version: 66.04
glider: 104
mission: 13
dive: 10
start: 1 21 109 6 3 24
data:
$ID,104
$MISSION,13
$DIVE,10
$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,320
$USE_BATHY,0
$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,-216769.17
$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,26
$R_STBD_OVSHOOT,35
$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
$GPS1,055806,4807.033,-12222.963,37,1.0,37,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.53
$_SM_ANGLEo,-69.7
$GPS2,060231,4807.044,-12222.966,13,1.0,13,18.3
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.164,-0.182
$KALMAN_X,-717.9,-109.4,24.8,441.9,-190.3
$KALMAN_Y,-371.3,26.2,-34.7,-2877.0,-11.5
$MHEAD_RNG_PITCHd_Wd,119.5,2274,-14.8,-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,14,-1.17,-146.6,0.0,0.0,0,90,0.00,0.00,-74.00,0.000,2,0.000,0.000,47,2012,3053
$GC,92,-1.17,-146.6,4.1,-2.7,12,137,11.45,2.53,-23.15,0.000,4,0.147,0.067,2115,3393,3895
$GC,311,-1.17,-146.6,19.5,-7.7,50,318,0.00,2.45,0.00,0.000,6,0.000,0.041,2115,1993,3895
$GC,388,-1.17,-146.6,25.2,-7.4,58,389,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,1993,3895
$GC,579,-1.17,-146.6,38.6,-6.9,76,580,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,1993,3895
$GC,780,-1.17,-146.6,51.9,-6.6,94,781,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,1993,3895
$GC,1089,-1.17,-146.6,72.1,-6.0,109,1090,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,1993,3895
$GC,1399,-1.17,-146.6,89.4,-5.5,124,1403,0.00,2.50,0.00,0.000,4,0.000,0.053,2115,3392,3895
$GC,1482,-1.17,-146.6,94.7,-7.1,128,1486,0.00,2.42,0.00,0.000,6,0.000,0.038,2115,1988,3895
$STATE,1760,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1760,begin apogee
$GC,1764,-0.33,0.0,111.3,5.9,150,1883,0.88,0.00,115.10,0.683,6,0.069,0.000,2301,1831,3295
$STATE,1884,end apogee,CONTROL_FINISHED_OK
$STATE,1884,begin climb
$GC,1885,1.17,146.6,113.9,0.0,162,2009,1.45,0.00,114.95,0.650,6,0.042,0.000,2632,1831,2697
$GC,2329,1.17,146.6,67.2,12.2,192,2333,0.00,2.55,0.00,0.000,4,0.000,0.065,2632,436,2697
$GC,2377,1.17,146.6,60.7,13.0,194,2382,0.00,2.45,0.00,0.000,6,0.000,0.035,2632,1837,2697
$GC,2706,1.17,146.6,23.9,10.4,221,2707,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,1836,2697
$GC,2906,1.24,207.7,6.4,5.8,253,2961,0.00,0.00,48.22,0.597,6,0.000,0.000,2631,1836,2448
$GC,3030,1.54,449.5,4.7,-0.8,274,3183,0.30,0.00,149.77,0.584,2,0.041,0.000,2712,1836,1643
$STATE,3184,end climb,SURFACE_DEPTH_REACHED
$STATE,3184,begin surface coast
$FINISH,2.8,1.016930
$STATE,3465,end surface coast,CONTROL_FINISHED_OK
$STATE,3465,begin surface
$SM_CCo,3484,191.90,0.509,19,0,613,658.14
$SM_GC,2.43,0.00,0.00,191.90,0.000,0.000,0.509,42,1999,613,-10.73,0.00,658.14
$IRIDIUM_FIX,4748.51,-12249.54,170498,050527
$TT8_MAMPS,0.025311
$HUMID,1409
$INTERNAL_PRESSURE,8.15681
$TCM_TEMP,17.40
$XPDR_PINGS,86
$ALTIM_BOTTOM_PING,90.0,31.2
$24V_AH,23.6,6.622
$10V_AH,10.1,2.394
$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,26.325,15.450,428.050,191.900,0.000,23.755,24.358,146.539,22.750,0.000,0.000,14.834,520.260,1788.110,702.350,801.327,242.278,33.323,1103.052,0.000,797.756,0.000,10.389,0.000
$DEVICE_MAMPS,147.264,66.729,682.630,508.521,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,232.766,254.910,677.595,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,16001,349
$CAP_FILE_SIZE,40753,0
$CFSIZE,260165632,257925120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,19,0
$GPS,210109,070701,4806.838,-12222.675,12,1.2,12,18.3