version: 66.04
glider: 104
mission: 13
dive: 17
start: 1 21 109 13 45 28
data:
$ID,104
$MISSION,13
$DIVE,17
$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,-216895.7
$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,33
$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
$GPS1,133802,4806.504,-12222.102,9,1.3,9,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-69.0
$GPS2,134436,4806.512,-12222.122,15,0.9,31,18.3
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.178,0.169
$KALMAN_X,-1137.1,-93.1,-58.3,1962.0,321.9
$KALMAN_Y,245.6,81.5,59.0,-4626.8,-223.4
$MHEAD_RNG_PITCHd_Wd,295.2,3604,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,13,-1.17,-146.6,0.0,0.0,0,125,0.00,0.00,-109.47,0.000,2,0.000,0.000,43,2018,3835
$GC,127,-1.17,-146.6,4.2,-3.8,18,148,11.50,2.50,-1.25,0.000,4,0.148,0.067,2115,3400,3895
$GC,401,-1.17,-146.6,30.5,-8.3,55,405,0.00,2.45,0.00,0.000,6,0.000,0.039,2115,1994,3895
$GC,598,-1.17,-146.6,44.8,-7.0,73,602,0.00,2.53,0.00,0.000,4,0.000,0.054,2115,3398,3895
$GC,764,-1.17,-146.6,57.0,-7.2,83,772,0.00,2.47,0.00,0.000,6,0.000,0.039,2114,1998,3895
$GC,1080,-1.17,-146.6,77.9,-6.4,99,1081,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,1998,3895
$GC,1390,-1.17,-146.6,96.4,-6.0,114,1394,0.00,2.50,0.00,0.000,4,0.000,0.053,2115,3397,3895
$GC,1443,-1.17,-146.6,99.9,-6.4,116,1455,0.00,2.45,0.00,0.000,6,0.000,0.038,2115,2002,3895
$STATE,1672,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1672,begin apogee
$GC,1676,-0.33,0.0,113.7,5.9,138,1796,0.88,0.00,116.55,0.747,6,0.068,0.000,2301,1830,3296
$STATE,1797,end apogee,CONTROL_FINISHED_OK
$STATE,1797,begin climb
$GC,1798,1.17,146.6,116.6,0.0,150,1923,1.48,2.60,115.57,0.718,4,0.043,0.064,2634,436,2697
$GC,2033,1.17,146.6,94.0,13.4,169,2038,0.00,2.45,0.00,0.000,6,0.000,0.035,2634,1836,2697
$GC,2355,1.17,146.6,54.6,11.8,185,2359,0.00,2.55,0.00,0.000,4,0.000,0.064,2634,439,2697
$GC,2380,1.17,146.6,51.3,12.5,186,2386,0.00,2.45,0.00,0.000,6,0.000,0.035,2634,1837,2697
$GC,2707,1.17,146.6,16.9,9.7,218,2714,0.00,2.58,0.00,0.000,4,0.000,0.064,2634,434,2697
$GC,2770,1.17,146.6,10.2,10.5,229,2777,0.00,2.42,0.00,0.000,6,0.000,0.036,2634,1842,2697
$GC,2844,1.18,152.7,3.9,7.8,242,2851,0.00,0.00,3.45,0.398,6,0.000,0.000,2634,1842,2672
$STATE,2868,end climb,SURFACE_DEPTH_REACHED
$STATE,2868,begin surface coast
$FINISH,3.1,1.019775
$STATE,2941,end surface coast,CONTROL_FINISHED_OK
$STATE,2941,begin surface
$SM_CCo,2943,327.88,0.650,0,0,574,667.71
$SM_GC,1.93,11.77,0.00,0.00,0.042,0.000,0.000,44,2006,572,-10.67,0.17,668.20
$IRIDIUM_FIX,4751.72,-12219.12,170498,131349
$TT8_MAMPS,0.025311
$HUMID,1437
$INTERNAL_PRESSURE,8.15681
$TCM_TEMP,17.40
$XPDR_PINGS,71
$ALTIM_BOTTOM_PING,100.2,23.4
$24V_AH,23.5,7.398
$10V_AH,10.1,2.713
$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,25.625,30.525,235.575,327.875,0.000,61.053,50.383,134.798,19.500,0.000,0.000,33.106,442.143,1732.669,625.406,700.423,291.023,33.337,967.912,0.000,674.212,0.000,15.065,0.000
$DEVICE_MAMPS,148.031,67.496,747.058,649.649,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,174.453,187.399,502.494,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12857,259
$CAP_FILE_SIZE,39658,0
$CFSIZE,260165632,257724416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210109,144232,4806.785,-12222.330,11,1.9,11,18.3