version: 66.04
glider: 104
mission: 13
dive: 12
start: 1 21 109 8 21 1
data:
$ID,104
$MISSION,13
$DIVE,12
$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,-216796.67
$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,28
$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,720
$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
$GPS1,081637,4806.610,-12222.491,32,1.4,32,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.47
$_SM_ANGLEo,-67.9
$GPS2,082008,4806.623,-12222.507,11,1.4,11,18.3
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.132,-0.207
$KALMAN_X,-1229.9,-112.9,-33.3,1581.5,-205.4
$KALMAN_Y,220.3,-5.7,14.8,-4270.4,243.4
$MHEAD_RNG_PITCHd_Wd,129.2,1312,-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,13,-1.17,-146.6,0.0,0.0,0,95,0.00,0.00,-79.50,0.000,2,0.000,0.000,45,2004,3211
$GC,97,-1.17,-146.6,4.1,-2.9,13,129,11.48,0.00,-16.98,0.000,6,0.147,0.000,2114,2003,3894
$GC,199,-1.17,-146.6,11.4,-7.1,30,205,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2003,3894
$GC,272,-1.17,-146.6,16.8,-7.2,43,278,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2003,3894
$GC,349,-1.17,-146.6,22.5,-7.4,54,354,0.00,2.50,0.00,0.000,4,0.000,0.055,2114,3400,3894
$GC,381,-1.17,-146.6,25.0,-7.6,56,389,0.00,2.47,0.00,0.000,6,0.000,0.039,2114,1999,3894
$GC,581,-1.17,-146.6,38.9,-7.1,75,582,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,1998,3894
$GC,770,-1.17,-146.6,52.1,-6.8,92,771,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,1998,3894
$GC,1079,-1.17,-146.6,71.7,-6.2,107,1083,0.00,2.50,0.00,0.000,4,0.000,0.054,2114,3400,3894
$GC,1110,-1.17,-146.6,73.8,-6.7,108,1118,0.00,2.45,0.00,0.000,6,0.000,0.038,2114,2006,3894
$GC,1427,-1.17,-146.6,92.9,-6.2,124,1428,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2006,3894
$GC,1741,-1.17,-146.6,111.3,-5.8,148,1746,0.00,2.50,0.00,0.000,4,0.000,0.054,2114,3404,3894
$GC,1792,-1.17,-146.6,114.4,-6.6,152,1796,0.00,2.45,0.00,0.000,4,0.000,0.039,2114,1988,3894
$STATE,1797,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1797,begin apogee
$GC,1801,-0.33,0.0,114.7,6.5,152,1919,0.85,0.00,115.05,0.684,6,0.067,0.000,2299,1831,3296
$STATE,1920,end apogee,CONTROL_FINISHED_OK
$STATE,1920,begin climb
$GC,1921,1.17,146.6,116.8,0.0,164,2045,1.48,2.60,114.35,0.653,4,0.043,0.066,2634,440,2697
$GC,2083,1.17,146.6,103.9,13.0,178,2091,0.00,2.47,0.00,0.000,6,0.000,0.035,2634,1844,2697
$GC,2410,1.17,146.6,62.6,12.4,196,2415,0.00,2.60,0.00,0.000,4,0.000,0.064,2634,432,2697
$GC,2487,1.17,146.6,52.1,13.0,199,2495,0.00,2.47,0.00,0.000,6,0.000,0.036,2634,1842,2698
$GC,2815,1.17,146.6,16.1,10.2,232,2821,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,1842,2698
$GC,2889,1.17,146.6,8.9,9.0,245,2895,0.00,2.58,0.00,0.000,4,0.000,0.065,2634,438,2698
$GC,2947,1.22,191.2,4.7,6.4,255,2985,0.00,2.40,32.60,0.594,6,0.000,0.035,2634,1842,2516
$GC,3055,1.51,422.2,4.5,-0.4,273,3190,0.28,0.00,131.75,0.585,2,0.041,0.000,2708,1842,1807
$STATE,3191,end climb,SURFACE_DEPTH_REACHED
$STATE,3191,begin surface coast
$FINISH,2.7,1.017404
$STATE,3462,end surface coast,CONTROL_FINISHED_OK
$STATE,3462,begin surface
$SM_CCo,3481,218.23,0.513,20,0,613,658.14
$SM_GC,2.39,0.00,0.00,218.23,0.000,0.000,0.513,43,2010,613,-10.73,0.28,658.14
$IRIDIUM_FIX,4748.51,-12221.84,170498,070752
$TT8_MAMPS,0.026078
$HUMID,1437
$INTERNAL_PRESSURE,8.15681
$TCM_TEMP,17.40
$XPDR_PINGS,69
$ALTIM_BOTTOM_PING,90.3,34.2
$24V_AH,23.6,6.845
$10V_AH,10.1,2.494
$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,26.325,30.550,393.750,218.225,0.000,28.119,30.298,85.603,18.500,0.000,0.000,12.911,536.018,1766.026,717.948,812.816,195.662,33.337,1145.013,0.000,810.776,0.000,10.398,0.000
$DEVICE_MAMPS,147.264,65.962,684.164,513.123,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,229.099,251.072,665.806,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15989,343
$CAP_FILE_SIZE,43568,0
$CFSIZE,260165632,257863680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,20,0
$GPS,210109,092502,4806.359,-12222.321,8,1.3,8,18.3