version: 66.03
glider: 119
mission: 5
dive: 109
start: 10 21 108 6 5 43
data:
$ID,119
$MISSION,5
$DIVE,109
$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,-211751.55
$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,28
$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
$GPS1,060037,4807.555,-12538.056,34,1.1,35,18.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-70.3
$GPS2,060451,4807.564,-12538.017,10,1.5,10,18.9
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,CAPE_FLATTERY
$TGT_LATLONG,4809.000,-12540.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.188,0.050
$KALMAN_X,-33294.6,1673.0,-1997.0,-16971.9,-72886.1
$KALMAN_Y,125841.8,316.0,-75.6,1746.4,-16152.6
$MHEAD_RNG_PITCHd_Wd,56.1,3616,-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,-117.3,0.0,0.0,0,84,0.00,0.00,-62.20,0.000,2,0.000,0.000,862,2222,2827
$GC,87,-0.67,-117.3,3.8,-7.0,6,119,12.23,2.45,-10.45,0.000,4,0.148,0.074,2649,788,3318
$GC,311,-0.52,-117.3,33.3,-9.3,26,316,0.22,2.22,0.00,0.000,6,0.081,0.046,2686,2202,3318
$GC,647,-0.52,-117.3,52.9,-5.6,75,653,0.00,2.28,0.00,0.000,4,0.000,0.058,2687,784,3318
$GC,683,-0.56,-117.3,54.7,-5.0,81,689,0.00,2.17,0.00,0.000,6,0.000,0.045,2687,2183,3318
$GC,1028,-0.61,-117.3,68.6,-3.9,142,1034,0.00,2.33,0.00,0.000,4,0.000,0.068,2686,3607,3318
$GC,1065,-0.67,-117.3,70.0,-3.8,148,1072,0.17,2.28,0.00,0.000,6,0.051,0.042,2648,2141,3318
$GC,1400,-0.58,-117.3,91.6,-6.6,193,1405,0.15,2.42,0.00,0.000,4,0.085,0.066,2677,3609,3318
$GC,1439,-0.58,-117.3,93.9,-5.7,196,1443,0.00,2.17,0.00,0.000,6,0.000,0.044,2677,2222,3318
$GC,1766,-0.63,-117.3,108.4,-5.3,226,1770,0.00,2.33,0.00,0.000,4,0.000,0.062,2677,787,3319
$GC,1862,-0.74,-117.3,114.2,-6.1,234,1866,0.20,2.10,0.00,0.000,6,0.050,0.048,2634,2131,3318
$GC,2187,-0.60,-117.3,140.2,-8.7,264,2191,0.17,2.15,0.00,0.000,4,0.083,0.061,2667,799,3318
$GC,2237,-0.64,-117.3,143.9,-6.5,268,2241,0.00,1.98,0.00,0.000,6,0.000,0.047,2667,2068,3318
$STATE,2476,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2476,begin apogee
$GC,2482,-0.23,0.0,158.9,5.9,284,2579,0.47,0.00,91.78,0.910,6,0.069,0.000,2749,2216,2837
$STATE,2580,end apogee,CONTROL_FINISHED_OK
$STATE,2580,begin climb
$GC,2582,0.67,117.3,162.4,0.0,289,2685,1.08,0.00,94.07,0.874,6,0.049,0.000,2943,2216,2358
$GC,2997,0.51,117.3,143.4,6.7,313,3002,0.17,2.33,0.00,0.000,4,0.091,0.068,2912,3600,2358
$GC,3099,0.43,117.3,136.7,5.9,321,3105,0.00,2.08,0.00,0.000,6,0.000,0.046,2912,2291,2358
$GC,3425,0.44,171.4,122.2,3.8,352,3478,0.00,2.55,44.03,0.874,4,0.000,0.064,2912,805,2137
$GC,3569,0.44,171.4,113.4,6.5,365,3574,0.00,2.38,0.00,0.000,6,0.000,0.049,2912,2272,2138
$GC,3895,0.44,171.4,91.0,6.6,395,3899,0.00,2.42,0.00,0.000,4,0.000,0.064,2912,793,2138
$GC,3990,0.44,171.4,84.6,5.6,403,3994,0.00,2.22,0.00,0.000,6,0.000,0.049,2912,2202,2137
$GC,4328,0.46,190.9,69.9,4.9,454,4352,0.00,2.33,17.73,0.848,4,0.000,0.068,2912,3609,2057
$GC,4408,0.46,190.9,64.9,6.6,468,4415,0.00,2.17,0.00,0.000,6,0.000,0.046,2911,2244,2057
$GC,4753,0.59,234.3,47.5,4.1,529,4798,0.00,2.47,36.25,0.842,4,0.000,0.066,2912,797,1881
$GC,4850,0.73,269.5,43.4,4.4,546,4891,0.25,2.30,30.08,0.818,6,0.046,0.049,2964,2227,1738
$GC,5216,0.73,269.5,19.4,6.4,585,5220,0.00,2.35,0.00,0.000,4,0.000,0.064,2964,796,1738
$GC,5349,0.73,269.5,9.8,7.3,596,5356,0.00,2.10,0.00,0.000,6,0.000,0.048,2964,2105,1738
$STATE,5470,end climb,SURFACE_DEPTH_REACHED
$STATE,5470,begin surface coast
$FINISH,0.1,1.023054
$STATE,5504,end surface coast,CONTROL_FINISHED_OK
$STATE,5504,begin surface
$SM_CCo,5524,38.40,0.796,0,0,1409,350.04
$SM_GC,1.44,0.00,0.00,38.40,0.000,0.000,0.796,862,2213,1409,-8.91,0.40,350.04
$IRIDIUM_FIX,4751.72,-12536.76,150198,040422
$TT8_MAMPS,0.027612
$HUMID,2026
$INTERNAL_PRESSURE,8.70151
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,125.6,42.7
$24V_AH,23.9,51.350
$10V_AH,10.6,35.281
$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,26.600,54.950,313.925,38.400,0.000,28.385,33.181,105.043,0.500,0.000,0.000,11.630,1009.114,2813.654,425.123,1286.890,291.779,33.360,1004.696,0.000,1288.348,0.000,5.464
$DEVICE_MAMPS,148.031,73.632,910.429,796.146,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,412.357,470.760,1025.939,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28509,611
$CAP_FILE_SIZE,64692,0
$CFSIZE,260165632,250310656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,211008,073915,4807.895,-12537.352,12,1.6,13,18.9