version: 66.04
glider: 14
mission: 5
dive: 19
start: 7 31 108 11 50 31
data:
$ID,14
$MISSION,5
$DIVE,19
$D_SURF,3
$D_FLARE,4
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,200
$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,240
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$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,22
$KALMAN_USE,1
$HD_A,0.00312
$HD_B,0.0099099996
$HD_C,2.4896e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,677
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-649050.88
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,383
$PITCH_MAX,3719
$C_PITCH,2790
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15.5
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,202
$ROLL_MAX,3893
$ROLL_DEG,40
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,1750
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,187
$VBD_MAX,3559
$C_VBD,2947
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00159
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,95.400002
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-15.23282
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,-0.69999999
$TCM_ROLL_OFFSET,0.5
$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,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,2
$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,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043093944
$SEABIRD_T_H,0.00064003747
$SEABIRD_T_I,2.16239e-05
$SEABIRD_T_J,2.0570888e-06
$SEABIRD_C_G,-10.001513
$SEABIRD_C_H,1.1265433
$SEABIRD_C_I,-0.0010666439
$SEABIRD_C_J,0.00016314148
$GPS1,113829,4806.293,-12222.635,8,3.1,27,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-68.1
$GPS2,114935,4806.257,-12222.609,14,3.1,33,18.3
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.210,-0.106
$KALMAN_X,-3644.1,-183.0,100.9,4496.9,-211.9
$KALMAN_Y,2313.7,-189.2,-177.9,-4142.5,30.2
$MHEAD_RNG_PITCHd_Wd,98.5,892,-14.4,-8.000
$D_GRID,150
$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,16,-1.16,-146.6,0.0,0.0,0,128,0.00,0.00,-109.05,0.000,2,0.000,0.000,381,2251,3213
$GC,132,-1.16,-146.6,4.7,-7.2,19,159,12.25,2.50,-7.10,0.000,4,0.183,0.078,2532,832,3546
$GC,375,-1.16,-146.6,26.8,-8.2,54,379,0.00,2.42,0.00,0.000,6,0.000,0.058,2532,2252,3549
$GC,573,-1.16,-146.6,44.3,-9.0,72,574,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2252,3550
$GC,772,-1.16,-146.6,61.3,-8.3,85,773,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2252,3551
$GC,1081,-1.16,-146.6,84.8,-7.4,100,1082,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2252,3551
$GC,1394,-1.16,-146.6,107.8,-7.0,120,1398,0.00,2.53,0.00,0.000,4,0.000,0.069,2532,829,3551
$STATE,1465,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1465,begin apogee
$GC,1475,-0.32,0.0,113.3,7.3,126,1595,0.85,0.00,116.35,0.710,6,0.098,0.000,2713,1760,2947
$STATE,1596,end apogee,CONTROL_FINISHED_OK
$STATE,1596,begin climb
$GC,1600,1.16,146.6,115.6,0.0,138,1724,1.50,2.65,115.20,0.683,4,0.070,0.080,3046,345,2349
$GC,1946,1.16,146.6,69.4,15.7,162,1950,0.00,2.42,0.00,0.000,6,0.000,0.059,3046,1747,2349
$GC,2267,1.16,146.6,27.9,12.1,185,2272,0.00,2.53,0.00,0.000,4,0.000,0.076,3046,342,2348
$GC,2290,1.16,146.6,24.9,12.4,186,2296,0.00,2.42,0.00,0.000,6,0.000,0.059,3046,1757,2348
$GC,2500,1.26,204.4,3.3,5.8,219,2508,0.00,0.00,5.70,0.520,2,0.000,0.000,3046,1757,2326
$STATE,2508,end climb,SURFACE_DEPTH_REACHED
$STATE,2508,begin surface coast
$FINISH,3.7,1.019408
$STATE,2581,end surface coast,CONTROL_FINISHED_OK
$STATE,2581,begin surface
$SM_CCo,2586,311.62,0.617,0,0,186,677.03
$SM_GC,1.06,11.68,0.00,0.00,0.057,0.000,0.000,378,2257,188,-11.02,0.17,677.03
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1891
$TCM_TEMP,17.80
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,100.2,22.6
$24V_AH,23.7,2.622
$10V_AH,10.1,0.939
$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,26.275,19.950,237.250,311.625,0.000,117.347,159.901,147.776,2.250,0.000,0.000,38.122,394.624,1578.297,616.041,560.698,547.391,33.327,906.244,0.000,536.813,0.000,13.084,0.000
$DEVICE_MAMPS,182.546,79.768,710.242,616.668,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,161.260,171.638,401.828,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9706,233
$CAP_FILE_SIZE,34545,0
$CFSIZE,254472192,252493824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,310708,124153,4806.089,-12222.338,8,2.3,28,18.3