version: 66.04
glider: 104
mission: 13
dive: 5
start: 1 21 109 0 56 24
data:
$ID,104
$MISSION,13
$DIVE,5
$D_SURF,3
$D_FLARE,4
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,100
$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,60
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,320
$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,52000
$NAV_MODE,1
$FERRY_MAX,12
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.5700001e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,48.130001
$TGT_DEFAULT_LON,-122.366
$TGT_AUTO_DEFAULT,0
$SM_CC,658
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-216606.39
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,45
$PITCH_MAX,3331
$C_PITCH,2350
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,176
$ROLL_MAX,3929
$ROLL_DEG,40
$C_ROLL_DIVE,2000
$C_ROLL_CLIMB,1840
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,574
$VBD_MAX,3908
$C_VBD,3296
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$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
$PHONE_SUPPLY,2
$PRESSURE_YINT,-16.602304
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,60
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,2
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.784981
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043870676
$SEABIRD_T_H,0.00064850412
$SEABIRD_T_I,2.4590418e-05
$SEABIRD_T_J,2.3871978e-06
$SEABIRD_C_G,-10.313265
$SEABIRD_C_H,1.1866801
$SEABIRD_C_I,0.0012373535
$SEABIRD_C_J,-1.1855637e-05
$GPS1,005156,4808.101,-12223.066,7,1.9,7,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.16
$_SM_ANGLEo,-71.1
$GPS2,005532,4808.104,-12223.043,12,1.6,12,18.3
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.023,-0.263
$KALMAN_X,-315.7,-105.1,-88.0,46.6,-24.4
$KALMAN_Y,-497.1,136.0,70.4,-1009.3,-274.1
$MHEAD_RNG_PITCHd_Wd,156.7,2045,-18.1,-10.000
$D_GRID,103
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,13,-1.39,-146.6,0.0,0.0,0,84,0.00,0.00,-68.10,0.000,2,0.000,0.000,43,2006,2827
$GC,86,-1.39,-146.6,4.2,-4.4,11,130,10.98,0.00,-29.62,0.000,6,0.145,0.000,2043,2004,3895
$GC,199,-1.39,-146.6,10.7,-9.5,30,206,0.00,2.50,0.00,0.000,4,0.000,0.058,2043,3399,3894
$GC,323,-1.39,-146.6,24.1,-11.5,49,328,0.00,2.42,0.00,0.000,6,0.000,0.043,2043,2003,3894
$GC,526,-1.39,-146.6,44.7,-9.5,68,530,0.00,2.55,0.00,0.000,4,0.000,0.063,2043,595,3894
$GC,546,-1.39,-146.6,47.0,-10.9,69,554,0.00,2.45,0.00,0.000,6,0.000,0.038,2042,1994,3894
$GC,750,-1.39,-146.6,65.9,-9.1,81,754,0.00,2.53,0.00,0.000,4,0.000,0.058,2043,3404,3894
$GC,803,-1.39,-146.6,71.1,-9.6,83,811,0.00,2.47,0.00,0.000,6,0.000,0.041,2043,2002,3894
$GC,1119,-1.39,-146.6,99.0,-8.7,99,1121,0.00,0.00,0.00,0.000,6,0.000,0.000,2043,2001,3894
$STATE,1172,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1172,begin apogee
$GC,1176,-0.33,0.0,103.6,8.9,103,1295,1.08,0.00,114.72,0.685,6,0.079,0.000,2271,1830,3296
$STATE,1295,end apogee,CONTROL_FINISHED_OK
$STATE,1295,begin climb
$GC,1297,1.39,146.6,106.0,0.0,115,1418,1.73,0.00,114.12,0.649,6,0.051,0.000,2651,1830,2697
$GC,1725,1.39,146.6,57.4,12.9,140,1730,0.00,2.55,0.00,0.000,4,0.000,0.067,2651,439,2698
$GC,1809,1.39,146.6,45.6,14.0,145,1813,0.00,2.42,0.00,0.000,6,0.000,0.035,2651,1846,2698
$GC,2011,1.39,146.6,21.8,10.8,164,2015,0.00,2.60,0.00,0.000,4,0.000,0.065,2651,431,2698
$GC,2065,1.39,146.6,15.4,11.4,172,2072,0.00,2.42,0.00,0.000,6,0.000,0.035,2651,1844,2698
$GC,2141,1.41,169.5,8.1,9.0,185,2165,0.00,0.00,19.62,0.585,6,0.000,0.000,2651,1844,2603
$GC,2234,1.73,428.4,4.8,-1.8,201,2441,0.30,2.55,196.20,0.584,4,0.046,0.051,2728,3232,1549
$GC,2695,2.00,648.7,3.2,-0.0,280,2729,0.25,2.45,27.10,0.571,2,0.045,0.044,2789,1832,1404
$STATE,2729,end climb,SURFACE_DEPTH_REACHED
$STATE,2729,begin surface coast
$FINISH,3.0,1.016360
$STATE,2735,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2735,begin surface
$SM_CCo,2754,148.90,0.481,19,0,614,658.14
$SM_GC,2.26,0.00,0.00,148.90,0.000,0.000,0.481,44,2003,614,-10.61,0.08,658.14
$IRIDIUM_FIX,4751.72,-12214.67,170498,000036
$TT8_MAMPS,0.025311
$HUMID,1432
$INTERNAL_PRESSURE,8.15681
$TCM_TEMP,17.40
$XPDR_PINGS,70
$ALTIM_BOTTOM_PING,80.9,34.5
$24V_AH,23.6,6.039
$10V_AH,10.1,2.158
$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,Compass2
$DEVICE_SECS,27.050,30.525,471.775,148.900,0.000,0.000,0.000,0.000,18.500,0.000,0.000,14.238,425.628,1235.175,688.005,688.337,31.343,33.330,1087.668,0.000,685.129,0.000,8.561,0.000
$DEVICE_MAMPS,144.963,66.729,684.931,480.909,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,188.850,206.001,555.037,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12810,286
$CAP_FILE_SIZE,54565,0
$CFSIZE,260165632,258035712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,19,0
$GPS,210109,014730,4807.829,-12223.039,33,1.9,33,18.3