version: 66.04
glider: 104
mission: 13
dive: 7
start: 1 21 109 3 10 18
data:
$ID,104
$MISSION,13
$DIVE,7
$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,-216721.66
$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,29
$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
$GPS1,030514,4807.505,-12222.996,10,1.8,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.23
$_SM_ANGLEo,-71.7
$GPS2,030925,4807.493,-12222.981,15,1.8,15,18.3
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.042,-0.260
$KALMAN_X,-264.3,-100.5,-27.1,9.5,74.7
$KALMAN_Y,-418.4,88.9,-15.6,-2079.3,-73.1
$MHEAD_RNG_PITCHd_Wd,170.9,913,-18.1,-10.000
$D_GRID,107
$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,-146.6,0.0,0.0,0,90,0.00,0.00,-73.55,0.000,2,0.000,0.000,46,2007,3057
$GC,92,-1.39,-146.6,4.3,-5.2,12,130,11.05,2.50,-20.55,0.000,4,0.146,0.066,2044,3397,3894
$GC,348,-1.39,-146.6,30.6,-10.9,49,356,0.00,2.47,0.00,0.000,6,0.000,0.041,2044,2002,3894
$GC,546,-1.39,-146.6,50.5,-9.8,68,547,0.00,0.00,0.00,0.000,6,0.000,0.000,2044,2003,3895
$GC,855,-1.39,-146.6,78.7,-8.8,83,860,0.00,2.50,0.00,0.000,4,0.000,0.054,2044,3400,3895
$GC,918,-1.39,-146.6,84.5,-9.5,86,922,0.00,2.45,0.00,0.000,6,0.000,0.040,2044,1990,3894
$STATE,1182,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1182,begin apogee
$GC,1186,-0.33,0.0,107.2,8.5,102,1306,1.10,0.00,115.00,0.676,6,0.079,0.000,2273,1832,3295
$STATE,1307,end apogee,CONTROL_FINISHED_OK
$STATE,1307,begin climb
$GC,1308,1.39,146.6,109.3,0.0,114,1432,1.70,2.60,114.43,0.644,4,0.049,0.066,2649,439,2697
$GC,1468,1.39,146.6,95.4,14.0,127,1472,0.00,2.42,0.00,0.000,6,0.000,0.035,2649,1840,2697
$GC,1793,1.39,146.6,52.0,13.2,143,1797,0.00,2.58,0.00,0.000,4,0.000,0.064,2649,434,2697
$GC,1843,1.39,146.6,45.5,13.1,147,1848,0.00,2.42,0.00,0.000,6,0.000,0.035,2649,1845,2697
$GC,2040,1.39,146.6,22.3,10.3,165,2041,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,1845,2697
$GC,2241,1.53,264.3,5.9,4.6,198,2339,0.15,0.00,90.88,0.593,6,0.052,0.000,2690,1845,2216
$GC,2408,1.82,502.7,3.6,-0.9,226,2495,0.22,0.00,83.55,0.578,2,0.045,0.000,2750,1845,1767
$STATE,2496,end climb,SURFACE_DEPTH_REACHED
$STATE,2496,begin surface coast
$FINISH,3.0,1.016785
$STATE,2777,end surface coast,CONTROL_FINISHED_OK
$STATE,2777,begin surface
$SM_CCo,2795,209.45,0.519,17,0,613,658.14
$SM_GC,2.02,0.00,0.00,209.45,0.000,0.000,0.519,46,2006,613,-10.60,0.17,658.14
$IRIDIUM_FIX,4751.72,-12223.57,170498,020210
$TT8_MAMPS,0.025311
$HUMID,1430
$INTERNAL_PRESSURE,8.16657
$TCM_TEMP,17.50
$XPDR_PINGS,94
$ALTIM_BOTTOM_PING,80.2,40.0
$24V_AH,23.6,6.292
$10V_AH,10.1,2.253
$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,26.650,20.500,403.850,209.450,0.000,27.997,30.568,120.130,24.500,0.000,0.000,17.289,440.794,1310.288,678.633,704.524,225.892,33.321,1053.605,0.000,700.532,0.000,8.878,0.000
$DEVICE_MAMPS,146.497,65.962,676.494,519.259,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,192.378,211.796,563.093,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12810,290
$CAP_FILE_SIZE,36539,0
$CFSIZE,260165632,258011136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,17,0
$GPS,210109,040301,4807.187,-12223.104,38,1.1,38,18.3