version: 66.02
glider: 118
mission: 4
dive: 5
start: 9 21 107 21 14 50
data:
$ID,118
$MISSION,4
$DIVE,5
$D_SURF,2
$D_FLARE,5
$D_TGT,45
$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,20
$T_MISSION,40
$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,-15748.308
$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,19
$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
$GPS1,210750,4739.325,-12252.092,10,1.5,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-57.7
$GPS2,211344,4739.365,-12252.018,11,1.1,17,18.3
$SPEED_LIMITS,0.130,0.236
$TGT_NAME,H1
$TGT_LATLONG,4739.000,-12252.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.023,-0.235
$KALMAN_X,283.7,141.1,98.2,793.1,36.9
$KALMAN_Y,383.1,212.4,141.3,-849.3,44.6
$MHEAD_RNG_PITCHd_Wd,167.4,676,-14.0,-7.500
$D_GRID,124
$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,-1.58,-146.6,0.0,0.0,0,120,0.00,0.00,-90.47,0.000,6,0.000,0.000,427,2589,3801
$GC,125,-1.58,-146.6,3.4,-6.4,15,144,12.10,2.50,0.00,0.000,4,0.158,0.067,2579,3935,3805
$GC,395,-1.58,-146.6,18.0,-2.8,56,402,0.00,2.28,0.00,0.000,6,0.000,0.035,2579,2587,3807
$GC,468,-1.58,-146.6,20.0,-2.7,67,474,0.00,2.50,0.00,0.000,4,0.000,0.067,2579,3938,3807
$GC,566,-1.58,-146.6,23.1,-3.6,75,573,0.00,2.33,0.00,0.000,6,0.000,0.036,2579,2597,3809
$GC,762,-1.58,-146.6,29.5,-3.1,91,763,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2597,3808
$GC,953,-1.58,-146.6,36.3,-3.6,106,954,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2597,3808
$GC,1142,-1.58,-146.6,43.7,-3.9,121,1147,0.00,2.53,0.00,0.000,4,0.000,0.070,2579,3938,3808
$STATE,1171,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1171,begin apogee
$GC,1180,-0.50,0.0,45.2,4.7,123,1295,1.17,0.00,108.32,0.568,6,0.097,0.000,2818,2416,3228
$STATE,1296,end apogee,CONTROL_FINISHED_OK
$STATE,1296,begin climb
$GC,1298,1.58,146.6,44.7,0.0,133,1415,2.15,0.00,109.80,0.544,6,0.076,0.000,3268,2414,2630
$GC,1607,1.58,146.6,11.5,10.9,163,1612,0.00,0.00,0.00,0.000,6,0.000,0.000,3268,2414,2629
$GC,1679,1.58,146.6,4.2,9.6,174,1684,0.00,0.00,0.00,0.000,6,0.000,0.000,3268,2414,2629
$STATE,1702,end climb,SURFACE_DEPTH_REACHED
$STATE,1702,begin surface coast
$FINISH,0.2,1.013670
$STATE,1723,end surface coast,CONTROL_FINISHED_OK
$STATE,1723,begin surface
$SM_CCo,1750,112.80,0.517,0,0,1598,400.08
$SM_GC,0.98,0.00,0.00,112.80,0.000,0.000,0.517,423,2606,1598,-11.53,0.25,400.08
$IRIDIUM_FIX,4722.92,-12249.11,220907,010115
$TT8_MAMPS,0.070564
$HUMID,1772
$INTERNAL_PRESSURE,9.34952
$TCM_TEMP,19.90
$XPDR_PINGS,11
$ALTIM_TOP_PING,9.4,8.8
$ALTIM_BOTTOM_PING,27.0,27.2
$24V_AH,24.0,0.825
$10V_AH,10.0,0.697
$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,28.200,15.150,218.125,112.800,0.000,0.000,0.000,0.000,3.250,0.000,1919.000,17.042,327.129,804.437,410.332,302.927,108.616,33.321,623.865,0.000,322.171,0.000,4.099
$DEVICE_MAMPS,158.002,69.797,567.580,516.958,0.000,103.000,160.000,223.000,420.000,0.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,124.521,0.000,0.000,0.000,0.000,0.000,0.000,1919.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3318,181
$CFSIZE,260034560,256606208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210907,214645,4739.337,-12251.944,7,1.7,7,18.3