version: 66.04
glider: 104
mission: 6
dive: 16
start: 7 31 108 9 16 41
data:
$ID,104
$MISSION,6
$DIVE,16
$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,-210481.88
$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,22
$R_STBD_OVSHOOT,26
$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
$GPS1,090851,4806.369,-12222.205,10,1.5,10,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.30
$_SM_ANGLEo,-63.4
$GPS2,091527,4806.294,-12222.190,13,1.4,13,18.3
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.154,0.190
$KALMAN_X,-995.5,-111.5,47.7,2507.0,193.0
$KALMAN_Y,2032.1,233.7,-29.4,-4351.1,-198.1
$MHEAD_RNG_PITCHd_Wd,302.6,3870,-14.8,-8.000
$D_GRID,107
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.17,-146.6,0.0,0.0,0,133,0.00,0.00,-115.62,0.000,2,0.000,0.000,41,2006,3819
$GC,135,-1.17,-146.6,4.2,-7.5,19,156,11.98,2.50,-1.50,0.000,4,0.153,0.062,2161,3403,3894
$GC,178,-1.17,-146.6,12.0,-13.6,26,185,0.00,2.42,0.00,0.000,6,0.000,0.036,2161,1998,3895
$GC,254,-1.17,-146.6,16.2,-5.6,39,260,0.00,2.53,0.00,0.000,4,0.000,0.052,2161,3402,3894
$GC,305,-1.17,-146.6,19.7,-7.0,48,312,0.00,2.45,0.00,0.000,6,0.000,0.036,2161,1997,3895
$GC,376,-1.17,-146.6,24.2,-6.4,55,380,0.00,2.55,0.00,0.000,4,0.000,0.062,2161,594,3895
$GC,404,-1.17,-146.6,26.3,-7.5,57,409,0.00,2.42,0.00,0.000,6,0.000,0.037,2161,1998,3895
$GC,601,-1.17,-146.6,39.5,-6.7,75,602,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,1998,3895
$GC,801,-1.17,-146.6,53.0,-6.7,92,803,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,1998,3895
$GC,1111,-1.17,-146.6,72.6,-5.9,107,1112,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,1998,3895
$GC,1422,-1.17,-146.6,91.0,-5.9,122,1426,0.00,2.58,0.00,0.000,4,0.000,0.063,2161,591,3895
$GC,1461,-1.17,-146.6,93.4,-6.3,124,1465,0.00,2.45,0.00,0.000,6,0.000,0.039,2161,2008,3895
$STATE,1717,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1717,begin apogee
$GC,1720,-0.33,0.0,107.5,5.2,143,1841,0.90,0.00,116.00,0.681,6,0.075,0.000,2347,1835,3295
$STATE,1841,end apogee,CONTROL_FINISHED_OK
$STATE,1841,begin climb
$GC,1843,1.17,146.6,108.4,0.0,155,1967,1.42,2.62,114.70,0.653,4,0.043,0.067,2671,431,2698
$GC,2022,1.17,146.6,88.1,15.4,168,2027,0.00,2.47,0.00,0.000,6,0.000,0.037,2671,1836,2698
$GC,2339,1.17,146.6,46.2,12.6,184,2343,0.00,2.60,0.00,0.000,4,0.000,0.066,2671,435,2698
$GC,2392,1.17,146.6,39.0,13.0,188,2400,0.00,2.45,0.00,0.000,6,0.000,0.037,2671,1834,2697
$GC,2592,1.17,146.6,16.6,10.9,209,2598,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,1834,2697
$GC,2665,1.17,146.6,7.9,12.2,222,2672,0.00,2.60,0.00,0.000,4,0.000,0.066,2671,430,2697
$STATE,2721,end climb,SURFACE_DEPTH_REACHED
$STATE,2721,begin surface coast
$FINISH,1.5,1.021080
$STATE,2767,end surface coast,CONTROL_FINISHED_OK
$STATE,2767,begin surface
$SM_CCo,2788,294.88,0.587,5,0,617,657.16
$SM_GC,0.20,0.00,0.00,294.88,0.000,0.000,0.587,46,2005,617,-10.92,0.17,657.16
$IRIDIUM_FIX,4748.51,-12220.12,251097,090934
$TT8_MAMPS,0.026078
$HUMID,2013
$INTERNAL_PRESSURE,8.04938
$TCM_TEMP,17.70
$XPDR_PINGS,177
$24V_AH,23.5,1.892
$10V_AH,10.1,0.646
$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,26.425,35.725,230.700,294.875,0.000,54.059,54.685,155.653,45.750,0.000,0.000,15.475,425.884,1577.267,625.639,592.509,323.741,33.337,942.371,0.000,588.992,0.000,10.103,0.000
$DEVICE_MAMPS,152.633,66.729,681.096,586.755,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,160.328,174.623,465.830,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12823,240
$CAP_FILE_SIZE,40103,0
$CFSIZE,260165632,257990656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,5,0
$GPS,310708,100937,4806.473,-12222.338,34,1.3,34,18.3