version: 66.03
glider: 119
mission: 5
dive: 227
start: 11 21 108 17 39 19
data:
$ID,119
$MISSION,5
$DIVE,227
$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,-213975.06
$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,37
$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
$GPS1,173326,4700.490,-12459.305,37,1.9,37,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-62.6
$GPS2,173827,4700.510,-12459.286,11,1.7,12,18.4
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,GRAYS_HARBOR
$TGT_LATLONG,4700.000,-12458.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.067,-0.183
$KALMAN_X,-30867.6,352.7,11.6,28896.0,-5096.2
$KALMAN_Y,255743.6,89.3,-243.0,-251932.6,8137.6
$MHEAD_RNG_PITCHd_Wd,141.4,1879,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.67,-117.3,0.0,0.0,0,75,0.00,0.00,-51.62,0.000,2,0.000,0.000,861,2218,2536
$GC,78,-0.67,-117.3,3.1,-3.5,5,122,12.20,2.40,-21.38,0.000,4,0.143,0.075,2645,3592,3317
$GC,168,-0.39,-117.3,15.9,-14.9,13,173,0.40,2.25,0.00,0.000,6,0.079,0.040,2712,2187,3316
$GC,493,-0.46,-117.3,38.3,-6.8,43,496,0.00,2.22,0.00,0.000,4,0.000,0.058,2713,793,3317
$GC,545,-0.55,-117.3,42.4,-8.0,49,552,0.17,2.17,0.00,0.000,6,0.050,0.041,2674,2201,3317
$GC,890,-0.55,-117.3,66.6,-5.8,110,897,0.00,2.33,0.00,0.000,4,0.000,0.062,2674,3605,3317
$GC,909,-0.55,-117.3,67.8,-6.1,113,915,0.00,2.22,0.00,0.000,6,0.000,0.039,2674,2192,3317
$GC,1246,-0.55,-117.3,87.1,-6.0,163,1247,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2186,3317
$GC,1567,-0.60,-117.3,105.0,-4.8,193,1571,0.00,2.30,0.00,0.000,4,0.000,0.060,2674,799,3317
$GC,1608,-0.69,-117.3,107.1,-5.1,196,1612,0.12,2.10,0.00,0.000,6,0.061,0.043,2645,2153,3317
$GC,1933,-0.63,-117.3,124.9,-6.1,226,1937,0.00,2.40,0.00,0.000,4,0.000,0.064,2645,3603,3317
$GC,1989,-0.56,-117.3,128.9,-7.1,231,1994,0.17,2.33,0.00,0.000,6,0.079,0.041,2675,2140,3316
$GC,2315,-0.66,-117.3,146.7,-5.6,261,2316,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2140,3317
$GC,2625,-0.74,-117.3,163.4,-5.2,279,2627,0.20,0.00,0.00,0.000,6,0.051,0.000,2633,2135,3317
$GC,2935,-0.65,-117.3,185.2,-7.1,294,2936,0.12,0.00,0.00,0.000,6,0.090,0.000,2654,2135,3317
$GC,3243,-0.65,-117.3,204.0,-5.7,309,3244,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2135,3317
$GC,3552,-0.65,-117.3,221.6,-5.8,324,3557,0.00,2.47,0.00,0.000,4,0.000,0.064,2654,3605,3317
$GC,3592,-0.65,-117.3,224.2,-6.6,326,3597,0.00,2.28,0.00,0.000,6,0.000,0.042,2655,2175,3317
$GC,3919,-0.65,-117.3,246.8,-6.9,342,3920,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2169,3317
$GC,4228,-0.65,-117.3,267.0,-6.3,357,4230,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2169,3317
$GC,4538,-0.65,-117.3,285.0,-5.7,372,4542,0.00,2.42,0.00,0.000,4,0.000,0.064,2654,3606,3317
$GC,4577,-0.65,-117.3,287.5,-6.2,374,4581,0.00,2.25,0.00,0.000,6,0.000,0.043,2655,2195,3316
$GC,4900,-0.65,-117.3,309.0,-7.1,386,4901,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2189,3316
$GC,5204,-0.65,-117.3,327.4,-5.9,391,5205,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2189,3316
$STATE,5262,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5262,begin apogee
$GC,5267,-0.23,0.0,330.6,5.4,392,5364,0.52,0.00,94.62,1.034,6,0.067,0.000,2745,2189,2837
$STATE,5365,end apogee,CONTROL_FINISHED_OK
$STATE,5365,begin climb
$GC,5367,0.67,117.3,332.1,0.0,393,5473,1.10,2.58,98.80,0.997,4,0.051,0.062,2942,3601,2358
$GC,5536,0.44,117.3,329.4,7.4,395,5541,0.28,2.35,0.00,0.000,6,0.092,0.044,2899,2202,2358
$GC,5850,0.44,117.3,305.6,7.9,401,5854,0.00,2.38,0.00,0.000,4,0.000,0.066,2899,794,2358
$GC,5922,0.44,117.3,300.6,6.6,402,5926,0.00,2.15,0.00,0.000,6,0.000,0.044,2899,2162,2359
$GC,6248,0.44,117.3,280.6,6.1,416,6252,0.00,2.40,0.00,0.000,4,0.000,0.064,2899,3600,2358
$GC,6325,0.44,117.3,275.2,7.1,419,6332,0.00,2.28,0.00,0.000,6,0.000,0.045,2899,2202,2358
$GC,6641,0.45,121.5,257.3,5.4,435,6652,0.00,2.35,5.50,0.791,4,0.000,0.063,2899,792,2340
$GC,6681,0.45,128.0,255.2,5.3,437,6694,0.00,2.22,7.03,0.851,6,0.000,0.045,2899,2217,2315
$GC,7011,0.48,146.7,239.0,4.9,453,7032,0.00,0.00,17.35,0.960,6,0.000,0.000,2900,2217,2239
$GC,7342,0.54,161.5,220.7,5.0,469,7364,0.00,2.38,14.27,0.940,4,0.000,0.064,2899,797,2178
$GC,7402,0.54,161.5,217.3,5.6,471,7409,0.00,2.22,0.00,0.000,6,0.000,0.044,2900,2189,2178
$GC,7719,0.62,168.5,199.9,5.3,487,7729,0.17,0.00,7.72,0.856,6,0.055,0.000,2936,2189,2150
$GC,8030,0.56,168.5,179.8,6.2,502,8034,0.00,2.28,0.00,0.000,4,0.000,0.064,2936,794,2150
$GC,8085,0.46,168.5,175.4,7.7,504,8092,0.15,2.17,0.00,0.000,6,0.079,0.045,2902,2166,2150
$GC,8402,0.53,168.5,157.8,6.2,520,8403,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2166,2150
$GC,8716,0.61,186.7,141.0,4.9,543,8736,0.17,0.00,16.83,0.911,6,0.057,0.000,2940,2166,2075
$GC,9055,0.61,186.7,119.3,5.7,575,9059,0.00,2.22,0.00,0.000,4,0.000,0.062,2940,797,2076
$GC,9143,0.55,186.7,114.0,6.1,582,9150,0.00,2.17,0.00,0.000,6,0.000,0.045,2940,2165,2076
$GC,9470,0.50,186.7,94.7,6.9,613,9475,0.17,2.22,0.00,0.000,4,0.087,0.060,2907,791,2076
$GC,9521,0.57,186.7,91.6,6.2,617,9524,0.00,2.00,0.00,0.000,6,0.000,0.044,2908,2078,2075
$GC,9853,0.72,213.1,72.4,4.7,659,9882,0.22,2.10,23.05,0.872,4,0.050,0.063,2958,791,1967
$GC,9946,0.64,213.1,66.8,6.4,675,9952,0.00,1.98,0.00,0.000,6,0.000,0.044,2958,2056,1967
$GC,10291,0.66,231.2,46.8,4.9,736,10314,0.00,2.60,16.52,0.850,4,0.000,0.064,2958,3607,1893
$GC,10371,0.66,231.2,41.8,6.1,750,10377,0.00,2.62,0.00,0.000,6,0.000,0.046,2958,1980,1893
$GC,10698,0.66,231.2,26.1,6.0,784,10703,0.00,2.72,0.00,0.000,4,0.000,0.061,2958,3601,1892
$GC,10749,0.80,343.9,24.8,2.0,788,10844,0.00,2.60,88.97,0.814,6,0.000,0.045,2957,2001,1435
$GC,11162,0.93,343.9,4.0,8.3,827,11166,0.20,2.03,0.00,0.000,4,0.052,0.060,3004,793,1433
$STATE,11186,end climb,SURFACE_DEPTH_REACHED
$STATE,11186,begin surface coast
$FINISH,0.9,1.022404
$STATE,11209,end surface coast,CONTROL_FINISHED_OK
$STATE,11210,begin surface
$SM_CCo,11232,2.50,0.294,0,0,1410,350.04
$SM_GC,2.21,0.00,0.00,2.50,0.000,0.000,0.294,856,2213,1410,-8.94,0.37,350.04
$IRIDIUM_FIX,4641.78,-12501.07,150298,111116
$TT8_MAMPS,0.027612
$HUMID,2018
$INTERNAL_PRESSURE,8.70151
$TCM_TEMP,19.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,300.5,39.7
$24V_AH,23.3,67.062
$10V_AH,10.5,47.982
$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,28.050,87.450,390.675,2.500,0.000,28.616,25.772,134.602,2.250,0.000,0.000,14.030,1429.264,7465.178,466.740,1794.694,376.669,33.387,1276.268,0.000,1781.251,0.000,16.610
$DEVICE_MAMPS,143.429,75.166,1033.916,293.761,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,563.697,647.963,1364.862,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41160,831
$CAP_FILE_SIZE,100327,0
$CFSIZE,260165632,242139136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,211108,204757,4659.822,-12458.881,25,2.3,44,18.4