version: 66.04
glider: 104
mission: 6
dive: 18
start: 7 31 108 11 6 58
data:
$ID,104
$MISSION,6
$DIVE,18
$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,-210505.14
$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,29
$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
$GPS1,110241,4806.650,-12222.569,9,3.8,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-64.3
$GPS2,110544,4806.639,-12222.564,8,1.5,8,18.3
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.143,0.199
$KALMAN_X,-902.3,63.7,121.9,1702.7,85.1
$KALMAN_Y,1988.5,-10.9,-133.6,-3320.4,-107.9
$MHEAD_RNG_PITCHd_Wd,305.9,3082,-14.8,-8.000
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-1.17,-146.6,0.0,0.0,0,132,0.00,0.00,-115.72,0.000,2,0.000,0.000,45,2007,3872
$GC,134,-1.17,-146.6,4.7,-9.3,19,154,11.98,2.53,-0.45,0.000,4,0.154,0.064,2159,3405,3895
$GC,240,-1.17,-146.6,17.3,-6.9,37,247,0.00,2.45,0.00,0.000,6,0.000,0.037,2159,1998,3896
$GC,313,-1.17,-146.6,22.3,-6.8,47,317,0.00,2.58,0.00,0.000,4,0.000,0.061,2159,588,3896
$GC,352,-1.17,-146.6,24.9,-7.1,50,356,0.00,2.45,0.00,0.000,6,0.000,0.037,2159,2002,3896
$GC,548,-1.17,-146.6,38.5,-6.5,68,553,0.00,2.58,0.00,0.000,4,0.000,0.061,2159,594,3896
$GC,592,-1.17,-146.6,41.7,-6.8,71,599,0.00,2.47,0.00,0.000,6,0.000,0.038,2159,1997,3896
$GC,787,-1.17,-146.6,54.5,-6.4,87,792,0.00,2.55,0.00,0.000,4,0.000,0.058,2159,3410,3896
$GC,836,-1.17,-146.6,58.0,-7.0,89,841,0.00,2.47,0.00,0.000,6,0.000,0.038,2159,2003,3896
$GC,1158,-1.17,-146.6,77.8,-5.8,105,1159,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2002,3896
$GC,1468,-1.17,-146.6,96.1,-5.8,120,1472,0.00,2.58,0.00,0.000,4,0.000,0.063,2159,587,3896
$GC,1551,-1.17,-146.6,101.3,-6.3,124,1556,0.00,2.45,0.00,0.000,6,0.000,0.039,2159,2009,3896
$STATE,1621,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1621,begin apogee
$GC,1624,-0.33,0.0,105.1,5.6,130,1745,0.88,0.00,116.38,0.680,6,0.075,0.000,2343,1834,3295
$STATE,1745,end apogee,CONTROL_FINISHED_OK
$STATE,1745,begin climb
$GC,1747,1.17,146.6,106.4,0.0,142,1866,1.48,0.00,115.25,0.651,6,0.044,0.000,2675,1834,2698
$GC,2164,1.17,146.6,56.6,13.1,167,2169,0.00,2.58,0.00,0.000,4,0.000,0.067,2675,438,2697
$GC,2252,1.17,146.6,44.3,13.6,172,2260,0.00,2.45,0.00,0.000,6,0.000,0.037,2675,1835,2697
$GC,2450,1.17,146.6,20.1,11.9,191,2454,0.00,2.60,0.00,0.000,4,0.000,0.067,2675,430,2697
$GC,2516,1.17,146.6,11.7,12.7,202,2523,0.00,2.45,0.00,0.000,6,0.000,0.038,2675,1839,2697
$GC,2592,1.17,146.6,3.4,10.0,215,2598,0.00,2.53,0.00,0.000,4,0.000,0.058,2675,3248,2696
$STATE,2604,end climb,SURFACE_DEPTH_REACHED
$STATE,2604,begin surface coast
$FINISH,1.0,1.020562
$STATE,2638,end surface coast,CONTROL_FINISHED_OK
$STATE,2638,begin surface
$SM_CCo,2658,296.65,0.590,4,0,617,657.16
$SM_GC,0.30,0.00,0.00,296.65,0.000,0.000,0.590,44,1997,617,-10.93,-0.11,657.16
$IRIDIUM_FIX,4751.72,-12219.12,251097,101020
$TT8_MAMPS,0.025311
$HUMID,2008
$INTERNAL_PRESSURE,8.05915
$TCM_TEMP,16.80
$XPDR_PINGS,162
$24V_AH,23.5,2.099
$10V_AH,10.1,0.717
$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,26.450,40.225,231.625,296.650,0.000,25.067,29.660,66.231,42.000,0.000,0.000,9.917,405.649,1427.717,634.192,557.634,174.948,33.365,936.361,0.000,560.291,0.000,10.101,0.000
$DEVICE_MAMPS,154.167,66.729,679.562,589.823,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,149.010,162.548,432.791,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9652,223
$CAP_FILE_SIZE,37037,0
$CFSIZE,260165632,257941504
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,7,4,0
$GPS,310708,115734,4806.819,-12222.688,7,3.1,26,18.3