061,0.00,2.35,0.00,0.000,6,0.000,0.077,2859,2170,2646
$GC,2264,0.91,196.7,6.1,6.2,202,2309,0.00,2.47,38.08,0.765,4,0.000,0.090,2859,3588,2443
$STATE,2325,end climb,SURFACE_DEPTH_REACHED
$STATE,2325,begin surface coast
$FINISH,5.3,1.019704
$STATE,2608,end surface coast,CONTROL_FINISHED_OK
$STATE,2608,begin surface
$SM_CCo,2611,250.68,0.693,7,0,403,697.14
$SM_GC,0.33,11.23,0.00,0.00,0.035,0.000,0.000,860,2075,407,-8.28,0.00,696.16
$IRIDIUM_FIX,4751.72,-12226.29,181097,070714
$TT8_MAMPS,0.028379
$HUMID,2101
$INTERNAL_PRESSURE,8.74057
$TCM_TEMP,17.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,91.2,28.8
$24V_AH,24.2,33.153
$10V_AH,10.7,21.764
$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,24.425,28.850,263.700,250.675,0.000,24.894,32.791,76.869,1.500,0.000,0.000,16.245,437.209,1371.106,606.629,616.017,204.355,33.317,945.293,0.000,607.532,0.000,12.692
$DEVICE_MAMPS,155.701,95.875,818.389,692.601,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,172.828,189.930,443.770,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12812,263
$CAP_FILE_SIZE,34236,0
$CFSIZE,260165632,258678784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,7,0
$GPS,240708,091845,4807.000,-12222.851,8,1.8,8,18.3