version: 66.04
glider: 104
mission: 13
dive: 19
start: 1 21 109 15 46 46
data:
$ID,104
$MISSION,13
$DIVE,19
$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,-216954.36
$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,26
$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
$GPS1,154147,4806.949,-12222.688,11,2.2,30,18.3
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-69.8
$GPS2,154554,4806.952,-12222.676,39,1.6,39,18.3
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.186,0.159
$KALMAN_X,-865.0,100.2,200.6,560.3,294.5
$KALMAN_Y,208.6,-3.3,-188.4,-3444.4,-118.2
$MHEAD_RNG_PITCHd_Wd,292.2,2540,-14.8,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,13,-1.17,-146.6,0.0,0.0,0,119,0.00,0.00,-103.22,0.000,2,0.000,0.000,42,2001,3740
$GC,121,-1.17,-146.6,4.2,-4.3,17,142,11.43,2.53,-3.33,0.000,4,0.145,0.064,2114,3406,3895
$GC,316,-1.17,-146.6,22.6,-8.4,49,320,0.00,2.45,0.00,0.000,6,0.000,0.039,2114,2002,3895
$GC,514,-1.17,-146.6,37.3,-7.1,67,515,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2002,3895
$GC,714,-1.17,-146.6,51.4,-6.9,85,719,0.00,2.53,0.00,0.000,4,0.000,0.054,2114,3404,3895
$GC,741,-1.17,-146.6,53.5,-7.1,86,745,0.00,2.47,0.00,0.000,6,0.000,0.039,2114,2000,3895
$GC,1062,-1.17,-146.6,74.4,-6.5,102,1067,0.00,2.55,0.00,0.000,4,0.000,0.061,2114,588,3895
$GC,1089,-1.17,-146.6,76.3,-6.8,103,1093,0.00,2.47,0.00,0.000,6,0.000,0.036,2114,2004,3895
$GC,1411,-1.17,-146.6,95.7,-6.1,119,1415,0.00,2.50,0.00,0.000,4,0.000,0.055,2114,3404,3895
$GC,1465,-1.17,-146.6,99.3,-6.7,121,1473,0.00,2.47,0.00,0.000,6,0.000,0.038,2114,1995,3895
$STATE,1714,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1714,begin apogee
$GC,1718,-0.33,0.0,113.7,5.8,144,1838,0.88,0.00,116.25,0.747,6,0.067,0.000,2301,1836,3296
$STATE,1838,end apogee,CONTROL_FINISHED_OK
$STATE,1839,begin climb
$GC,1840,1.17,146.6,116.1,0.0,156,1964,1.48,2.60,115.32,0.718,4,0.043,0.064,2635,436,2697
$GC,2047,1.17,146.6,96.4,13.5,174,2051,0.00,2.47,0.00,0.000,6,0.000,0.036,2634,1843,2698
$GC,2374,1.17,146.6,55.9,11.9,190,2378,0.00,2.58,0.00,0.000,4,0.000,0.064,2635,440,2698
$GC,2427,1.17,146.6,49.3,12.0,192,2435,0.00,2.45,0.00,0.000,6,0.000,0.036,2634,1839,2698
$GC,2756,1.17,146.6,14.0,9.7,228,2762,0.00,2.58,0.00,0.000,4,0.000,0.064,2634,433,2698
$GC,2797,1.17,146.6,9.9,10.1,235,2804,0.00,2.42,0.00,0.000,6,0.000,0.035,2635,1848,2698
$GC,2872,1.19,161.8,3.6,7.4,248,2885,0.00,2.50,7.75,0.581,4,0.000,0.054,2634,3243,2637
$STATE,2890,end climb,SURFACE_DEPTH_REACHED
$STATE,2890,begin surface coast
$FINISH,3.4,1.019872
$STATE,2964,end surface coast,CONTROL_FINISHED_OK
$STATE,2964,begin surface
$SM_CCo,2966,345.42,0.617,12,0,574,667.71
$SM_GC,2.17,11.85,0.00,0.00,0.045,0.000,0.000,42,1999,573,-10.68,-0.06,667.95
$IRIDIUM_FIX,4748.51,-12221.84,170498,141412
$TT8_MAMPS,0.025311
$HUMID,1414
$INTERNAL_PRESSURE,8.15681
$TCM_TEMP,17.60
$XPDR_PINGS,66
$ALTIM_BOTTOM_PING,90.7,32.5
$24V_AH,23.5,7.634
$10V_AH,10.1,2.794
$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,25.625,40.100,239.325,345.425,0.000,27.534,29.462,98.544,17.750,0.000,0.000,41.310,450.802,1705.431,705.994,686.523,199.429,33.332,1042.578,0.000,655.650,0.000,10.396,0.000
$DEVICE_MAMPS,144.963,64.428,747.058,616.668,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,176.965,193.630,511.417,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12816,264
$CAP_FILE_SIZE,39158,0
$CFSIZE,260165632,257671168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,12,0
$GPS,210109,164531,4807.200,-12222.995,9,1.6,9,18.3