version: 66.04
glider: 104
mission: 6
dive: 14
start: 7 31 108 7 15 23
data:
$ID,104
$MISSION,6
$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,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,-210434
$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,17
$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,4
$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
$GPS1,071107,4806.045,-12221.980,11,2.0,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.31
$_SM_ANGLEo,-65.1
$GPS2,071408,4806.020,-12221.952,13,1.9,13,18.3
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.144,0.198
$KALMAN_X,-1340.4,-225.0,36.9,3271.1,1.6
$KALMAN_Y,2322.6,413.3,0.2,-5361.9,24.9
$MHEAD_RNG_PITCHd_Wd,305.8,4456,-14.8,-8.000
$D_GRID,108
$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,-1.17,-146.6,0.0,0.0,0,126,0.00,0.00,-109.78,0.000,2,0.000,0.000,42,2013,3801
$GC,128,-1.17,-146.6,4.8,-8.2,18,149,12.07,2.62,-1.88,0.000,4,0.156,0.070,2160,581,3894
$GC,184,-1.17,-146.6,12.3,-7.3,27,191,0.00,2.47,0.00,0.000,6,0.000,0.037,2160,2002,3894
$GC,258,-1.17,-146.6,17.4,-7.1,40,265,0.00,2.55,0.00,0.000,4,0.000,0.054,2160,3402,3894
$GC,331,-1.17,-146.6,23.1,-7.6,50,339,0.00,2.50,0.00,0.000,6,0.000,0.038,2160,1993,3894
$GC,531,-1.17,-146.6,36.6,-6.2,69,532,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,1991,3895
$GC,721,-1.17,-146.6,49.7,-5.9,87,725,0.00,2.55,0.00,0.000,4,0.000,0.062,2160,592,3894
$GC,758,-1.17,-146.6,52.1,-6.1,89,766,0.00,2.45,0.00,0.000,6,0.000,0.038,2160,1991,3894
$GC,1075,-1.17,-146.6,72.8,-6.6,105,1076,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,1992,3895
$GC,1385,-1.17,-146.6,91.8,-6.1,120,1389,0.00,2.58,0.00,0.000,4,0.000,0.063,2160,587,3894
$GC,1424,-1.17,-146.6,94.2,-5.8,122,1428,0.00,2.45,0.00,0.000,6,0.000,0.040,2160,1998,3894
$STATE,1680,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1680,begin apogee
$GC,1683,-0.33,0.0,108.2,5.2,141,1804,0.90,0.00,116.20,0.686,6,0.077,0.000,2345,1839,3295
$STATE,1804,end apogee,CONTROL_FINISHED_OK
$STATE,1804,begin climb
$GC,1806,1.17,146.6,109.3,0.0,153,1930,1.48,2.65,114.93,0.657,4,0.045,0.067,2676,434,2698
$GC,2007,1.17,146.6,86.1,15.0,167,2012,0.00,2.47,0.00,0.000,6,0.000,0.038,2676,1839,2697
$GC,2325,1.17,146.6,44.5,12.6,184,2330,0.00,2.60,0.00,0.000,4,0.000,0.067,2676,436,2697
$GC,2402,1.17,146.6,34.3,13.0,190,2410,0.00,2.45,0.00,0.000,6,0.000,0.037,2676,1836,2697
$GC,2604,1.17,146.6,10.3,12.7,216,2611,0.00,2.55,0.00,0.000,4,0.000,0.058,2676,3248,2696
$GC,2617,1.17,146.6,8.6,13.0,218,2623,0.00,2.50,0.00,0.000,6,0.000,0.045,2676,1838,2696
$STATE,2680,end climb,SURFACE_DEPTH_REACHED
$STATE,2680,begin surface coast
$FINISH,3.0,1.020653
$STATE,2724,end surface coast,CONTROL_FINISHED_OK
$STATE,2725,begin surface
$SM_CCo,2727,309.75,0.574,10,1,692,638.27
$SM_CCo,3089,17.75,0.530,0,0,574,667.71
$SM_GC,0.34,11.85,0.00,0.00,0.035,0.000,0.000,41,2014,573,-10.88,0.40,667.71
$IRIDIUM_FIX,4748.51,-12224.57,251097,060636
$TT8_MAMPS,0.025311
$HUMID,2075
$INTERNAL_PRESSURE,8.07868
$TCM_TEMP,17.60
$XPDR_PINGS,176
$24V_AH,23.5,1.671
$10V_AH,10.1,0.567
$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,26.300,35.950,231.125,327.500,0.000,26.463,23.703,68.393,45.500,0.000,0.000,15.290,425.359,1559.876,680.833,600.739,171.509,33.330,1000.311,0.000,597.037,0.000,10.114,0.000
$DEVICE_MAMPS,155.701,69.797,686.465,573.716,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,159.408,169.831,459.941,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9709,237
$CAP_FILE_SIZE,37568,8
$CFSIZE,260165632,258052096
$ERRORS,0,0,0,0,0,0,0,0,0,0,1,0,6,10,0
$GPS,310708,080939,4806.211,-12222.041,8,2.0,8,18.3