version: 66.01
glider: 108
mission: 5
dive: 21
start: 8 28 107 9 34 1
data:
$ID,108
$MISSION,5
$DIVE,21
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$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,75
$T_ABORT,1440
$T_TURN,300
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51088
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,1
$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,500
$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,-104012.08
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,1470
$PITCH_MAX,4023
$C_PITCH,3400
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,21.5
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,100
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,157
$ROLL_MAX,3795
$C_ROLL_DIVE,1976
$C_ROLL_CLIMB,2125
$HEAD_ERRBAND,3
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,17
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,568
$VBD_MAX,3955
$C_VBD,2943
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$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,-10.497107
$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
$GPS1,092911,4807.005,-12223.015,8,2.2,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-70.9
$GPS2,093303,4807.011,-12223.024,14,1.2,14,18.3
$SPEED_LIMITS,0.173,0.217
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.182,-0.118
$KALMAN_X,-959.0,-0.4,164.9,1693.2,-265.7
$KALMAN_Y,-480.7,72.0,-40.5,-591.5,75.0
$MHEAD_RNG_PITCHd_Wd,122.9,2260,-21.9,-10.000
$D_GRID,105
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.20,-146.6,0.0,0.0,0,75,0.00,0.00,-55.17,0.000,2,0.000,0.000,1474,1981,2531
$GC,77,-1.20,-146.6,3.2,-4.4,8,138,16.48,3.05,-33.45,0.000,4,0.285,0.093,3133,573,3543
$GC,307,-1.10,-146.6,36.6,-16.5,38,312,0.17,2.78,0.00,0.000,6,0.173,0.054,3155,1971,3543
$GC,504,-1.06,-146.6,65.1,-14.1,56,505,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,1971,3544
$STATE,789,end dive,TARGET_DEPTH_EXCEEDED
$STATE,789,begin apogee
$GC,793,-0.23,0.0,105.5,14.0,83,924,1.20,0.00,127.18,0.704,6,0.160,0.000,3342,2136,2943
$STATE,925,end apogee,CONTROL_FINISHED_OK
$STATE,925,begin climb
$GC,926,1.20,146.6,110.1,0.0,96,1066,1.88,3.08,129.02,0.675,4,0.116,0.071,3653,718,2344
$GC,1089,1.10,146.6,92.2,16.3,110,1094,0.00,2.88,0.00,0.000,6,0.000,0.049,3653,2126,2343
$GC,1414,1.03,146.6,40.9,15.3,140,1419,0.15,2.88,0.00,0.000,4,0.143,0.064,3630,3540,2343
$GC,1487,0.96,146.6,30.0,14.9,146,1492,0.12,2.83,0.00,0.000,6,0.163,0.051,3614,2125,2342
$GC,1690,0.98,161.0,5.3,9.3,175,1710,0.00,2.90,11.32,0.695,4,0.000,0.064,3614,3534,2285
$GC,1727,1.14,246.9,3.1,6.1,181,1756,0.17,2.85,21.98,0.673,2,0.055,0.050,3652,2103,2178
$STATE,1756,end climb,SURFACE_DEPTH_REACHED
$STATE,1756,begin surface coast
$FINISH,1.2,1.018957
$STATE,1797,end surface coast,CONTROL_FINISHED_OK
$STATE,1798,begin surface
$SM_CCo,1816,195.95,0.621,0,0,904,500.17
$SM_GC,2.07,0.00,0.00,195.95,0.000,0.000,0.621,1470,1963,904,-8.88,-0.40,500.17
$RAFOS_CLK,40
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4748.51,-12208.51,280807,121207
$TT8_MAMPS,0.02301
$HUMID,2010
$INTERNAL_PRESSURE,11.27
$TCM_TEMP,19.90
$XPDR_PINGS,0
$24V_AH,20.9,2.350
$10V_AH,10.0,0.473
$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,31.675,23.825,289.500,195.950,0.000,38.461,46.554,73.028,0.000,15.848,409.719,764.470,552.914,346.066,193.881,33.339,786.021,0.000,342.586,0.000,0.465
$DEVICE_MAMPS,285.324,92.807,704.106,621.270,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,129.186,135.129,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6460,192
$CFSIZE,260165632,257429504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,4,0,0,0
$SOUNDSPEED,1487.5
$CURRENT,0.022, 45.0,1
$GPS,280807,100837,4806.869,-12222.781,9,1.2,25,18.3