version: 66.03
glider: 119
mission: 4
dive: 23
start: 7 24 108 14 28 26
data:
$ID,119
$MISSION,4
$DIVE,23
$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,-209025.92
$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,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,18
$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
$GPS1,142407,4807.056,-12223.254,43,1.1,43,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.33
$_SM_ANGLEo,-71.4
$GPS2,142733,4807.040,-12223.246,9,1.3,9,18.3
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.034,-0.170
$KALMAN_X,1522.4,481.6,412.5,-2555.6,287.4
$KALMAN_Y,7874.8,-1030.6,-505.0,-8310.8,-1.4
$MHEAD_RNG_PITCHd_Wd,150.4,313,-27.9,-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,28,end surface,CONTROL_FINISHED_OK
$STATE,28,begin dive
$GC,30,-1.34,-62.0,0.0,0.0,0,120,0.00,0.00,-86.60,0.000,2,0.000,0.000,864,2065,2993
$GC,122,-1.35,-64.5,3.4,-9.7,16,152,10.27,2.38,-10.88,0.000,4,0.153,0.091,2369,662,3510
$GC,275,-1.35,-64.5,23.5,-10.9,40,282,0.00,2.30,0.00,0.000,6,0.000,0.063,2368,2085,3511
$GC,472,-1.35,-64.5,48.3,-13.2,59,473,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,2085,3511
$GC,659,-1.35,-64.5,73.1,-13.1,69,663,0.00,2.33,0.00,0.000,4,0.000,0.083,2369,3491,3510
$GC,691,-1.35,-64.5,77.8,-14.7,70,698,0.00,2.33,0.00,0.000,6,0.000,0.067,2369,2077,3511
$STATE,926,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,926,begin apogee
$GC,932,-0.23,0.0,108.0,11.6,85,989,1.48,0.00,49.95,0.810,6,0.099,0.000,2613,2260,3244
$STATE,989,end apogee,CONTROL_FINISHED_OK
$STATE,989,begin climb
$GC,991,1.35,64.5,109.8,0.0,91,1049,1.90,2.50,50.35,0.782,4,0.037,0.088,2969,843,2981
$GC,1155,1.35,64.5,92.6,13.2,103,1162,0.00,2.38,0.00,0.000,6,0.000,0.074,2969,2238,2981
$GC,1471,1.35,64.5,59.8,10.3,119,1475,0.00,2.42,0.00,0.000,4,0.000,0.097,2968,3656,2981
$GC,1728,1.40,110.7,40.5,5.0,136,1769,0.00,2.35,35.53,0.783,6,0.000,0.075,2969,2253,2792
$GC,1967,1.40,110.7,14.7,10.7,162,1973,0.00,2.42,0.00,0.000,4,0.000,0.094,2969,3663,2791
$GC,2030,1.42,123.1,8.1,8.7,173,2048,0.00,2.35,10.65,0.719,6,0.000,0.074,2969,2248,2743
$GC,2116,1.55,226.7,7.6,-1.1,188,2198,0.17,0.00,78.20,0.749,6,0.064,0.000,3005,2248,2321
$STATE,2203,end climb,SURFACE_DEPTH_REACHED
$STATE,2203,begin surface coast
$FINISH,4.5,1.018845
$STATE,2293,end surface coast,CONTROL_FINISHED_OK
$STATE,2293,begin surface
$SM_CCo,2315,185.48,0.700,2,0,798,600.00
$SM_GC,0.56,0.00,0.00,185.48,0.000,0.000,0.700,864,2069,798,-8.31,-0.14,600.00
$IRIDIUM_FIX,4751.72,-12359.29,181097,131327
$TT8_MAMPS,0.028379
$HUMID,2076
$INTERNAL_PRESSURE,8.74057
$TCM_TEMP,17.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,92.4,25.4
$24V_AH,24.4,33.878
$10V_AH,10.7,22.010
$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,26.300,24.350,224.675,185.475,0.000,28.062,26.057,77.761,1.750,0.000,0.000,10.967,382.681,1161.909,465.598,521.946,202.122,33.315,768.773,0.000,517.978,0.000,15.521
$DEVICE_MAMPS,152.633,96.642,809.952,699.504,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,144.047,157.294,370.708,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9629,220
$CAP_FILE_SIZE,32564,0
$CFSIZE,260165632,258506752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0
$GPS,240708,151103,4806.956,-12223.209,10,1.7,10,18.3