version: 66.03
glider: 119
mission: 5
dive: 17
start: 9 18 108 7 58 18
data:
$ID,119
$MISSION,5
$DIVE,17
$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,-210044.28
$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,26
$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,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
$GPS1,074956,4655.797,-12531.848,40,1.8,40,18.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-71.3
$GPS2,075727,4655.769,-12531.775,14,1.7,14,18.4
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,W_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.251,-0.082
$KALMAN_X,7616.1,214.2,138.3,-50628.0,22.8
$KALMAN_Y,17945.0,-338.7,-490.0,-22226.3,1823.7
$MHEAD_RNG_PITCHd_Wd,233.5,187381,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-1.00,-146.6,0.0,0.0,0,84,0.00,0.00,-61.95,0.000,2,0.000,0.000,863,2184,2668
$GC,87,-1.00,-146.6,3.5,-5.8,6,123,11.88,2.45,-16.85,0.000,4,0.152,0.095,2572,791,3436
$GC,210,-0.79,-146.6,29.2,-13.3,17,215,0.32,2.33,0.00,0.000,6,0.092,0.062,2624,2210,3436
$GC,547,-0.79,-146.6,69.8,-10.6,68,553,0.00,2.35,0.00,0.000,4,0.000,0.085,2625,3603,3438
$GC,581,-0.79,-146.6,73.4,-10.3,74,588,0.00,2.28,0.00,0.000,6,0.000,0.064,2624,2203,3438
$GC,916,-0.84,-146.6,108.2,-12.7,112,920,0.00,2.40,0.00,0.000,4,0.000,0.087,2625,785,3438
$GC,972,-0.97,-146.6,113.8,-9.1,116,979,0.20,2.33,0.00,0.000,6,0.057,0.071,2584,2202,3439
$GC,1299,-0.89,-146.6,151.2,-12.0,147,1303,0.00,2.40,0.00,0.000,4,0.000,0.087,2584,793,3438
$GC,1348,-0.89,-146.6,158.0,-13.1,149,1352,0.00,2.35,0.00,0.000,6,0.000,0.073,2584,2192,3438
$GC,1670,-0.83,-146.6,199.2,-12.4,165,1672,0.20,0.00,0.00,0.000,6,0.094,0.000,2616,2193,3438
$GC,1979,-0.92,-146.6,227.4,-8.6,180,1980,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2193,3438
$GC,2289,-1.01,-146.6,254.6,-9.1,195,2294,0.17,2.40,0.00,0.000,4,0.062,0.088,2577,791,3438
$GC,2355,-1.01,-146.6,262.0,-10.7,198,2359,0.00,2.35,0.00,0.000,6,0.000,0.074,2577,2210,3438
$GC,2682,-0.95,-146.6,297.9,-11.2,214,2687,0.00,2.42,0.00,0.000,4,0.000,0.091,2577,794,3438
$GC,2722,-0.91,-146.6,302.5,-11.5,216,2727,0.15,2.33,0.00,0.000,6,0.100,0.075,2602,2199,3438
$GC,3042,-0.91,-146.6,331.4,-8.9,222,3046,0.00,2.40,0.00,0.000,4,0.000,0.091,2601,795,3438
$GC,3086,-0.99,-146.6,335.2,-8.3,222,3090,0.00,2.33,0.00,0.000,6,0.000,0.075,2601,2200,3438
$GC,3401,-1.03,-146.6,361.6,-8.4,228,3405,0.15,2.42,0.00,0.000,4,0.066,0.092,2568,789,3437
$GC,3427,-1.03,-146.6,364.2,-10.3,228,3431,0.00,2.35,0.00,0.000,6,0.000,0.075,2568,2202,3437
$GC,3765,-0.93,-146.6,404.7,-12.3,234,3770,0.15,2.45,0.00,0.000,4,0.107,0.094,2595,787,3437
$GC,3781,-0.87,-146.6,406.8,-12.6,234,3785,0.00,2.35,0.00,0.000,6,0.000,0.076,2595,2202,3437
$GC,4130,-0.87,-146.6,441.7,-9.8,240,4134,0.00,2.42,0.00,0.000,4,0.000,0.095,2595,797,3437
$GC,4180,-0.93,-146.6,446.7,-9.4,240,4184,0.00,2.35,0.00,0.000,6,0.000,0.078,2595,2205,3437
$GC,4489,-0.93,-146.6,475.3,-9.3,245,4493,0.00,2.45,0.00,0.000,4,0.000,0.097,2595,794,3436
$GC,4517,-0.98,-146.6,477.9,-9.7,245,4521,0.00,2.35,0.00,0.000,6,0.000,0.079,2595,2201,3437
$GC,4848,-1.03,-146.6,507.3,-8.9,251,4849,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2201,3435
$GC,5151,-1.03,-146.6,533.3,-8.5,256,5155,0.00,2.47,0.00,0.000,4,0.000,0.101,2595,790,3435
$GC,5189,-1.11,-146.6,536.3,-7.7,256,5194,0.20,2.38,0.00,0.000,6,0.061,0.082,2556,2208,3435
$STATE,5329,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5329,begin apogee
$GC,5334,-0.23,0.0,550.3,10.3,259,5457,1.15,0.00,119.78,1.170,6,0.090,0.000,2747,2406,2837
$STATE,5458,end apogee,CONTROL_FINISHED_OK
$STATE,5458,begin climb
$GC,5460,1.00,146.6,553.2,0.0,261,5592,1.55,2.65,123.70,1.119,4,0.045,0.109,3017,3761,2238
$GC,5655,0.70,146.6,538.2,16.3,264,5660,0.43,2.42,0.00,0.000,6,0.107,0.081,2956,2405,2238
$GC,6008,0.70,146.6,501.0,10.1,270,6009,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2405,2237
$GC,6311,0.73,163.0,472.6,9.3,275,6331,0.00,2.50,14.38,1.056,4,0.000,0.099,2956,990,2172
$GC,6365,0.71,186.4,467.7,8.9,275,6391,0.00,2.42,20.48,1.071,6,0.000,0.082,2956,2401,2077
$GC,6739,0.71,186.4,430.2,10.2,282,6743,0.00,2.47,0.00,0.000,4,0.000,0.095,2956,990,2076
$GC,6804,0.71,186.4,423.0,11.9,283,6809,0.00,2.42,0.00,0.000,6,0.000,0.083,2956,2391,2076
$GC,7169,0.71,186.4,383.9,10.7,289,7173,0.00,2.45,0.00,0.000,4,0.000,0.095,2956,986,2076
$GC,7231,0.71,186.4,377.3,10.5,290,7235,0.00,2.42,0.00,0.000,6,0.000,0.084,2956,2407,2076
$GC,7595,0.71,186.4,338.0,10.9,296,7599,0.00,2.47,0.00,0.000,4,0.000,0.094,2956,985,2075
$GC,7656,0.71,186.4,331.0,11.5,297,7660,0.00,2.40,0.00,0.000,6,0.000,0.083,2956,2400,2075
$GC,7980,0.71,186.4,295.9,10.7,303,7984,0.00,2.45,0.00,0.000,4,0.000,0.094,2956,979,2075
$GC,8035,0.71,186.4,289.9,11.1,305,8042,0.00,2.42,0.00,0.000,6,0.000,0.082,2956,2399,2075
$GC,8351,0.71,186.4,257.4,10.0,321,8355,0.00,2.42,0.00,0.000,4,0.000,0.092,2956,987,2075
$GC,8400,0.71,186.4,252.3,10.4,323,8404,0.00,2.38,0.00,0.000,6,0.000,0.081,2956,2400,2074
$GC,8728,0.73,203.4,221.4,9.2,339,8749,0.00,2.42,14.52,0.956,4,0.000,0.092,2956,981,2007
$GC,8821,0.73,203.4,212.2,10.3,343,8826,0.00,2.40,0.00,0.000,6,0.000,0.080,2956,2404,2007
$GC,9149,0.80,224.3,181.3,9.0,359,9172,0.00,2.50,17.50,0.939,4,0.000,0.090,2956,986,1922
$GC,9255,0.85,224.3,170.8,10.2,363,9263,0.15,2.38,0.00,0.000,6,0.066,0.078,2985,2400,1922
$GC,9575,0.85,224.3,132.9,11.8,385,9576,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2401,1922
$GC,9893,0.85,224.3,97.6,10.8,415,9897,0.00,2.42,0.00,0.000,4,0.000,0.087,2985,986,1922
$GC,9992,0.85,224.3,86.6,10.7,423,9999,0.00,2.38,0.00,0.000,6,0.000,0.077,2985,2393,1922
$GC,10333,1.01,313.7,61.6,5.9,478,10411,0.15,2.53,68.80,0.854,4,0.066,0.088,3019,987,1558
$GC,10453,1.01,313.7,49.8,12.7,499,10460,0.00,2.42,0.00,0.000,6,0.000,0.076,3019,2405,1557
$GC,10782,1.11,313.7,10.9,10.2,535,10786,0.00,2.38,0.00,0.000,4,0.000,0.094,3019,3767,1557
$GC,10816,1.15,313.7,7.4,10.3,538,10821,0.17,2.30,0.00,0.000,6,0.062,0.069,3053,2388,1557
$STATE,10863,end climb,SURFACE_DEPTH_REACHED
$STATE,10863,begin surface coast
$FINISH,0.3,1.023831
$STATE,10875,end surface coast,CONTROL_FINISHED_OK
$STATE,10875,begin surface
$SM_CCo,10896,39.58,0.792,0,0,1205,400.08
$SM_GC,1.66,0.00,0.00,39.58,0.000,0.000,0.792,864,2184,1205,-8.91,-0.45,400.08
$IRIDIUM_FIX,4638.64,-12533.36,131297,080815
$TT8_MAMPS,0.027612
$HUMID,2140
$INTERNAL_PRESSURE,8.70151
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,550.3,5.6
$24V_AH,23.1,36.912
$10V_AH,10.6,23.404
$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,29.200,116.225,379.150,39.575,0.000,57.047,47.519,183.100,4.750,0.000,0.000,15.710,1061.118,7940.565,508.749,1431.483,445.114,33.357,1226.247,0.000,1402.243,0.000,32.418
$DEVICE_MAMPS,151.866,108.914,1170.442,792.311,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,368.068,424.639,767.395,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28527,543
$CAP_FILE_SIZE,100030,0
$CFSIZE,260165632,258211840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,0,0
$GPS,180908,110138,4654.976,-12533.670,27,1.3,27,18.4