version: 66.04
glider: 104
mission: 6
dive: 9
start: 7 31 108 3 7 5
data:
$ID,104
$MISSION,6
$DIVE,9
$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,-210300.59
$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,2000
$C_ROLL_CLIMB,1840
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,32
$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,2
$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
$GPS1,030250,4807.014,-12222.979,12,1.7,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.36
$_SM_ANGLEo,-64.8
$GPS2,030550,4807.026,-12223.005,12,1.2,12,18.3
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.153,-0.215
$KALMAN_X,-1056.3,-387.9,-108.8,1995.1,-60.1
$KALMAN_Y,1455.7,589.9,128.7,-2937.4,52.3
$MHEAD_RNG_PITCHd_Wd,126.3,2271,-18.1,-10.000
$D_GRID,105
$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,-1.39,-146.6,0.0,0.0,0,135,0.00,0.00,-118.07,0.000,6,0.000,0.000,43,2010,3895
$GC,137,-1.39,-146.6,5.0,-14.9,20,157,11.82,2.60,0.00,0.000,4,0.157,0.060,2113,602,3895
$GC,256,-1.39,-146.6,21.2,-8.5,40,264,0.00,2.42,0.00,0.000,6,0.000,0.037,2113,1984,3895
$GC,455,-1.39,-146.6,36.8,-8.1,59,456,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,1984,3897
$GC,645,-1.39,-146.6,52.4,-8.0,76,649,0.00,2.55,0.00,0.000,4,0.000,0.058,2113,3402,3897
$GC,693,-1.39,-146.6,56.5,-8.0,78,698,0.00,2.45,0.00,0.000,6,0.000,0.038,2113,2005,3897
$GC,1016,-1.39,-146.6,81.0,-7.8,94,1017,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2003,3897
$GC,1325,-1.39,-146.6,103.9,-7.6,111,1330,0.00,2.58,0.00,0.000,4,0.000,0.063,2113,591,3897
$STATE,1341,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1341,begin apogee
$GC,1346,-0.33,0.0,105.2,7.1,112,1467,1.10,0.00,116.22,0.690,6,0.082,0.000,2342,1839,3296
$STATE,1467,end apogee,CONTROL_FINISHED_OK
$STATE,1467,begin climb
$GC,1468,1.39,146.6,106.2,0.0,124,1593,1.70,2.62,114.82,0.664,4,0.044,0.054,2724,3244,2697
$GC,1598,1.39,146.6,91.8,17.5,134,1605,0.00,2.55,0.00,0.000,6,0.000,0.044,2723,1844,2697
$GC,1915,1.39,146.6,40.5,15.3,152,1919,0.00,2.62,0.00,0.000,4,0.000,0.068,2724,426,2696
$GC,1942,1.39,146.6,35.9,17.3,154,1946,0.00,2.45,0.00,0.000,6,0.000,0.037,2724,1842,2696
$GC,2143,1.39,146.6,5.8,14.0,180,2149,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1842,2695
$STATE,2170,end climb,SURFACE_DEPTH_REACHED
$STATE,2170,begin surface coast
$FINISH,1.4,1.021093
$STATE,2205,end surface coast,CONTROL_FINISHED_OK
$STATE,2205,begin surface
$SM_CCo,2224,293.25,0.599,5,0,616,657.16
$SM_GC,0.29,0.00,0.00,293.25,0.000,0.000,0.599,45,2012,616,-10.93,0.31,657.16
$IRIDIUM_FIX,4751.72,-12223.57,251097,020202
$TT8_MAMPS,0.025311
$HUMID,2014
$INTERNAL_PRESSURE,8.04938
$TCM_TEMP,17.60
$XPDR_PINGS,132
$24V_AH,23.5,1.151
$10V_AH,10.1,0.394
$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,27.125,25.325,231.050,293.250,0.000,28.671,27.781,64.223,34.500,0.000,0.000,13.936,332.912,1180.886,613.736,472.041,166.843,33.323,884.294,0.000,471.209,0.000,10.100,0.000
$DEVICE_MAMPS,157.235,68.263,690.300,599.027,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,126.608,138.597,370.709,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9665,191
$CAP_FILE_SIZE,29960,0
$CFSIZE,260165632,258170880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,5,0
$GPS,310708,035032,4806.841,-12222.734,14,1.5,31,18.3