version: 66.03
glider: 119
mission: 5
dive: 7
start: 9 16 108 3 19 26
data:
$ID,119
$MISSION,5
$DIVE,7
$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,330
$T_MISSION,360
$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,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,400
$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,-209851.52
$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,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$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,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,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
$GPS1,031435,4658.196,-12502.207,9,2.2,29,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-68.7
$GPS2,031833,4658.177,-12502.189,9,1.4,9,18.4
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,W_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.261,0.035
$KALMAN_X,1526.6,241.8,-50.6,-6986.4,701.8
$KALMAN_Y,-1304.7,-474.1,625.9,482.2,-618.1
$MHEAD_RNG_PITCHd_Wd,259.1,224611,-18.1,-10.000
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-1.00,-146.6,0.0,0.0,0,93,0.00,0.00,-71.80,0.000,2,0.000,0.000,861,2189,2957
$GC,96,-1.00,-146.6,4.6,-6.7,7,122,11.82,2.42,-8.55,0.000,4,0.152,0.098,2573,781,3437
$GC,128,0.25,-146.6,18.9,-40.3,10,139,1.75,2.35,0.00,0.000,6,0.100,0.064,2851,2208,3437
$GC,461,-0.74,-146.6,42.7,-5.5,45,468,1.17,2.40,0.00,0.000,4,0.061,0.081,2642,781,3437
$GC,559,-0.95,-146.6,49.5,-7.3,62,565,0.28,2.30,0.00,0.000,6,0.048,0.066,2586,2200,3438
$GC,896,-0.95,-146.6,93.0,-11.1,113,900,0.00,2.38,0.00,0.000,4,0.000,0.089,2585,3609,3438
$GC,945,-0.95,-146.6,98.5,-10.8,117,952,0.00,2.35,0.00,0.000,6,0.000,0.069,2586,2194,3438
$GC,1272,-0.95,-146.6,134.2,-11.2,148,1276,0.00,2.42,0.00,0.000,4,0.000,0.091,2585,3607,3438
$GC,1322,-0.95,-146.6,140.2,-11.5,152,1326,0.00,2.33,0.00,0.000,6,0.000,0.071,2586,2199,3438
$GC,1640,-0.95,-146.6,175.2,-11.0,171,1642,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2199,3438
$GC,1949,-0.95,-146.6,209.5,-11.1,186,1950,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2199,3438
$GC,2258,-0.95,-146.6,245.2,-11.2,201,2262,0.00,2.38,0.00,0.000,4,0.000,0.091,2586,788,3438
$GC,2290,-0.95,-146.6,249.0,-11.6,202,2295,0.00,2.35,0.00,0.000,6,0.000,0.073,2586,2196,3437
$GC,2612,-0.95,-146.6,285.9,-11.5,218,2613,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2196,3438
$GC,2937,-0.95,-146.6,320.0,-10.2,228,2942,0.00,2.40,0.00,0.000,4,0.000,0.093,2586,794,3438
$GC,2988,-0.99,-146.6,325.1,-9.5,228,2993,0.00,2.33,0.00,0.000,6,0.000,0.074,2586,2205,3437
$GC,3298,-0.99,-146.6,354.0,-9.4,233,3302,0.00,2.42,0.00,0.000,4,0.000,0.097,2586,787,3437
$GC,3342,-1.04,-146.6,358.6,-10.4,233,3346,0.00,2.33,0.00,0.000,6,0.000,0.074,2586,2198,3437
$GC,3662,-1.04,-146.6,392.1,-10.6,239,3666,0.00,2.42,0.00,0.000,4,0.000,0.097,2585,792,3436
$GC,3683,-1.04,-146.6,394.6,-11.5,239,3688,0.00,2.35,0.00,0.000,6,0.000,0.075,2586,2197,3437
$GC,4028,-1.04,-146.6,432.9,-11.2,245,4032,0.00,2.45,0.00,0.000,4,0.000,0.099,2586,784,3436
$GC,4055,-1.08,-146.6,436.0,-11.2,245,4059,0.12,2.35,0.00,0.000,6,0.070,0.075,2561,2202,3436
$GC,4394,-1.02,-146.6,476.4,-12.0,251,4398,0.00,2.45,0.00,0.000,4,0.000,0.100,2561,797,3435
$GC,4420,-0.95,-146.6,480.0,-12.6,251,4425,0.17,2.33,0.00,0.000,6,0.097,0.075,2589,2200,3435
$GC,4759,-0.95,-146.6,512.1,-9.3,257,4763,0.00,2.47,0.00,0.000,4,0.000,0.109,2589,3605,3434
$GC,4774,-0.95,-146.6,513.7,-9.0,257,4778,0.00,2.35,0.00,0.000,6,0.000,0.080,2589,2202,3435
$GC,5124,-0.95,-146.6,546.5,-9.6,263,5126,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2202,3434
$GC,5427,-1.00,-146.6,574.9,-9.4,268,5436,0.00,2.50,0.00,0.000,4,0.000,0.111,2589,785,3434
$STATE,5439,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5439,begin apogee
$GC,5447,-0.23,0.0,576.3,9.2,268,5570,0.90,0.00,119.80,1.183,6,0.081,0.000,2744,2399,2837
$STATE,5571,end apogee,CONTROL_FINISHED_OK
$STATE,5571,begin climb
$GC,5573,1.00,146.6,579.9,0.0,270,5701,1.58,0.00,123.43,1.139,6,0.048,0.000,3018,2398,2239
$GC,5999,0.78,146.6,537.0,13.3,277,6004,0.28,2.53,0.00,0.000,4,0.103,0.114,2972,3768,2239
$GC,6099,0.65,146.6,524.2,12.3,278,6104,0.20,2.35,0.00,0.000,6,0.108,0.082,2944,2401,2239
$GC,6425,0.67,168.6,494.2,9.0,284,6449,0.00,2.50,19.27,1.078,4,0.000,0.104,2944,994,2148
$GC,6527,0.69,178.8,484.4,9.5,285,6542,0.00,2.40,9.70,0.999,6,0.000,0.083,2943,2400,2108
$GC,6858,0.76,183.4,452.6,9.8,291,6868,0.00,2.50,5.72,0.874,4,0.000,0.101,2944,990,2089
$GC,6913,0.80,183.4,446.9,10.8,291,6920,0.17,2.40,0.00,0.000,6,0.064,0.083,2977,2401,2088
$GC,7222,0.80,183.4,411.9,11.4,297,7226,0.00,2.50,0.00,0.000,4,0.000,0.102,2977,988,2088
$GC,7248,0.75,183.4,408.8,11.0,297,7252,0.00,2.40,0.00,0.000,6,0.000,0.083,2977,2408,2087
$GC,7585,0.75,183.4,373.4,10.5,303,7589,0.00,2.50,0.00,0.000,4,0.000,0.101,2977,986,2088
$GC,7657,0.69,183.4,365.1,11.4,304,7662,0.15,2.38,0.00,0.000,6,0.108,0.084,2955,2400,2087
$GC,8011,0.74,183.4,329.7,10.2,310,8015,0.00,2.47,0.00,0.000,4,0.000,0.100,2955,987,2087
$GC,8116,0.74,183.4,318.2,11.1,311,8120,0.00,2.38,0.00,0.000,6,0.000,0.083,2955,2400,2087
$GC,8445,0.80,183.4,283.2,10.8,321,8449,0.00,2.45,0.00,0.000,4,0.000,0.100,2955,993,2087
$GC,8477,0.80,183.4,279.3,11.2,322,8484,0.00,2.38,0.00,0.000,6,0.000,0.082,2955,2396,2087
$GC,8794,0.86,193.1,248.1,9.6,338,8807,0.15,0.00,9.30,0.916,6,0.071,0.000,2987,2396,2049
$GC,9124,0.86,193.1,210.7,12.2,354,9128,0.00,2.45,0.00,0.000,4,0.000,0.100,2988,993,2049
$GC,9150,0.81,193.1,207.2,13.0,355,9154,0.00,2.38,0.00,0.000,6,0.000,0.083,2988,2404,2049
$GC,9472,0.81,193.1,169.4,11.9,371,9473,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2404,2049
$GC,9784,0.81,193.1,134.2,11.2,392,9786,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2404,2049
$GC,10104,0.81,196.3,101.5,9.9,422,10115,0.00,2.42,4.32,0.657,4,0.000,0.098,2988,983,2036
$GC,10176,0.77,196.3,93.8,10.4,428,10183,0.00,2.35,0.00,0.000,6,0.000,0.081,2988,2401,2036
$GC,10511,0.81,234.4,63.4,8.3,475,10544,0.00,0.00,30.00,0.866,6,0.000,0.000,2988,2402,1881
$GC,10877,0.99,278.4,31.9,8.0,532,10918,0.15,2.50,35.10,0.832,4,0.067,0.094,3018,990,1701
$GC,10935,1.02,303.1,26.9,8.9,537,10963,0.00,2.42,20.55,0.792,6,0.000,0.080,3018,2391,1600
$STATE,11268,end climb,SURFACE_DEPTH_REACHED
$STATE,11268,begin surface coast
$FINISH,0.2,1.024098
$STATE,11301,end surface coast,CONTROL_FINISHED_OK
$STATE,11301,begin surface
$SM_CCo,11322,45.05,0.780,0,0,1206,400.08
$SM_GC,1.47,0.00,0.00,45.05,0.000,0.000,0.780,863,2182,1206,-8.91,-0.51,400.08
$IRIDIUM_FIX,4644.93,-12501.07,111297,010133
$TT8_MAMPS,0.027612
$HUMID,2123
$INTERNAL_PRESSURE,8.68197
$TCM_TEMP,16.30
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,575.4,6.0
$24V_AH,23.3,35.226
$10V_AH,10.6,22.553
$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,30.825,106.575,377.200,45.050,0.000,29.837,30.115,98.640,6.750,0.000,0.000,11.212,1084.831,8312.602,509.713,1414.234,297.911,33.341,1219.923,0.000,1389.711,0.000,34.032
$DEVICE_MAMPS,151.866,114.283,1182.714,780.039,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,387.947,447.256,809.819,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28491,572
$CAP_FILE_SIZE,93173,0
$CFSIZE,260165632,258822144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,0,0
$GPS,160908,063007,4659.620,-12504.104,36,1.1,36,18.4