version: 66.01
glider: 108
mission: 4
dive: 28
start: 8 19 107 12 27 52
data:
$ID,108
$MISSION,4
$DIVE,28
$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,-102359.55
$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,30
$R_STBD_OVSHOOT,22
$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
$GPS1,122307,4804.674,-12220.662,13,1.2,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-52.9
$GPS2,122729,4804.680,-12220.659,11,2.6,30,18.3
$SPEED_LIMITS,0.173,0.206
$TGT_NAME,FOUR
$TGT_LATLONG,4804.000,-12220.000
$TGT_RADIUS,200.000
$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,124.7,1500,-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,-132.0,0.0,0.0,0,69,0.00,0.00,-49.47,0.000,2,0.000,0.000,778,2193,2045
$GC,71,-1.67,-132.0,3.2,-3.5,7,121,6.70,2.62,-36.38,0.000,4,0.219,0.071,1812,3621,3316
$GC,127,-1.43,-132.0,8.3,-12.0,15,135,0.32,2.45,0.00,0.000,6,0.160,0.041,1866,2203,3316
$GC,208,-1.39,-132.0,22.0,-16.2,28,212,0.00,2.55,0.00,0.000,4,0.000,0.059,1866,3620,3317
$GC,452,-1.36,-132.0,64.0,-16.6,49,460,0.00,2.53,0.00,0.000,6,0.000,0.041,1867,2179,3318
$STATE,734,end dive,TARGET_DEPTH_EXCEEDED
$STATE,734,begin apogee
$GC,738,-0.33,0.0,109.6,16.2,76,848,1.25,0.00,102.15,0.726,6,0.124,0.000,2105,2419,2775
$STATE,848,end apogee,CONTROL_FINISHED_OK
$STATE,849,begin climb
$GC,850,1.67,132.0,114.5,0.0,87,959,2.00,2.62,100.55,0.712,4,0.069,0.064,2545,998,2238
$GC,1032,1.52,132.0,99.8,14.5,103,1037,0.20,2.45,0.00,0.000,6,0.158,0.047,2513,2393,2237
$GC,1357,1.44,132.0,60.0,11.9,133,1361,0.00,2.55,0.00,0.000,4,0.000,0.066,2513,989,2237
$GC,1373,1.35,132.0,57.9,12.2,134,1378,0.22,2.47,0.00,0.000,6,0.156,0.048,2476,2400,2237
$GC,1697,1.33,142.3,24.9,9.5,164,1709,0.00,2.62,7.62,0.756,4,0.000,0.066,2476,997,2195
$GC,1747,1.28,142.3,19.6,10.6,168,1755,0.00,2.47,0.00,0.000,6,0.000,0.048,2476,2388,2195
$GC,1957,1.65,423.2,6.8,-4.2,205,2107,0.25,0.00,146.18,0.667,2,0.067,0.000,2535,2388,1408
$STATE,2108,end climb,SURFACE_DEPTH_REACHED
$STATE,2108,begin surface coast
$FINISH,1.5,1.018976
$STATE,2136,end surface coast,CONTROL_FINISHED_OK
$STATE,2136,begin surface
$SM_CCo,2150,120.70,0.646,0,0,634,525.19
$SM_GC,2.19,0.00,0.00,120.70,0.000,0.000,0.646,780,2203,634,-6.44,-0.20,525.19
$RAFOS_CLK,50
$RAFOS,3,1187526845,12.583333,12.568055,69,66,61,57,55,53,214,202,171,227,183,193
$RAFOS,1,1187525645,12.250000,12.234722,61,52,51,50,50,45,151,195,209,117,166,221
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4745.30,-12215.68,190807,151532
$TT8_MAMPS,0.02301
$HUMID,1916
$INTERNAL_PRESSURE,11.1625
$TCM_TEMP,19.90
$XPDR_PINGS,0
$24V_AH,0.1,5.437
$10V_AH,10.2,2.051
$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,18.950,26.100,356.500,120.700,0.000,40.678,49.618,78.496,0.000,33.187,478.595,901.709,522.536,443.352,208.742,0.000,798.927,0.000,418.766,360.000,0.465
$DEVICE_MAMPS,219.362,70.564,756.262,645.814,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,162.590,148.724,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6423,231
$CFSIZE,256090112,252489728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1489.8
$CURRENT,0.037,285.9,1
$GPS,190807,130653,4804.547,-12220.642,10,2.2,29,18.3