version: 66.04
glider: 104
mission: 13
dive: 8
start: 1 21 109 4 9 30
data:
$ID,104
$MISSION,13
$DIVE,8
$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,320
$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,658
$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,-216737.23
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,45
$PITCH_MAX,3331
$C_PITCH,2375
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,17
$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,25
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$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,-16.602304
$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,60
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,2
$XPDR_VALID,3
$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,0.0043870676
$SEABIRD_T_H,0.00064850412
$SEABIRD_T_I,2.4590418e-05
$SEABIRD_T_J,2.3871978e-06
$SEABIRD_C_G,-10.313265
$SEABIRD_C_H,1.1866801
$SEABIRD_C_I,0.0012373535
$SEABIRD_C_J,-1.1855637e-05
$GPS1,040301,4807.187,-12223.104,38,1.1,38,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-71.0
$GPS2,040837,4807.160,-12223.081,8,1.1,13,18.3
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.043,-0.168
$KALMAN_X,-318.2,-98.2,13.8,-101.2,30.7
$KALMAN_Y,-409.5,56.5,-55.7,-2633.8,-33.1
$MHEAD_RNG_PITCHd_Wd,147.4,313,-27.9,-10.000
$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,-1.94,-62.0,0.0,0.0,0,102,0.00,0.00,-86.03,0.000,2,0.000,0.000,46,2007,3445
$GC,104,-2.02,-128.2,4.4,-2.9,14,130,10.48,2.50,-8.32,0.000,4,0.149,0.065,1932,3404,3815
$GC,381,-2.02,-128.2,44.7,-15.8,48,389,0.00,2.47,0.00,0.000,6,0.000,0.041,1932,2006,3814
$GC,585,-2.02,-128.2,73.7,-13.7,60,589,0.00,2.50,0.00,0.000,4,0.000,0.053,1932,3401,3814
$STATE,813,end dive,TARGET_DEPTH_EXCEEDED
$STATE,813,begin apogee
$GC,819,-0.33,0.0,105.5,13.6,72,926,1.80,0.00,99.75,0.680,6,0.097,0.000,2295,1834,3295
$STATE,927,end apogee,CONTROL_FINISHED_OK
$STATE,927,begin climb
$GC,928,2.02,128.2,107.5,0.0,83,1036,2.33,2.62,100.03,0.650,4,0.038,0.064,2823,426,2773
$GC,1063,2.02,128.2,90.8,19.9,94,1068,0.00,2.47,0.00,0.000,6,0.000,0.035,2823,1833,2773
$GC,1388,2.02,128.2,27.2,18.4,115,1392,0.00,2.58,0.00,0.000,4,0.000,0.061,2823,422,2773
$GC,1419,2.02,128.2,21.3,18.2,117,1427,0.00,2.47,0.00,0.000,6,0.000,0.035,2823,1842,2773
$GC,1628,2.15,233.1,5.6,-1.3,153,1714,0.00,2.67,80.93,0.593,4,0.000,0.063,2823,433,2344
$GC,1759,2.28,341.8,3.8,-1.7,175,1851,0.15,2.45,82.28,0.578,6,0.048,0.035,2876,1837,1901
$GC,1920,2.40,434.5,3.3,0.0,202,1976,0.00,0.00,53.45,0.571,2,0.000,0.000,2877,1837,1614
$STATE,1977,end climb,SURFACE_DEPTH_REACHED
$STATE,1977,begin surface coast
$FINISH,3.0,1.016120
$STATE,2258,end surface coast,CONTROL_FINISHED_OK
$STATE,2258,begin surface
$SM_CCo,2277,184.68,0.519,16,0,613,658.14
$SM_GC,2.17,0.00,0.00,184.68,0.000,0.000,0.519,46,2000,613,-10.71,0.00,658.14
$IRIDIUM_FIX,4748.51,-12221.84,170498,040439
$TT8_MAMPS,0.025311
$HUMID,1420
$INTERNAL_PRESSURE,8.15681
$TCM_TEMP,17.20
$XPDR_PINGS,58
$ALTIM_BOTTOM_PING,90.1,28.8
$24V_AH,23.6,6.404
$10V_AH,10.1,2.294
$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,27.900,25.825,416.425,184.675,0.000,48.667,73.916,87.869,15.750,0.000,0.000,14.947,389.258,927.435,666.140,664.739,250.591,33.325,1036.119,0.000,657.625,0.000,10.381,0.000
$DEVICE_MAMPS,148.798,65.195,680.329,519.259,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,171.811,193.990,507.032,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12874,261
$CAP_FILE_SIZE,33724,0
$CFSIZE,260165632,257982464
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,16,0
$GPS,210109,045238,4806.969,-12223.194,11,1.1,11,18.3