version: 66.03
glider: 119
mission: 5
dive: 132
start: 10 22 108 15 0 32
data:
$ID,119
$MISSION,5
$DIVE,132
$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,-212229.83
$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,25
$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
$GPS1,145244,4808.608,-12535.307,12,1.6,29,18.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-69.6
$GPS2,145939,4808.629,-12535.238,10,1.9,10,18.9
$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,-16706.9,-481.9,51633.7,-81462.4,28011.6
$KALMAN_Y,123329.6,218.7,26843.2,-20571.7,-29037.9
$MHEAD_RNG_PITCHd_Wd,226.2,222679,-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,21,-0.67,-117.3,0.0,0.0,0,84,0.00,0.00,-61.72,0.000,2,0.000,0.000,861,2227,2800
$GC,87,-0.67,-117.3,3.3,-5.7,6,120,12.25,2.38,-11.62,0.000,4,0.150,0.072,2649,800,3318
$GC,357,-0.56,-117.3,37.5,-8.9,30,361,0.15,2.20,0.00,0.000,6,0.087,0.045,2674,2205,3318
$GC,698,-0.56,-117.3,58.9,-4.9,87,704,0.00,2.28,0.00,0.000,4,0.000,0.058,2674,784,3318
$GC,721,-0.56,-117.3,60.4,-5.6,91,727,0.00,2.20,0.00,0.000,6,0.000,0.046,2674,2198,3318
$GC,1065,-0.56,-117.3,79.7,-6.0,152,1071,0.00,2.30,0.00,0.000,4,0.000,0.067,2674,3600,3318
$GC,1100,-0.56,-117.3,81.9,-6.5,156,1104,0.00,2.22,0.00,0.000,6,0.000,0.043,2674,2180,3318
$GC,1426,-0.75,-117.3,99.6,-6.3,186,1431,0.17,2.38,0.00,0.000,4,0.053,0.067,2631,3605,3318
$GC,1454,-0.75,-117.3,101.6,-7.2,188,1458,0.00,2.15,0.00,0.000,6,0.000,0.043,2632,2231,3318
$GC,1781,-0.63,-117.3,124.4,-7.2,218,1783,0.17,0.00,0.00,0.000,6,0.084,0.000,2662,2225,3318
$STATE,2074,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2074,begin apogee
$GC,2079,-0.23,0.0,139.8,5.2,246,2176,0.50,0.00,91.15,0.890,6,0.071,0.000,2748,2225,2837
$STATE,2177,end apogee,CONTROL_FINISHED_OK
$STATE,2177,begin climb
$GC,2180,0.67,117.3,143.2,0.0,256,2280,1.08,2.42,92.88,0.854,4,0.050,0.066,2943,3596,2358
$GC,2359,0.44,117.3,138.6,7.0,272,2364,0.28,2.30,0.00,0.000,6,0.086,0.045,2899,2200,2358
$GC,2684,0.45,123.4,121.2,5.3,302,2697,0.00,2.40,6.82,0.739,4,0.000,0.064,2899,786,2332
$GC,2731,0.41,123.4,119.0,5.5,306,2736,0.00,2.33,0.00,0.000,6,0.000,0.049,2899,2241,2332
$GC,3058,0.44,153.2,105.0,4.6,336,3090,0.00,2.33,24.75,0.859,4,0.000,0.069,2899,3599,2212
$GC,3342,0.49,188.8,90.6,4.4,361,3380,0.00,2.05,30.15,0.850,6,0.000,0.045,2899,2325,2066
$GC,3705,0.59,206.2,75.4,5.0,403,3729,0.15,2.55,15.85,0.829,4,0.057,0.064,2935,797,1996
$GC,3775,0.53,206.2,70.8,6.7,415,3782,0.00,2.33,0.00,0.000,6,0.000,0.049,2935,2255,1996
$GC,4120,0.53,206.2,50.3,6.1,476,4125,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2255,1996
$GC,4460,0.61,208.3,30.5,5.4,523,4464,0.00,2.38,0.00,0.000,4,0.000,0.062,2935,793,1996
$GC,4584,0.64,232.9,24.4,4.7,534,4617,0.00,2.45,23.08,0.825,6,0.000,0.051,2935,2340,1887
$GC,4935,0.78,263.4,8.2,4.5,567,4968,0.15,2.58,26.20,0.808,4,0.057,0.062,2973,797,1763
$STATE,5035,end climb,SURFACE_DEPTH_REACHED
$STATE,5035,begin surface coast
$FINISH,0.1,1.024709
$STATE,5058,end surface coast,CONTROL_FINISHED_OK
$STATE,5059,begin surface
$SM_CCo,5081,43.00,0.782,0,0,1409,350.04
$SM_GC,1.49,0.00,0.00,43.00,0.000,0.000,0.782,864,2200,1409,-8.91,0.00,350.04
$IRIDIUM_FIX,4748.51,-12536.76,160198,151554
$TT8_MAMPS,0.027612
$HUMID,2044
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,16.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,125.0,24.4
$24V_AH,23.9,53.494
$10V_AH,10.6,36.745
$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,26.500,46.500,310.875,43.000,0.000,58.659,52.301,152.434,0.500,0.000,0.000,12.410,946.306,2564.645,398.928,1250.132,390.724,33.370,969.308,0.000,1245.999,0.000,5.418
$DEVICE_MAMPS,150.332,72.098,889.720,782.340,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,389.665,442.749,971.118,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28593,578
$CAP_FILE_SIZE,61540,0
$CFSIZE,260165632,249458688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,221008,162708,4808.828,-12534.959,34,1.5,35,18.9