version: 66.04
glider: 104
mission: 6
dive: 4
start: 7 30 108 22 37 38
data:
$ID,104
$MISSION,6
$DIVE,4
$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,120
$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,657
$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,-210099.91
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,45
$PITCH_MAX,3331
$C_PITCH,2420
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,15
$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,1950
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,12
$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,-18.697796
$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,50
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$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,0.0043491693
$SEABIRD_T_H,0.00063843821
$SEABIRD_T_I,2.3643479e-05
$SEABIRD_T_J,2.3372697e-06
$SEABIRD_C_G,-9.7263737
$SEABIRD_C_H,1.1821688
$SEABIRD_C_I,-0.00092709012
$SEABIRD_C_J,0.00016946776
$GPS1,223356,4807.255,-12223.310,13,1.7,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.46
$_SM_ANGLEo,-63.9
$GPS2,223626,4807.264,-12223.308,15,1.9,15,18.3
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.155,-0.213
$KALMAN_X,-212.7,-110.1,-77.0,471.6,-49.4
$KALMAN_Y,386.9,234.4,185.2,-1131.7,91.5
$MHEAD_RNG_PITCHd_Wd,125.7,619,-18.1,-10.000
$D_GRID,103
$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,-1.39,-146.6,0.0,0.0,0,125,0.00,0.00,-108.85,0.000,2,0.000,0.000,44,1953,3789
$GC,126,-1.39,-146.6,5.5,-14.4,18,147,11.70,2.50,-1.83,0.000,4,0.153,0.061,2113,3356,3896
$GC,399,-1.39,-146.6,33.9,-7.9,51,404,0.00,2.42,0.00,0.000,6,0.000,0.037,2113,1956,3896
$GC,602,-1.39,-146.6,48.5,-6.8,70,606,0.00,2.50,0.00,0.000,4,0.000,0.052,2113,3354,3897
$GC,663,-1.39,-146.6,52.7,-6.8,74,667,0.00,2.45,0.00,0.000,6,0.000,0.038,2113,1944,3897
$GC,989,-1.39,-146.6,77.1,-8.0,90,993,0.00,2.53,0.00,0.000,4,0.000,0.054,2113,3348,3897
$GC,1037,-1.39,-146.6,81.4,-9.3,92,1041,0.00,2.47,0.00,0.000,6,0.000,0.040,2113,1950,3897
$STATE,1338,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1338,begin apogee
$GC,1341,-0.33,0.0,103.7,6.9,109,1462,1.12,0.00,115.82,0.684,6,0.079,0.000,2345,2052,3296
$STATE,1462,end apogee,CONTROL_FINISHED_OK
$STATE,1462,begin climb
$GC,1464,1.39,146.6,104.8,0.0,121,1586,1.67,2.65,114.47,0.653,4,0.041,0.064,2727,641,2697
$GC,1608,1.39,146.6,87.4,17.4,130,1613,0.00,2.45,0.00,0.000,6,0.000,0.039,2727,2044,2697
$GC,1926,1.39,146.6,35.4,15.5,149,1930,0.00,2.58,0.00,0.000,4,0.000,0.062,2727,641,2697
$GC,2116,1.39,146.6,5.7,13.1,174,2123,0.00,2.47,0.00,0.000,6,0.000,0.041,2727,2047,2696
$GC,2190,1.77,460.0,5.2,-4.3,187,2331,0.32,0.00,137.05,0.617,2,0.043,0.000,2810,2048,1968
$STATE,2332,end climb,SURFACE_DEPTH_REACHED
$STATE,2332,begin surface coast
$FINISH,-0.3,1.019322
$STATE,2438,end surface coast,CONTROL_FINISHED_OK
$STATE,2438,begin surface
$SM_CCo,2458,189.80,0.583,2,0,617,657.16
$SM_GC,0.36,0.00,0.00,189.80,0.000,0.000,0.583,40,1937,617,-10.94,-0.37,657.16
$IRIDIUM_FIX,4748.51,-12221.84,241097,222233
$TT8_MAMPS,0.025311
$HUMID,2070
$INTERNAL_PRESSURE,8.10798
$TCM_TEMP,18.10
$XPDR_PINGS,148
$24V_AH,23.6,0.584
$10V_AH,10.1,0.218
$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,27.550,25.350,367.350,189.800,0.000,0.000,0.000,0.000,38.500,0.000,0.000,16.694,368.791,1171.115,578.520,594.938,36.534,32.330,910.201,0.000,587.461,0.000,10.109,0.000
$DEVICE_MAMPS,153.400,74.399,684.164,582.920,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,152.018,163.933,444.554,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9673,229
$CAP_FILE_SIZE,41445,0
$CFSIZE,260165632,258265088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,2,0
$GPS,300708,232256,4807.139,-12223.301,27,1.9,27,18.3