version: 66.03
glider: 119
mission: 5
dive: 104
start: 10 20 108 18 43 43
data:
$ID,119
$MISSION,5
$DIVE,104
$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,600
$T_MISSION,660
$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,120
$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,350
$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,-211677.47
$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,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,10
$ROLL_ADJ_DBAND,0.029999999
$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,3
$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
$GPS1,183730,4806.061,-12543.486,39,2.2,58,18.9
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-68.5
$GPS2,184251,4805.981,-12543.445,11,1.1,11,18.9
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,CAPE_FLATTERY
$TGT_LATLONG,4809.000,-12540.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.186,0.060
$KALMAN_X,-23954.5,-1.3,271.1,-33723.3,-16153.3
$KALMAN_Y,129365.4,36.4,193.1,-4683.1,-1020.4
$MHEAD_RNG_PITCHd_Wd,53.2,7028,-11.5,-5.500
$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,-0.67,-117.3,0.0,0.0,0,94,0.00,0.00,-71.85,0.000,2,0.000,0.000,863,2224,3083
$GC,97,-0.67,-117.3,4.5,-7.6,7,120,12.23,2.28,-4.47,0.000,4,0.146,0.074,2645,3601,3317
$GC,374,-0.47,-117.3,44.0,-9.3,35,380,0.30,2.20,0.00,0.000,6,0.081,0.042,2695,2200,3317
$GC,718,-0.55,-117.3,67.3,-7.5,96,724,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2194,3317
$GC,1055,-0.77,-117.3,86.3,-4.3,145,1059,0.32,2.30,0.00,0.000,4,0.042,0.061,2624,790,3317
$GC,1150,-0.61,-117.3,92.5,-7.4,153,1155,0.25,2.08,0.00,0.000,6,0.077,0.046,2666,2119,3317
$GC,1475,-0.61,-117.3,110.2,-6.1,183,1478,0.00,2.15,0.00,0.000,4,0.000,0.061,2666,793,3317
$GC,1532,-0.65,-117.3,114.0,-6.7,188,1535,0.00,1.98,0.00,0.000,6,0.000,0.047,2666,2060,3317
$GC,1865,-0.65,-117.3,133.4,-5.3,219,1869,0.00,2.55,0.00,0.000,4,0.000,0.069,2666,3601,3317
$GC,1939,-0.69,-117.3,137.6,-5.2,225,1943,0.00,2.42,0.00,0.000,6,0.000,0.045,2666,2059,3317
$GC,2275,-0.69,-117.3,152.3,-4.6,254,2279,0.00,2.55,0.00,0.000,4,0.000,0.067,2666,3595,3317
$GC,2315,-0.74,-117.3,154.5,-5.4,256,2319,0.15,2.30,0.00,0.000,6,0.058,0.044,2634,2126,3318
$GC,2647,-0.63,-117.3,177.1,-6.3,272,2651,0.15,2.20,0.00,0.000,4,0.088,0.064,2664,788,3318
$GC,2702,-0.68,-117.3,179.9,-4.5,274,2708,0.00,2.08,0.00,0.000,6,0.000,0.048,2664,2127,3317
$GC,3017,-0.68,-117.3,194.1,-5.2,290,3022,0.00,2.42,0.00,0.000,4,0.000,0.070,2663,3595,3317
$GC,3063,-0.68,-117.3,196.7,-6.3,292,3067,0.00,2.28,0.00,0.000,6,0.000,0.044,2663,2140,3317
$GC,3384,-0.68,-117.3,215.7,-5.9,308,3385,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2139,3317
$GC,3693,-0.68,-117.3,233.9,-6.0,323,3694,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2138,3317
$GC,4002,-0.68,-117.3,253.6,-6.6,338,4006,0.00,2.42,0.00,0.000,4,0.000,0.070,2663,3596,3317
$GC,4034,-0.68,-117.3,256.0,-7.1,339,4041,0.00,2.28,0.00,0.000,6,0.000,0.044,2663,2163,3317
$GC,4353,-0.72,-117.3,275.7,-5.9,355,4357,0.00,2.22,0.00,0.000,4,0.000,0.067,2663,800,3317
$GC,4393,-0.78,-117.3,278.3,-6.4,357,4397,0.17,2.15,0.00,0.000,6,0.053,0.048,2626,2168,3317
$GC,4760,-0.66,-117.3,305.8,-7.9,373,4765,0.15,2.38,0.00,0.000,4,0.089,0.070,2654,3599,3317
$GC,4814,-0.66,-117.3,309.7,-6.9,373,4821,0.00,2.25,0.00,0.000,6,0.000,0.045,2655,2183,3317
$GC,5124,-0.66,-117.3,329.6,-6.6,379,5125,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2178,3317
$STATE,5183,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5183,begin apogee
$GC,5188,-0.23,0.0,334.4,7.2,380,5285,0.55,0.00,94.15,1.042,6,0.071,0.000,2749,2178,2837
$STATE,5285,end apogee,CONTROL_FINISHED_OK
$STATE,5285,begin climb
$GC,5287,0.67,117.3,337.2,0.0,381,5393,1.10,2.60,96.85,1.005,4,0.043,0.069,2945,3598,2358
$GC,5401,0.60,257.9,340.8,1.1,383,5531,0.00,2.35,123.57,0.991,6,0.000,0.045,2946,2197,1784
$GC,5852,0.60,257.9,309.3,8.4,391,5856,0.00,2.40,0.00,0.000,4,0.000,0.074,2946,799,1784
$GC,5981,0.53,257.9,297.2,9.4,393,5986,0.17,2.12,0.00,0.000,6,0.090,0.051,2918,2117,1784
$GC,6313,0.61,257.9,271.5,7.9,409,6317,0.00,2.20,0.00,0.000,4,0.000,0.070,2917,801,1784
$GC,6402,0.66,257.9,264.4,8.2,413,6406,0.12,2.00,0.00,0.000,6,0.061,0.050,2945,2060,1783
$GC,6722,0.66,257.9,237.6,8.7,429,6726,0.00,2.10,0.00,0.000,4,0.000,0.071,2945,797,1784
$GC,6745,0.66,257.9,235.5,9.5,430,6748,0.00,1.98,0.00,0.000,6,0.000,0.050,2945,2039,1783
$GC,7077,0.66,257.9,201.5,10.7,446,7080,0.00,2.05,0.00,0.000,4,0.000,0.070,2945,801,1783
$GC,7100,0.66,257.9,199.0,11.1,447,7103,0.00,1.92,0.00,0.000,6,0.000,0.050,2945,2015,1783
$GC,7432,0.66,257.9,168.9,9.0,463,7435,0.00,2.00,0.00,0.000,4,0.000,0.070,2945,793,1783
$GC,7482,0.61,257.9,164.1,10.0,465,7485,0.00,1.85,0.00,0.000,6,0.000,0.050,2945,1975,1782
$GC,7802,0.61,257.9,138.8,7.7,487,7806,0.00,2.70,0.00,0.000,4,0.000,0.069,2945,3609,1783
$GC,7830,0.61,257.9,136.4,8.8,489,7834,0.00,2.65,0.00,0.000,6,0.000,0.051,2945,1951,1783
$GC,8157,0.61,257.9,107.8,8.5,519,8160,0.00,1.88,0.00,0.000,4,0.000,0.070,2945,804,1783
$GC,8172,0.61,257.9,106.2,8.1,520,8180,0.00,1.85,0.00,0.000,6,0.000,0.048,2946,1960,1782
$GC,8501,0.62,259.1,86.1,5.5,551,8505,0.00,1.92,0.00,0.000,4,0.000,0.067,2945,800,1783
$GC,8546,0.62,259.1,83.0,6.6,555,8550,0.00,1.80,0.00,0.000,6,0.000,0.048,2945,1924,1782
$GC,8887,0.68,259.1,58.1,6.9,611,8892,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,1924,1782
$GC,9226,0.76,259.1,35.3,6.8,666,9230,0.00,2.78,0.00,0.000,4,0.000,0.067,2945,3607,1782
$GC,9258,0.82,259.1,32.9,7.0,668,9265,0.17,2.60,0.00,0.000,6,0.054,0.048,2983,1964,1783
$GC,9584,0.82,259.1,9.4,7.4,699,9587,0.00,1.90,0.00,0.000,4,0.000,0.067,2982,800,1782
$GC,9652,0.75,259.1,4.5,7.8,705,9655,0.00,1.83,0.00,0.000,6,0.000,0.047,2982,1971,1782
$STATE,9704,end climb,SURFACE_DEPTH_REACHED
$STATE,9704,begin surface coast
$FINISH,-0.1,1.014160
$STATE,9748,end surface coast,CONTROL_FINISHED_OK
$STATE,9748,begin surface
$SM_CCo,9768,43.95,0.815,0,0,1410,350.04
$SM_GC,1.18,0.00,0.00,43.95,0.000,0.000,0.815,861,2221,1410,-8.92,0.59,350.04
$IRIDIUM_FIX,4748.51,-12543.87,140198,151557
$TT8_MAMPS,0.027612
$HUMID,2051
$INTERNAL_PRESSURE,8.70151
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,325.2,18.4
$24V_AH,23.0,50.848
$10V_AH,10.6,34.901
$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,27.350,93.325,314.575,43.950,0.000,27.447,23.347,167.552,2.750,0.000,0.000,13.184,1286.329,6352.431,450.276,1661.200,384.731,33.379,1197.291,0.000,1642.233,0.000,20.965
$DEVICE_MAMPS,145.730,74.399,1041.586,815.321,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,487.039,557.388,1163.315,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34828,714
$CAP_FILE_SIZE,93438,0
$CFSIZE,260165632,250490880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,201008,212831,4806.376,-12542.038,38,1.7,38,18.9