version: 66.04
glider: 104
mission: 6
dive: 22
start: 7 31 108 14 50 42
data:
$ID,104
$MISSION,6
$DIVE,22
$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,-210597.78
$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,24
$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
$GPS1,144626,4807.265,-12223.071,12,1.8,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-65.3
$GPS2,144927,4807.254,-12223.070,11,1.9,11,18.3
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.164,0.182
$KALMAN_X,-162.5,305.8,47.6,167.8,134.1
$KALMAN_Y,1419.0,-373.3,-72.0,-1311.9,-123.2
$MHEAD_RNG_PITCHd_Wd,299.8,1797,-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,-146.6,0.0,0.0,0,126,0.00,0.00,-110.07,0.000,2,0.000,0.000,40,2016,3729
$GC,128,-1.17,-146.6,4.6,-7.7,18,150,12.15,2.65,-3.00,0.000,4,0.158,0.071,2161,591,3896
$GC,402,-1.17,-146.6,30.6,-6.9,53,407,0.00,2.42,0.00,0.000,6,0.000,0.035,2161,1995,3896
$GC,599,-1.17,-146.6,43.2,-6.4,71,603,0.00,2.58,0.00,0.000,4,0.000,0.061,2161,588,3896
$GC,694,-1.17,-146.6,49.8,-7.0,79,699,0.00,2.45,0.00,0.000,6,0.000,0.037,2161,2006,3897
$GC,890,-1.17,-146.6,62.1,-6.4,89,892,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2006,3897
$GC,1201,-1.17,-146.6,80.9,-6.1,104,1205,0.00,2.60,0.00,0.000,4,0.000,0.062,2161,588,3897
$GC,1240,-1.17,-146.6,83.4,-6.7,106,1244,0.00,2.45,0.00,0.000,6,0.000,0.038,2161,2004,3897
$GC,1556,-1.17,-146.6,102.0,-5.5,123,1561,0.00,2.58,0.00,0.000,4,0.000,0.062,2161,594,3897
$GC,1584,-1.17,-146.6,103.7,-6.3,125,1589,0.00,2.42,0.00,0.000,6,0.000,0.038,2161,1998,3897
$STATE,1610,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1610,begin apogee
$GC,1613,-0.33,0.0,105.4,6.0,127,1734,0.88,0.00,116.53,0.680,6,0.072,0.000,2344,1836,3296
$STATE,1734,end apogee,CONTROL_FINISHED_OK
$STATE,1734,begin climb
$GC,1736,1.17,146.6,106.5,0.0,139,1860,1.48,2.67,114.88,0.654,4,0.044,0.067,2677,438,2698
$GC,1908,1.17,146.6,88.5,15.5,151,1913,0.00,2.47,0.00,0.000,6,0.000,0.037,2677,1839,2698
$GC,2230,1.17,146.6,46.0,12.9,168,2235,0.00,2.60,0.00,0.000,4,0.000,0.065,2677,435,2697
$GC,2284,1.17,146.6,38.6,13.2,172,2292,0.00,2.45,0.00,0.000,6,0.000,0.036,2677,1834,2697
$GC,2485,1.17,146.6,14.8,11.0,195,2491,0.00,2.60,0.00,0.000,4,0.000,0.065,2677,430,2697
$GC,2531,1.17,146.6,9.6,11.1,203,2537,0.00,2.45,0.00,0.000,6,0.000,0.038,2677,1842,2696
$GC,2606,1.25,213.8,3.8,5.6,216,2668,0.00,2.60,52.28,0.617,4,0.000,0.056,2677,3240,2424
$STATE,2780,end climb,SURFACE_DEPTH_REACHED
$STATE,2780,begin surface coast
$FINISH,1.7,1.020668
$STATE,2990,end surface coast,CONTROL_FINISHED_OK
$STATE,2990,begin surface
$SM_CCo,3010,256.23,0.582,3,0,617,657.16
$SM_GC,0.16,0.00,0.00,256.23,0.000,0.000,0.582,43,1998,617,-10.93,-0.06,657.16
$IRIDIUM_FIX,4748.51,-12221.84,251097,141420
$TT8_MAMPS,0.025311
$HUMID,2022
$INTERNAL_PRESSURE,8.08845
$TCM_TEMP,18.20
$XPDR_PINGS,144
$24V_AH,23.5,2.520
$10V_AH,10.1,0.870
$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,26.650,40.475,283.675,256.225,0.000,25.491,27.147,68.027,37.500,0.000,0.000,13.401,480.427,1530.099,610.658,707.982,175.709,33.345,972.459,0.000,704.312,0.000,10.109,0.000
$DEVICE_MAMPS,158.002,70.564,679.562,582.153,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,189.824,207.299,549.445,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12801,283
$CAP_FILE_SIZE,39439,0
$CFSIZE,260165632,257835008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,3,0
$GPS,310708,154637,4807.351,-12223.206,40,0.9,40,18.3