version: 66.01
glider: 108
mission: 4
dive: 21
start: 8 19 107 7 21 52
data:
$ID,108
$MISSION,4
$DIVE,21
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,200
$D_NO_BLEED,50
$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,50
$T_MISSION,70
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,135
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51322
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0049999999
$HD_B,0.015
$HD_C,5.5e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,525
$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,-102213.66
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,775
$PITCH_MAX,3245
$C_PITCH,2180
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15.3
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,100
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,154
$ROLL_MAX,3928
$C_ROLL_DIVE,2210
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,3
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,568
$VBD_MAX,3955
$C_VBD,2776
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$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,-10.045347
$PRESSURE_SLOPE,9.1530041e-05
$AD7714Ch0Gain,64
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,32
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043498399
$SEABIRD_T_H,0.0006493734
$SEABIRD_T_I,2.8112627e-05
$SEABIRD_T_J,3.1957888e-06
$SEABIRD_C_G,-10.106751
$SEABIRD_C_H,1.1366181
$SEABIRD_C_I,0.00038917549
$SEABIRD_C_J,7.9540005e-05
$GPS1,071729,4805.871,-12221.986,12,7.7,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.22
$_SM_ANGLEo,-54.2
$GPS2,072129,4805.860,-12221.976,13,6.0,32,18.3
$SPEED_LIMITS,0.173,0.206
$TGT_NAME,FIVE_sb
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,50.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,115.9,1999,-23.1,-10.000
$D_GRID,108
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.67,-132.0,0.0,0.0,0,68,0.00,0.00,-48.28,0.000,2,0.000,0.000,779,2201,2085
$GC,70,-1.67,-132.0,3.4,-3.8,7,119,6.82,2.60,-31.58,0.000,4,0.227,0.073,1811,3614,3316
$GC,164,-1.55,-132.0,18.4,-19.4,22,171,0.17,2.45,0.00,0.000,6,0.160,0.041,1839,2196,3317
$GC,241,-1.47,-132.0,32.3,-17.7,30,246,0.12,2.58,0.00,0.000,4,0.160,0.059,1857,3622,3318
$GC,262,-1.40,-132.0,36.4,-18.4,31,270,0.00,2.47,0.00,0.000,6,0.000,0.041,1858,2211,3317
$GC,460,-1.36,-132.0,69.7,-17.2,50,462,0.12,0.00,0.00,0.000,6,0.152,0.000,1877,2211,3319
$STATE,702,end dive,TARGET_DEPTH_EXCEEDED
$STATE,702,begin apogee
$GC,706,-0.33,0.0,108.4,15.9,73,816,1.17,0.00,101.95,0.726,6,0.122,0.000,2103,2409,2775
$STATE,817,end apogee,CONTROL_FINISHED_OK
$STATE,817,begin climb
$GC,819,1.67,132.0,113.4,0.0,84,928,2.03,2.62,100.78,0.707,4,0.071,0.064,2546,992,2238
$GC,1001,1.52,132.0,98.7,13.7,100,1006,0.20,2.47,0.00,0.000,6,0.157,0.046,2514,2401,2238
$GC,1325,1.43,132.0,60.4,11.4,130,1330,0.12,2.55,0.00,0.000,4,0.160,0.064,2495,997,2237
$GC,1341,1.35,132.0,58.4,11.8,131,1346,0.12,2.47,0.00,0.000,6,0.162,0.048,2477,2406,2237
$GC,1666,1.33,149.9,26.3,9.1,161,1689,0.00,2.65,13.20,0.736,4,0.000,0.066,2476,998,2164
$GC,1940,1.59,363.4,5.9,-0.8,204,2078,0.22,2.45,130.95,0.673,2,0.069,0.048,2526,2396,1460
$STATE,2079,end climb,SURFACE_DEPTH_REACHED
$STATE,2079,begin surface coast
$FINISH,1.5,1.009425
$STATE,2111,end surface coast,CONTROL_FINISHED_OK
$STATE,2111,begin surface
$SM_CCo,2125,126.12,0.642,0,0,635,525.19
$SM_GC,2.31,0.00,0.00,126.12,0.000,0.000,0.642,781,2201,635,-6.44,-0.25,525.19
$RAFOS_CLK,53
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4751.72,-12223.57,190807,101038
$TT8_MAMPS,0.02301
$HUMID,1907
$INTERNAL_PRESSURE,11.1528
$TCM_TEMP,19.80
$XPDR_PINGS,0
$24V_AH,0.1,4.744
$10V_AH,10.2,1.908
$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,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,19.100,26.025,346.875,126.125,0.000,37.920,43.761,65.940,0.000,35.148,475.211,919.800,516.760,415.871,185.420,0.000,782.268,0.000,391.603,0.000,0.465
$DEVICE_MAMPS,227.032,72.865,736.320,641.979,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,162.615,147.187,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6465,230
$CFSIZE,256090112,252633088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1489.0
$CURRENT,0.069,186.1,1
$GPS,190807,080036,4805.622,-12221.764,14,3.2,33,18.3