version: 66.02
glider: 118
mission: 4
dive: 6
start: 9 21 107 21 57 15
data:
$ID,118
$MISSION,4
$DIVE,6
$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,-15750.551
$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,42
$R_STBD_OVSHOOT,28
$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
$GPS1,214645,4739.337,-12251.944,7,1.7,7,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-60.2
$GPS2,215609,4739.412,-12251.838,15,1.5,15,18.3
$SPEED_LIMITS,0.130,0.236
$TGT_NAME,H1
$TGT_LATLONG,4739.000,-12252.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.065,-0.227
$KALMAN_X,389.9,217.4,124.5,806.9,17.3
$KALMAN_Y,547.0,320.3,173.6,-1068.3,41.8
$MHEAD_RNG_PITCHd_Wd,177.6,789,-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,-90.85,0.000,6,0.000,0.000,424,2605,3801
$GC,125,-1.58,-146.6,3.3,-6.1,15,144,12.15,2.47,0.00,0.000,4,0.157,0.068,2579,3931,3805
$GC,296,-1.58,-146.6,14.3,-4.7,41,303,0.00,2.30,0.00,0.000,6,0.000,0.037,2580,2580,3806
$GC,369,-1.58,-146.6,17.6,-4.2,52,375,0.00,2.50,0.00,0.000,4,0.000,0.067,2579,3924,3807
$GC,435,-1.58,-146.6,19.7,-2.6,62,441,0.00,2.28,0.00,0.000,6,0.000,0.038,2580,2589,3808
$GC,505,-1.58,-146.6,21.5,-2.3,69,509,0.00,2.45,0.00,0.000,4,0.000,0.049,2580,1216,3808
$GC,577,-1.58,-146.6,23.5,-3.3,74,582,0.00,2.45,0.00,0.000,6,0.000,0.037,2580,2598,3808
$GC,779,-1.58,-146.6,30.0,-3.3,90,784,0.00,2.47,0.00,0.000,4,0.000,0.071,2579,3928,3808
$GC,892,-1.58,-146.6,34.5,-4.3,98,896,0.00,2.28,0.00,0.000,6,0.000,0.037,2580,2594,3808
$GC,1088,-1.58,-146.6,42.8,-4.1,113,1089,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2591,3808
$STATE,1135,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1135,begin apogee
$GC,1142,-0.50,0.0,45.1,4.3,117,1259,1.20,0.00,108.60,0.570,6,0.096,0.000,2820,2414,3228
$STATE,1260,end apogee,CONTROL_FINISHED_OK
$STATE,1260,begin climb
$GC,1263,1.58,146.6,44.3,0.0,127,1379,2.15,0.00,110.07,0.546,6,0.074,0.000,3273,2413,2631
$GC,1576,1.58,146.6,9.2,11.9,158,1582,0.00,0.00,0.00,0.000,6,0.000,0.000,3272,2413,2630
$STATE,1639,end climb,SURFACE_DEPTH_REACHED
$STATE,1639,begin surface coast
$FINISH,0.2,1.003180
$STATE,1664,end surface coast,CONTROL_FINISHED_OK
$STATE,1664,begin surface
$SM_CCo,1690,112.88,0.515,0,0,1597,400.08
$SM_GC,0.89,0.00,0.00,112.88,0.000,0.000,0.515,425,2606,1597,-11.52,0.31,400.08
$IRIDIUM_FIX,4722.92,-12251.79,220907,010125
$TT8_MAMPS,0.068263
$HUMID,1760
$INTERNAL_PRESSURE,9.34952
$TCM_TEMP,19.80
$XPDR_PINGS,5
$ALTIM_TOP_PING,9.2,8.4
$ALTIM_BOTTOM_PING,27.4,27.6
$24V_AH,24.0,0.905
$10V_AH,10.0,0.753
$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,28.275,19.825,218.675,112.875,0.000,41.151,37.191,351.745,1.750,0.000,2484.000,15.050,324.188,752.612,416.802,304.603,596.506,33.323,626.777,0.000,308.787,0.000,4.100
$DEVICE_MAMPS,157.235,70.564,569.881,515.424,0.000,103.000,160.000,223.000,420.000,0.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,117.719,0.000,0.000,0.000,0.000,0.000,0.000,2484.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3314,171
$CFSIZE,260034560,256593920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210907,222832,4739.394,-12251.772,13,1.4,30,18.3