version: 66.03
glider: 119
mission: 5
dive: 107
start: 10 21 108 2 26 19
data:
$ID,119
$MISSION,5
$DIVE,107
$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,-211722.36
$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,30
$R_STBD_OVSHOOT,36
$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
$GPS1,022115,4807.020,-12539.549,37,2.1,57,18.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-68.3
$GPS2,022527,4807.011,-12539.508,13,1.1,13,18.9
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,CAPE_FLATTERY
$TGT_LATLONG,4809.000,-12540.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.187,0.054
$KALMAN_X,-31770.2,1465.9,-1212.1,-20957.6,-50522.5
$KALMAN_Y,126347.0,431.3,15.1,14.6,-10660.9
$MHEAD_RNG_PITCHd_Wd,55.1,3734,-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,-72.10,0.000,2,0.000,0.000,860,2216,3099
$GC,97,-0.67,-117.3,4.4,-7.2,7,120,12.35,2.28,-4.07,0.000,4,0.150,0.074,2648,3595,3317
$GC,132,0.63,-117.3,17.9,-34.4,10,143,1.67,2.25,0.00,0.000,6,0.073,0.043,2932,2189,3316
$GC,464,-0.08,-117.3,35.7,-5.3,41,470,0.80,2.28,0.00,0.000,4,0.056,0.058,2785,791,3316
$GC,493,-0.35,-117.3,37.5,-4.8,43,499,0.35,2.80,0.00,0.000,6,0.052,0.048,2720,2553,3317
$GC,834,-0.87,-117.3,62.0,-6.6,100,841,0.57,2.85,0.00,0.000,4,0.048,0.054,2606,783,3316
$GC,910,-0.70,-117.3,67.4,-7.1,113,917,0.22,2.58,0.00,0.000,6,0.084,0.046,2644,2426,3316
$GC,1246,-0.62,-117.3,89.8,-6.6,160,1251,0.12,2.67,0.00,0.000,4,0.089,0.058,2666,787,3317
$GC,1308,-0.68,-117.3,94.1,-7.3,165,1313,0.00,2.50,0.00,0.000,6,0.000,0.047,2666,2378,3317
$GC,1634,-0.68,-117.3,113.9,-6.0,195,1635,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2378,3317
$GC,1955,-0.72,-117.3,132.2,-5.5,225,1960,0.12,2.58,0.00,0.000,4,0.061,0.059,2637,783,3316
$GC,2006,-0.72,-117.3,135.8,-7.3,229,2010,0.00,2.47,0.00,0.000,6,0.000,0.048,2637,2356,3317
$GC,2330,-0.66,-117.3,156.7,-7.5,255,2334,0.00,2.50,0.00,0.000,4,0.000,0.061,2637,795,3317
$GC,2384,-0.61,-117.3,161.2,-8.2,257,2391,0.17,2.30,0.00,0.000,6,0.081,0.048,2667,2273,3317
$GC,2701,-0.68,-117.3,179.8,-5.3,273,2705,0.00,2.40,0.00,0.000,4,0.000,0.062,2667,784,3316
$GC,2741,-0.78,-117.3,182.0,-5.5,274,2748,0.20,2.22,0.00,0.000,6,0.050,0.048,2624,2219,3317
$STATE,2931,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2931,begin apogee
$GC,2936,-0.23,0.0,195.6,7.2,284,3034,0.70,0.00,92.28,0.937,6,0.069,0.000,2746,2219,2836
$STATE,3035,end apogee,CONTROL_FINISHED_OK
$STATE,3035,begin climb
$GC,3037,0.67,117.3,199.0,0.0,289,3141,1.10,2.45,94.32,0.899,4,0.049,0.068,2942,3602,2358
$GC,3394,0.43,117.3,180.4,6.9,305,3398,0.30,2.28,0.00,0.000,6,0.090,0.047,2894,2196,2358
$GC,3715,0.46,147.3,164.8,4.6,321,3745,0.00,2.38,25.12,0.895,4,0.000,0.067,2894,784,2236
$GC,3766,0.48,165.1,162.2,4.9,323,3787,0.00,2.33,15.93,0.857,6,0.000,0.049,2895,2211,2163
$GC,4102,0.55,181.2,145.3,5.0,343,4125,0.12,2.35,15.43,0.868,4,0.062,0.064,2922,788,2097
$GC,4137,0.47,181.2,143.3,5.5,346,4141,0.00,2.25,0.00,0.000,6,0.000,0.049,2922,2191,2097
$GC,4463,0.47,181.2,121.7,7.0,376,4467,0.00,2.30,0.00,0.000,4,0.000,0.066,2923,787,2097
$GC,4484,0.47,181.2,120.0,6.8,377,4491,0.00,2.22,0.00,0.000,6,0.000,0.049,2923,2169,2097
$GC,4813,0.47,181.2,100.3,5.5,408,4817,0.00,2.38,0.00,0.000,4,0.000,0.069,2922,3603,2097
$GC,4892,0.47,181.2,95.3,5.7,414,4898,0.00,2.22,0.00,0.000,6,0.000,0.047,2922,2196,2097
$GC,5221,0.47,181.2,72.9,7.9,453,5227,0.00,2.30,0.00,0.000,4,0.000,0.066,2923,786,2097
$GC,5273,0.47,181.2,68.9,7.6,462,5279,0.00,2.17,0.00,0.000,6,0.000,0.050,2922,2173,2097
$GC,5617,0.56,249.2,49.8,3.4,523,5678,0.00,0.00,55.55,0.849,6,0.000,0.000,2922,2173,1820
$GC,6004,0.75,307.6,30.3,3.7,575,6059,0.22,2.38,48.28,0.821,4,0.049,0.064,2970,790,1582
$GC,6099,0.75,307.6,24.9,6.4,584,6103,0.00,2.05,0.00,0.000,6,0.000,0.048,2970,2063,1582
$STATE,6417,end climb,SURFACE_DEPTH_REACHED
$STATE,6417,begin surface coast
$FINISH,0.3,1.024628
$STATE,6439,end surface coast,CONTROL_FINISHED_OK
$STATE,6439,begin surface
$SM_CCo,6460,20.42,0.788,0,0,1410,350.04
$SM_GC,0.53,0.00,0.00,20.42,0.000,0.000,0.788,860,2219,1410,-8.92,0.54,350.04
$IRIDIUM_FIX,4745.30,-12521.41,150198,000009
$TT8_MAMPS,0.027612
$HUMID,2034
$INTERNAL_PRESSURE,8.70151
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,125.3,79.1
$24V_AH,23.8,51.152
$10V_AH,10.6,35.140
$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,30.575,66.950,346.900,20.425,0.000,29.935,24.087,103.952,0.500,0.000,0.000,14.797,1040.182,3643.600,429.420,1331.651,295.484,33.358,1048.294,0.000,1328.365,0.000,5.562
$DEVICE_MAMPS,150.332,73.632,936.507,788.476,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,415.968,481.248,1034.807,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31667,616
$CAP_FILE_SIZE,70604,0
$CFSIZE,260165632,250380288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,211008,041511,4807.323,-12538.855,12,1.5,15,18.9