version: 66.04
glider: 104
mission: 13
dive: 20
start: 1 21 109 16 52 30
data:
$ID,104
$MISSION,13
$DIVE,20
$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,83.300003
$T_MISSION,90
$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,-216967.55
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,45
$PITCH_MAX,3331
$C_PITCH,2325
$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,2075
$C_ROLL_CLIMB,1775
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,32
$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
$GPS1,164531,4807.200,-12222.995,9,1.6,9,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.23
$_SM_ANGLEo,-71.2
$GPS2,165138,4807.189,-12222.986,11,1.6,11,18.3
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.160,0.153
$KALMAN_X,-714.7,192.2,271.7,-138.1,251.9
$KALMAN_Y,118.4,-28.1,-230.3,-2847.4,-108.3
$MHEAD_RNG_PITCHd_Wd,295.4,1956,-11.0,-6.002
$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,14,-0.91,-146.6,0.0,0.0,0,114,0.00,0.00,-98.12,0.000,2,0.000,0.000,43,1998,3578
$GC,116,-0.91,-146.6,4.2,-3.0,16,142,11.50,0.00,-7.47,0.000,6,0.146,0.000,2122,1998,3894
$GC,211,-0.91,-146.6,11.7,-6.5,32,218,0.00,2.67,0.00,0.000,4,0.000,0.056,2122,3479,3894
$GC,302,-0.91,-146.6,18.6,-7.4,48,309,0.00,2.45,0.00,0.000,6,0.000,0.040,2122,2073,3893
$GC,373,-0.91,-146.6,23.7,-6.8,56,374,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2071,3893
$GC,564,-0.91,-146.6,37.2,-7.0,74,565,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2070,3894
$GC,755,-0.91,-146.6,49.9,-6.7,92,759,0.00,2.53,0.00,0.000,4,0.000,0.057,2122,3472,3893
$GC,820,-0.91,-146.6,54.6,-7.1,95,825,0.00,2.45,0.00,0.000,6,0.000,0.039,2122,2080,3893
$GC,1148,-0.91,-146.6,73.9,-5.6,111,1149,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2080,3894
$GC,1457,-0.91,-146.6,91.6,-5.7,126,1461,0.00,2.50,0.00,0.000,4,0.000,0.054,2122,3476,3894
$GC,1499,-0.91,-146.6,94.2,-6.2,128,1504,0.00,2.45,0.00,0.000,6,0.000,0.038,2122,2077,3894
$GC,1823,-0.91,-146.6,111.7,-5.6,153,1827,0.00,2.50,0.00,0.000,4,0.000,0.054,2122,3473,3894
$GC,1861,-0.91,-146.6,114.0,-6.3,156,1865,0.00,2.42,0.00,0.000,6,0.000,0.038,2122,2061,3894
$STATE,1902,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1902,begin apogee
$GC,1906,-0.33,0.0,116.3,5.6,160,2026,0.60,0.00,115.70,0.759,6,0.067,0.000,2250,1777,3296
$STATE,2026,end apogee,CONTROL_FINISHED_OK
$STATE,2027,begin climb
$GC,2028,0.91,146.6,118.8,0.0,172,2152,1.25,2.62,115.07,0.723,4,0.058,0.068,2523,373,2698
$GC,2178,0.91,146.6,110.8,8.4,185,2187,0.00,2.45,0.00,0.000,6,0.000,0.033,2524,1773,2698
$GC,2509,0.91,146.6,86.4,7.2,208,2513,0.00,2.50,0.00,0.000,4,0.000,0.051,2524,3184,2699
$GC,2562,0.91,146.6,82.0,8.1,210,2571,0.00,2.50,0.00,0.000,6,0.000,0.042,2524,1780,2698
$GC,2879,0.91,146.6,59.3,7.0,226,2883,0.00,2.58,0.00,0.000,4,0.000,0.067,2524,372,2699
$GC,2949,0.91,146.6,53.6,8.0,229,2954,0.00,2.42,0.00,0.000,6,0.000,0.034,2524,1774,2699
$GC,3279,0.91,146.6,31.4,6.9,258,3283,0.00,2.47,0.00,0.000,4,0.000,0.050,2524,3177,2699
$GC,3321,0.91,146.6,28.4,6.8,261,3329,0.00,2.47,0.00,0.000,6,0.000,0.041,2524,1779,2699
$GC,3523,0.91,146.6,15.6,6.5,286,3530,0.00,2.58,0.00,0.000,4,0.000,0.067,2524,367,2699
$GC,3576,0.91,146.6,12.4,6.2,295,3583,0.00,2.42,0.00,0.000,6,0.000,0.035,2524,1787,2699
$GC,3651,0.95,176.3,8.4,5.2,308,3682,0.00,2.50,24.77,0.668,4,0.000,0.049,2524,3177,2577
$GC,3937,1.22,394.4,3.8,0.0,358,4007,0.30,2.45,63.72,0.672,2,0.038,0.042,2601,1768,2177
$STATE,4008,end climb,SURFACE_DEPTH_REACHED
$STATE,4008,begin surface coast
$FINISH,3.1,1.018545
$STATE,4262,end surface coast,CONTROL_FINISHED_OK
$STATE,4262,begin surface
$SM_CCo,4264,288.33,0.599,19,0,574,667.71
$SM_GC,2.24,11.73,0.00,0.00,0.048,0.000,0.000,44,2081,574,-10.45,0.17,667.71
$IRIDIUM_FIX,4748.51,-12221.84,170498,161617
$TT8_MAMPS,0.025311
$HUMID,1415
$INTERNAL_PRESSURE,8.15681
$TCM_TEMP,17.50
$XPDR_PINGS,115
$ALTIM_BOTTOM_PING,81.1,44.8
$24V_AH,23.5,7.763
$10V_AH,10.1,2.853
$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,25.375,51.000,319.275,288.325,0.000,51.105,110.349,84.602,29.750,0.000,0.000,12.568,670.476,2421.329,754.001,994.876,301.123,33.326,1226.346,0.000,991.986,0.000,8.896,0.000
$DEVICE_MAMPS,146.497,68.263,758.563,599.027,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,279.024,305.894,803.451,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19155,414
$CAP_FILE_SIZE,51599,0
$CFSIZE,260165632,257622016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,19,0
$GPS,210109,181300,4807.510,-12223.378,40,1.1,40,18.3