version: 66.04
glider: 104
mission: 13
dive: 6
start: 1 21 109 2 15 0
data:
$ID,104
$MISSION,13
$DIVE,6
$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,-216703.73
$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,23
$R_STBD_OVSHOOT,31
$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
$GPS1,021050,4807.774,-12222.949,13,1.9,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.38
$_SM_ANGLEo,-71.4
$GPS2,021408,4807.765,-12222.942,13,1.8,13,18.3
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.047,-0.259
$KALMAN_X,-266.0,-106.4,-76.7,112.5,77.9
$KALMAN_Y,-402.4,57.1,-65.0,-1515.6,138.6
$MHEAD_RNG_PITCHd_Wd,171.9,1419,-18.1,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-1.39,-146.6,0.0,0.0,0,72,0.00,0.00,-55.88,0.000,2,0.000,0.000,44,2004,2480
$GC,74,-1.39,-146.6,4.1,-6.0,9,130,11.07,2.58,-38.10,0.000,4,0.150,0.074,2042,592,3894
$GC,383,-1.39,-146.6,34.0,-11.4,52,388,0.00,2.45,0.00,0.000,6,0.000,0.038,2042,2002,3894
$GC,590,-1.39,-146.6,54.7,-9.8,69,591,0.00,0.00,0.00,0.000,6,0.000,0.000,2042,2003,3894
$GC,899,-1.39,-146.6,82.9,-8.9,84,903,0.00,2.50,0.00,0.000,4,0.000,0.055,2041,3403,3894
$GC,948,-1.39,-146.6,87.5,-9.3,86,953,0.00,2.47,0.00,0.000,6,0.000,0.040,2041,1998,3894
$STATE,1156,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1156,begin apogee
$GC,1160,-0.33,0.0,105.8,8.8,99,1280,1.12,0.00,115.22,0.686,6,0.081,0.000,2275,1827,3295
$STATE,1281,end apogee,CONTROL_FINISHED_OK
$STATE,1281,begin climb
$GC,1282,1.39,146.6,107.7,0.0,111,1407,1.70,2.65,114.30,0.651,4,0.050,0.067,2652,433,2698
$GC,1428,1.39,146.6,95.0,14.0,122,1435,0.00,2.50,0.00,0.000,6,0.000,0.035,2652,1851,2698
$GC,1744,1.39,146.6,53.0,13.2,138,1748,0.00,2.60,0.00,0.000,4,0.000,0.064,2652,437,2699
$GC,1861,1.39,146.6,37.0,13.6,147,1865,0.00,2.42,0.00,0.000,6,0.000,0.035,2651,1844,2699
$GC,2061,1.39,146.6,14.5,10.0,169,2067,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,1844,2699
$GC,2134,1.44,193.5,8.1,7.9,182,2177,0.00,0.00,37.47,0.597,6,0.000,0.000,2652,1844,2507
$GC,2246,1.74,431.2,4.7,-0.8,201,2417,0.30,0.00,166.68,0.584,2,0.044,0.000,2729,1844,1613
$STATE,2417,end climb,SURFACE_DEPTH_REACHED
$STATE,2417,begin surface coast
$FINISH,2.8,1.015694
$STATE,2693,end surface coast,CONTROL_FINISHED_OK
$STATE,2693,begin surface
$SM_CCo,2711,183.23,0.520,15,0,612,658.14
$SM_GC,2.14,0.00,0.00,183.23,0.000,0.000,0.520,46,2006,612,-10.60,0.17,658.14
$IRIDIUM_FIX,4751.72,-12223.57,170498,020224
$TT8_MAMPS,0.025311
$HUMID,1434
$INTERNAL_PRESSURE,8.15681
$TCM_TEMP,17.40
$XPDR_PINGS,66
$ALTIM_BOTTOM_PING,81.1,36.7
$24V_AH,23.6,6.178
$10V_AH,10.1,2.210
$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,26.525,20.750,433.675,183.225,0.000,0.000,0.000,0.000,17.500,0.000,0.000,14.862,413.285,1249.393,664.869,683.715,28.548,33.322,1042.418,0.000,679.480,0.000,8.570,0.000
$DEVICE_MAMPS,149.565,74.399,686.465,520.026,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,183.835,203.928,539.868,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12823,278
$CAP_FILE_SIZE,54891,0
$CFSIZE,260165632,258007040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,15,0
$GPS,210109,030514,4807.505,-12222.996,10,1.8,10,18.3