version: 66.02
glider: 118
mission: 4
dive: 4
start: 9 21 107 20 9 12
data:
$ID,118
$MISSION,4
$DIVE,4
$D_SURF,2
$D_FLARE,5
$D_TGT,100
$D_ABORT,1050
$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,35
$T_MISSION,60
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,120
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51530
$NAV_MODE,1
$FERRY_MAX,0
$KALMAN_USE,1
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.650002
$TGT_DEFAULT_LON,-122.8667
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,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,-15728.882
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,428
$PITCH_MAX,3730
$C_PITCH,2930
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,10
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,311
$ROLL_MAX,3943
$C_ROLL_DIVE,2595
$C_ROLL_CLIMB,2415
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,17
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,540
$VBD_MAX,3800
$C_VBD,3229
$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,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-6.4917054
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,25
$ALTIM_TOP_PING_RANGE,10
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,70
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.4
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,2
$SMARTDEVICE1,5
$SMARTDEVICE2,19
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,16
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043805656
$SEABIRD_T_H,0.00064742006
$SEABIRD_T_I,2.5554549e-05
$SEABIRD_T_J,2.6681391e-06
$SEABIRD_C_G,-10.331019
$SEABIRD_C_H,1.1763502
$SEABIRD_C_I,-0.0012340198
$SEABIRD_C_J,0.00017379176
$GPS1,195957,4739.377,-12252.451,16,1.8,16,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-57.0
$GPS2,200808,4739.420,-12252.374,43,0.9,43,18.3
$SPEED_LIMITS,0.165,0.256
$TGT_NAME,H1
$TGT_LATLONG,4739.000,-12252.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.096,-0.238
$KALMAN_X,162.9,72.9,67.1,569.7,59.1
$KALMAN_Y,182.6,103.1,94.6,-388.4,68.3
$MHEAD_RNG_PITCHd_Wd,139.7,907,-17.5,-9.524
$D_GRID,125
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-1.93,-146.6,0.0,0.0,0,120,0.00,0.00,-90.68,0.000,6,0.000,0.000,427,2602,3800
$GC,125,-1.93,-146.6,3.3,-7.3,15,143,11.65,2.45,0.00,0.000,4,0.156,0.068,2503,3924,3805
$GC,395,-1.93,-146.6,19.4,-4.0,56,402,0.00,2.28,0.00,0.000,6,0.000,0.036,2503,2585,3806
$GC,466,-1.93,-146.6,22.2,-4.0,63,470,0.00,2.47,0.00,0.000,4,0.000,0.065,2503,3924,3806
$GC,724,-1.93,-146.6,34.6,-5.2,82,728,0.00,2.28,0.00,0.000,6,0.000,0.037,2503,2591,3807
$GC,920,-1.93,-146.6,44.8,-5.9,97,924,0.00,2.47,0.00,0.000,4,0.000,0.067,2503,3926,3807
$GC,1006,-1.93,-146.6,50.1,-6.4,103,1011,0.00,2.30,0.00,0.000,6,0.000,0.038,2503,2599,3807
$GC,1208,-1.93,-146.6,61.1,-5.1,119,1212,0.00,2.47,0.00,0.000,4,0.000,0.052,2503,1213,3807
$GC,1294,-1.93,-146.6,65.7,-5.2,125,1298,0.00,2.42,0.00,0.000,6,0.000,0.038,2503,2603,3806
$GC,1493,-1.93,-146.6,75.5,-5.1,140,1497,0.00,2.47,0.00,0.000,4,0.000,0.049,2503,1212,3806
$GC,1598,-1.93,-146.6,81.3,-5.6,147,1605,0.00,2.40,0.00,0.000,6,0.000,0.038,2503,2593,3806
$GC,1796,-1.93,-146.6,90.9,-5.0,163,1800,0.00,2.47,0.00,0.000,4,0.000,0.071,2503,3938,3805
$STATE,1805,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,1805,begin apogee
$GC,1814,-0.50,0.0,91.8,5.1,163,1929,1.52,0.00,107.95,0.608,6,0.097,0.000,2812,2407,3229
$STATE,1930,end apogee,CONTROL_FINISHED_OK
$STATE,1930,begin climb
$GC,1933,1.93,146.6,90.9,0.0,173,2056,2.53,2.60,110.18,0.579,4,0.073,0.058,3343,1028,2630
$GC,2101,1.93,146.6,68.7,15.7,186,2108,0.00,2.47,0.00,0.000,6,0.000,0.038,3343,2406,2630
$GC,2298,1.93,146.6,38.5,15.2,202,2302,0.00,2.55,0.00,0.000,4,0.000,0.058,3343,1023,2629
$GC,2349,1.93,146.6,30.6,15.0,205,2356,0.00,2.50,0.00,0.000,6,0.000,0.038,3343,2415,2629
$GC,2551,1.93,146.6,2.7,11.9,230,2558,0.00,2.60,0.00,0.000,4,0.000,0.069,3344,3819,2629
$STATE,2562,end climb,SURFACE_DEPTH_REACHED
$STATE,2562,begin surface coast
$FINISH,0.3,1.012496
$STATE,2576,end surface coast,CONTROL_FINISHED_OK
$STATE,2576,begin surface
$SM_CCo,2605,112.60,0.525,0,0,1597,400.08
$SM_GC,0.97,0.00,0.00,112.60,0.000,0.000,0.525,427,2589,1597,-11.51,-0.17,400.08
$IRIDIUM_FIX,4719.74,-12247.38,220907,000038
$TT8_MAMPS,0.068263
$HUMID,1781
$INTERNAL_PRESSURE,9.35929
$TCM_TEMP,20.00
$XPDR_PINGS,6
$ALTIM_TOP_PING,9.3,999.0
$ALTIM_BOTTOM_PING,75.5,999.0
$24V_AH,24.0,0.736
$10V_AH,10.0,0.627
$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,28.825,44.050,218.125,112.600,0.000,0.000,0.000,0.000,2.750,0.000,2794.000,43.680,445.042,1343.792,423.773,482.244,137.707,32.330,718.694,0.000,472.638,0.000,8.731
$DEVICE_MAMPS,156.468,70.564,608.231,525.395,0.000,103.000,160.000,223.000,420.000,0.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,161.312,0.000,0.000,0.000,0.000,0.000,0.000,2794.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6476,234
$CFSIZE,260034560,256626688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210907,205526,4739.251,-12252.247,8,1.2,13,18.3