version: 66.04
glider: 104
mission: 13
dive: 14
start: 1 21 109 10 37 24
data:
$ID,104
$MISSION,13
$DIVE,14
$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,62.5
$T_MISSION,70
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,320
$USE_BATHY,0
$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,-216832.16
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,45
$PITCH_MAX,3331
$C_PITCH,2375
$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,24
$R_STBD_OVSHOOT,30
$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,720
$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
$GPS1,103306,4806.067,-12222.112,35,1.0,41,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.29
$_SM_ANGLEo,-72.1
$GPS2,103631,4806.075,-12222.116,12,1.1,17,18.3
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.101,-0.095
$KALMAN_X,-1727.8,-92.3,-78.3,2585.3,-190.5
$KALMAN_Y,592.5,21.9,135.1,-5800.6,175.5
$MHEAD_RNG_PITCHd_Wd,115.1,200,-27.7,-8.000
$D_GRID,150
$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,-1.90,-44.4,0.0,0.0,0,96,0.00,0.00,-80.53,0.000,2,0.000,0.000,46,2002,3232
$GC,98,-1.95,-88.2,4.1,-2.7,13,124,10.57,0.00,-11.05,0.000,6,0.150,0.000,1945,2001,3658
$GC,193,-1.95,-88.2,11.6,-9.1,29,199,0.00,2.50,0.00,0.000,4,0.000,0.054,1945,3401,3658
$GC,295,-1.95,-88.2,22.4,-10.6,46,299,0.00,2.45,0.00,0.000,6,0.000,0.041,1945,1998,3658
$GC,491,-1.95,-88.2,44.8,-11.6,64,493,0.00,0.00,0.00,0.000,6,0.000,0.000,1945,1998,3658
$GC,689,-1.95,-88.2,67.3,-11.1,76,693,0.00,2.53,0.00,0.000,4,0.000,0.053,1945,3405,3658
$GC,742,-1.95,-88.2,73.7,-11.8,78,750,0.00,2.47,0.00,0.000,6,0.000,0.039,1945,2002,3658
$GC,1061,-1.95,-88.2,107.2,-10.6,97,1062,0.00,0.00,0.00,0.000,6,0.000,0.000,1945,2003,3658
$STATE,1145,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1145,begin apogee
$GC,1149,-0.33,0.0,115.9,10.2,105,1227,1.73,0.00,70.05,0.692,6,0.097,0.000,2294,1830,3297
$STATE,1228,end apogee,CONTROL_FINISHED_OK
$STATE,1228,begin climb
$GC,1229,1.95,88.2,117.1,0.0,113,1304,2.25,0.00,70.05,0.664,6,0.040,0.000,2811,1830,2936
$GC,1612,1.95,88.2,61.8,16.0,139,1613,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,1830,2936
$GC,1929,1.95,88.2,16.9,12.2,167,1935,0.00,2.55,0.00,0.000,4,0.000,0.064,2811,428,2936
$GC,2025,1.95,88.2,6.7,8.9,184,2032,0.00,2.42,0.00,0.000,6,0.000,0.035,2811,1843,2936
$GC,2100,2.05,168.2,5.4,-1.6,197,2168,0.00,2.62,61.40,0.604,4,0.000,0.061,2811,430,2610
$GC,2271,2.14,236.4,3.9,-0.2,226,2327,0.12,2.42,46.83,0.591,6,0.062,0.035,2842,1845,2331
$GC,2397,2.22,303.5,3.3,-0.1,247,2453,0.00,2.62,48.90,0.583,4,0.000,0.064,2842,438,2057
$STATE,2457,end climb,SURFACE_DEPTH_REACHED
$STATE,2457,begin surface coast
$FINISH,2.9,1.017732
$STATE,2666,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2666,begin surface
$SM_CCo,2687,256.38,0.538,15,0,613,658.14
$SM_GC,2.16,0.00,0.00,256.38,0.000,0.000,0.538,44,1997,613,-10.72,-0.08,658.14
$IRIDIUM_FIX,4748.51,-12221.84,170498,090955
$TT8_MAMPS,0.025311
$HUMID,1427
$INTERNAL_PRESSURE,8.15681
$TCM_TEMP,17.40
$XPDR_PINGS,66
$ALTIM_BOTTOM_PING,110.4,14.7
$24V_AH,23.6,7.056
$10V_AH,10.1,2.584
$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,27.725,25.650,297.225,256.375,0.000,28.002,31.982,76.767,18.750,0.000,0.000,18.589,457.639,1274.619,658.805,672.846,179.160,33.342,996.527,0.000,662.487,0.000,19.082,0.000
$DEVICE_MAMPS,150.332,64.428,691.834,538.434,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,195.909,215.970,569.922,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12799,294
$CAP_FILE_SIZE,35953,0
$CFSIZE,260165632,257814528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,15,0
$GPS,210109,112826,4805.930,-12221.924,9,1.4,9,18.3