version: 66.03
glider: 119
mission: 5
dive: 128
start: 10 22 108 9 25 7
data:
$ID,119
$MISSION,5
$DIVE,128
$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,-212151.22
$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,33
$R_STBD_OVSHOOT,26
$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
$GPS1,092007,4807.876,-12534.506,36,1.9,36,18.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-69.3
$GPS2,092415,4807.869,-12534.488,10,1.3,10,18.9
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.177,-0.082
$KALMAN_X,-10891.0,-1009.3,21309.2,-55467.2,57488.1
$KALMAN_Y,125843.0,-571.5,19190.0,-16040.7,-13344.0
$MHEAD_RNG_PITCHd_Wd,226.1,222660,-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,-62.03,0.000,2,0.000,0.000,863,2201,2811
$GC,87,-0.67,-117.3,3.3,-5.3,6,120,12.20,2.35,-11.50,0.000,4,0.150,0.074,2648,792,3318
$GC,301,-0.54,-117.3,31.1,-10.4,25,306,0.17,2.22,0.00,0.000,6,0.091,0.046,2677,2210,3318
$GC,636,-0.54,-117.3,58.0,-7.5,74,642,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2209,3319
$GC,980,-0.59,-117.3,78.0,-5.1,135,987,0.00,2.28,0.00,0.000,4,0.000,0.059,2678,793,3318
$GC,1005,-0.64,-117.3,79.4,-5.3,139,1011,0.00,2.17,0.00,0.000,6,0.000,0.047,2678,2191,3318
$GC,1339,-0.71,-117.3,96.6,-4.7,171,1344,0.15,2.25,0.00,0.000,4,0.056,0.059,2641,793,3318
$GC,1368,-0.65,-117.3,98.3,-5.9,173,1372,0.00,2.12,0.00,0.000,6,0.000,0.046,2641,2155,3318
$GC,1694,-0.56,-117.3,120.3,-7.2,203,1699,0.17,2.38,0.00,0.000,4,0.083,0.067,2674,3598,3319
$GC,1749,-0.63,-117.3,123.7,-5.4,207,1756,0.00,2.25,0.00,0.000,6,0.000,0.044,2674,2148,3318
$STATE,1955,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1955,begin apogee
$GC,1961,-0.23,0.0,135.4,5.6,227,2058,0.40,0.00,91.43,0.890,6,0.070,0.000,2746,2211,2836
$STATE,2059,end apogee,CONTROL_FINISHED_OK
$STATE,2059,begin climb
$GC,2061,0.67,117.3,138.6,0.0,237,2166,1.10,2.47,92.95,0.854,4,0.050,0.067,2942,3594,2357
$GC,2191,0.46,139.4,137.4,4.8,249,2216,0.25,2.30,19.58,0.826,6,0.094,0.044,2904,2200,2267
$GC,2542,0.47,144.0,119.3,5.4,282,2553,0.00,2.33,5.60,0.686,4,0.000,0.064,2904,790,2248
$GC,2621,0.47,144.0,114.8,5.9,289,2626,0.00,2.20,0.00,0.000,6,0.000,0.049,2904,2170,2248
$GC,2948,0.47,144.0,97.4,5.5,319,2952,0.00,2.38,0.00,0.000,4,0.000,0.070,2904,3602,2248
$GC,3044,0.47,144.0,91.6,6.1,327,3048,0.00,2.20,0.00,0.000,6,0.000,0.046,2904,2211,2248
$GC,3373,0.48,149.9,75.5,5.3,364,3386,0.00,2.33,6.38,0.729,4,0.000,0.064,2904,789,2224
$GC,3467,0.48,149.9,70.3,5.6,380,3473,0.00,2.12,0.00,0.000,6,0.000,0.049,2904,2142,2224
$GC,3813,0.67,267.0,58.6,1.8,441,3919,0.17,2.55,95.07,0.834,4,0.055,0.067,2946,3595,1748
$GC,4020,0.67,267.0,44.4,9.2,478,4026,0.00,2.17,0.00,0.000,6,0.000,0.046,2946,2248,1749
$GC,4354,0.77,267.0,20.7,5.8,514,4359,0.12,2.40,0.00,0.000,4,0.061,0.063,2974,793,1749
$GC,4494,0.77,267.0,10.9,6.7,526,4498,0.00,2.00,0.00,0.000,6,0.000,0.048,2974,2065,1749
$STATE,4620,end climb,SURFACE_DEPTH_REACHED
$STATE,4621,begin surface coast
$FINISH,0.5,1.024677
$STATE,4643,end surface coast,CONTROL_FINISHED_OK
$STATE,4643,begin surface
$SM_CCo,4664,40.65,0.792,0,0,1409,350.04
$SM_GC,1.52,0.00,0.00,40.65,0.000,0.000,0.792,860,2221,1409,-8.92,0.59,350.04
$IRIDIUM_FIX,4748.51,-12532.26,160198,080811
$TT8_MAMPS,0.027612
$HUMID,2037
$INTERNAL_PRESSURE,8.70151
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,125.4,19.9
$24V_AH,23.9,53.109
$10V_AH,10.6,36.490
$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,26.250,45.800,311.000,40.650,0.000,30.545,32.076,96.899,0.500,0.000,0.000,13.659,875.692,2287.609,390.677,1135.891,273.476,33.351,924.189,0.000,1130.940,0.000,5.404
$DEVICE_MAMPS,149.565,85.904,889.720,791.544,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,362.848,415.455,907.179,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25401,540
$CAP_FILE_SIZE,57292,0
$CFSIZE,260165632,249614336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,221008,104437,4807.816,-12535.057,12,1.0,29,18.9