version: 66.04
glider: 104
mission: 6
dive: 21
start: 7 31 108 13 55 16
data:
$ID,104
$MISSION,6
$DIVE,21
$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,-210583.75
$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,23
$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
$GPS1,135038,4807.105,-12222.944,31,1.5,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.37
$_SM_ANGLEo,-65.1
$GPS2,135402,4807.099,-12222.933,13,1.5,30,18.3
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.161,0.185
$KALMAN_X,-377.3,252.6,74.2,579.1,121.9
$KALMAN_Y,1579.5,-303.9,-112.8,-1788.3,-103.7
$MHEAD_RNG_PITCHd_Wd,300.6,2128,-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,13,-1.17,-146.6,0.0,0.0,0,132,0.00,0.00,-115.50,0.000,6,0.000,0.000,41,1994,3895
$GC,133,-1.17,-146.6,5.2,-9.4,19,153,12.10,2.58,0.00,0.000,4,0.157,0.058,2161,592,3896
$GC,342,-1.17,-146.6,25.9,-7.0,48,350,0.00,2.47,0.00,0.000,6,0.000,0.035,2161,2007,3896
$GC,542,-1.17,-146.6,39.2,-7.1,67,546,0.00,2.50,0.00,0.000,4,0.000,0.055,2161,3401,3897
$GC,573,-1.17,-146.6,41.7,-7.3,69,581,0.00,2.47,0.00,0.000,6,0.000,0.038,2161,2003,3897
$GC,780,-1.17,-146.6,55.5,-6.6,85,784,0.00,2.58,0.00,0.000,4,0.000,0.062,2161,587,3898
$GC,856,-1.17,-146.6,61.0,-7.1,88,864,0.00,2.47,0.00,0.000,6,0.000,0.038,2161,1998,3897
$GC,1172,-1.17,-146.6,79.8,-5.7,104,1173,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2000,3897
$GC,1482,-1.17,-146.6,96.5,-5.5,119,1486,0.00,2.58,0.00,0.000,4,0.000,0.063,2161,592,3897
$GC,1535,-1.17,-146.6,99.7,-6.1,121,1544,0.00,2.47,0.00,0.000,6,0.000,0.038,2161,2002,3897
$STATE,1646,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1646,begin apogee
$GC,1650,-0.33,0.0,105.3,5.0,131,1771,0.90,0.00,116.47,0.680,6,0.075,0.000,2347,1838,3296
$STATE,1771,end apogee,CONTROL_FINISHED_OK
$STATE,1771,begin climb
$GC,1773,1.17,146.6,105.7,0.0,143,1897,1.45,2.70,114.60,0.651,4,0.043,0.067,2675,435,2698
$GC,1970,1.17,146.6,83.4,15.2,156,1975,0.00,2.45,0.00,0.000,6,0.000,0.037,2675,1841,2698
$GC,2287,1.17,146.6,42.0,12.6,174,2292,0.00,2.60,0.00,0.000,4,0.000,0.066,2675,436,2697
$GC,2353,1.17,146.6,33.5,12.9,179,2361,0.00,2.45,0.00,0.000,6,0.000,0.038,2675,1832,2697
$GC,2556,1.17,146.6,9.7,11.5,206,2563,0.00,2.58,0.00,0.000,4,0.000,0.065,2675,436,2696
$GC,2579,1.17,146.6,6.8,11.9,210,2586,0.00,2.47,0.00,0.000,6,0.000,0.038,2675,1837,2697
$STATE,2624,end climb,SURFACE_DEPTH_REACHED
$STATE,2624,begin surface coast
$FINISH,1.9,1.021112
$STATE,2666,end surface coast,CONTROL_FINISHED_OK
$STATE,2666,begin surface
$SM_CCo,2685,309.25,0.584,6,0,616,657.16
$SM_GC,0.23,0.00,0.00,309.25,0.000,0.000,0.584,40,2015,616,-10.95,0.42,657.16
$IRIDIUM_FIX,4748.51,-12219.12,251097,131355
$TT8_MAMPS,0.025311
$HUMID,1995
$INTERNAL_PRESSURE,8.04938
$TCM_TEMP,17.70
$XPDR_PINGS,161
$24V_AH,23.5,2.415
$10V_AH,10.1,0.828
$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,26.625,35.950,231.075,309.250,0.000,28.127,27.753,67.492,41.750,0.000,0.000,31.879,403.031,1432.211,646.727,612.251,175.540,33.345,967.164,0.000,593.147,0.000,10.099,0.000
$DEVICE_MAMPS,157.235,66.729,679.562,583.687,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,150.474,163.602,436.670,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9668,225
$CAP_FILE_SIZE,36056,0
$CFSIZE,260165632,257867776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,6,0
$GPS,310708,144626,4807.265,-12223.071,12,1.8,12,18.3