version: 66.04
glider: 104
mission: 10
dive: 5
start: 10 15 108 22 13 59
data:
$ID,104
$MISSION,10
$DIVE,5
$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,50
$T_MISSION,60
$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,500
$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,-213516.38
$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,19
$R_STBD_OVSHOOT,40
$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,-18.708303
$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,20
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,60
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$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
$GPS1,220907,4808.165,-12223.985,26,1.2,26,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.39
$_SM_ANGLEo,-66.0
$GPS2,221245,4808.182,-12223.979,12,1.3,12,18.3
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.032,-0.211
$KALMAN_X,139.3,69.1,44.1,-1697.5,38.1
$KALMAN_Y,383.8,244.7,86.4,413.0,105.7
$MHEAD_RNG_PITCHd_Wd,170.2,337,-22.7,-10.000
$D_GRID,103
$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,-1.63,-93.7,0.0,0.0,0,106,0.00,0.00,-87.70,0.000,6,0.000,0.000,43,2027,3679
$GC,107,-1.67,-128.9,3.7,-7.5,15,127,11.27,0.00,-3.17,0.000,6,0.152,0.000,2050,2025,3823
$GC,196,-1.69,-144.0,15.5,-8.9,30,203,0.00,0.00,-0.93,0.000,6,0.000,0.000,2050,2025,3883
$GC,269,-1.70,-146.6,22.5,-9.5,41,271,0.00,0.00,-0.17,0.000,6,0.000,0.000,2050,2025,3897
$GC,460,-1.70,-146.6,40.5,-9.2,59,464,0.00,2.62,0.00,0.000,4,0.000,0.059,2050,581,3897
$GC,566,-1.70,-146.6,51.2,-10.0,68,571,0.00,2.42,0.00,0.000,6,0.000,0.036,2050,1991,3897
$GC,895,-1.70,-146.6,80.9,-9.1,84,899,0.00,2.53,0.00,0.000,4,0.000,0.055,2050,3405,3897
$GC,994,-1.70,-146.6,90.9,-10.0,88,1002,0.00,2.47,0.00,0.000,6,0.000,0.040,2050,2002,3897
$STATE,1134,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1134,begin apogee
$GC,1138,-0.33,0.0,103.5,8.7,97,1259,1.45,0.00,116.60,0.692,6,0.088,0.000,2345,1832,3296
$STATE,1259,end apogee,CONTROL_FINISHED_OK
$STATE,1259,begin climb
$GC,1261,1.70,146.6,104.2,0.0,109,1381,1.98,0.00,114.93,0.660,6,0.041,0.000,2799,1832,2698
$GC,1690,1.70,146.6,16.8,21.0,140,1696,0.00,2.55,0.00,0.000,4,0.000,0.064,2799,436,2697
$STATE,1757,end climb,SURFACE_DEPTH_REACHED
$STATE,1757,begin surface coast
$FINISH,1.4,1.022906
$STATE,1764,end surface coast,CONTROL_FINISHED_OK
$STATE,1764,begin surface
$SM_CCo,1785,206.20,0.588,4,0,1256,500.17
$SM_GC,0.33,0.00,0.00,206.20,0.000,0.000,0.588,44,2001,1256,-10.93,0.06,500.17
$IRIDIUM_FIX,4751.72,-12221.84,090198,212105
$TT8_MAMPS,0.024544
$HUMID,2029
$INTERNAL_PRESSURE,7.99079
$TCM_TEMP,18.30
$XPDR_PINGS,7
$ALTIM_TOP_PING,19.1,18.7
$ALTIM_BOTTOM_PING,100.8,16.7
$24V_AH,23.6,4.576
$10V_AH,10.1,1.606
$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,27.400,15.650,231.525,206.200,0.000,27.253,26.222,99.838,4.000,0.000,0.000,14.263,286.169,874.012,512.369,401.143,196.735,33.313,735.676,0.000,392.103,0.000,20.450,0.000
$DEVICE_MAMPS,151.866,64.428,691.834,587.522,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,101.145,113.589,296.940,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6522,153
$CAP_FILE_SIZE,27542,0
$CFSIZE,260165632,258269184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,4,0
$GPS,151008,224814,4808.050,-12224.169,10,1.2,10,18.3