version: 66.04
glider: 104
mission: 6
dive: 6
start: 7 31 108 0 34 34
data:
$ID,104
$MISSION,6
$DIVE,6
$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,657
$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,-210213.88
$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,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,39
$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,-18.697796
$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,50
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$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
$GPS1,002502,4807.207,-12223.275,13,1.3,30,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.32
$_SM_ANGLEo,-63.4
$GPS2,003320,4807.292,-12223.347,13,1.6,13,18.3
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.179,-0.194
$KALMAN_X,-679.9,-301.6,-80.2,1085.0,-116.4
$KALMAN_Y,901.2,476.7,167.9,-1821.2,81.3
$MHEAD_RNG_PITCHd_Wd,119.0,691,-18.1,-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,14,-1.39,-146.6,0.0,0.0,0,125,0.00,0.00,-108.47,0.000,2,0.000,0.000,42,2022,3713
$GC,126,-1.39,-146.6,4.8,-11.7,18,148,11.65,2.53,-3.70,0.000,4,0.150,0.062,2113,3400,3896
$GC,289,-1.39,-146.6,19.2,-7.3,46,295,0.00,2.42,0.00,0.000,6,0.000,0.035,2113,2001,3896
$GC,365,-1.39,-146.6,24.6,-7.0,54,366,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2001,3896
$GC,556,-1.39,-146.6,39.5,-7.9,72,557,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2001,3896
$GC,756,-1.39,-146.6,54.8,-7.5,88,757,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2001,3896
$GC,1065,-1.39,-146.6,78.0,-7.4,103,1066,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2001,3896
$GC,1377,-1.39,-146.6,101.3,-7.2,118,1382,0.00,2.55,0.00,0.000,4,0.000,0.063,2113,594,3896
$STATE,1397,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1397,begin apogee
$GC,1402,-0.33,0.0,103.1,7.3,119,1522,1.10,0.00,115.82,0.674,6,0.082,0.000,2341,1940,3295
$STATE,1523,end apogee,CONTROL_FINISHED_OK
$STATE,1523,begin climb
$GC,1524,1.39,146.6,104.6,0.0,131,1643,1.70,0.00,114.45,0.647,6,0.041,0.000,2729,1940,2697
$GC,1942,1.39,146.6,42.9,16.7,156,1947,0.00,2.58,0.00,0.000,4,0.000,0.064,2729,547,2697
$GC,2094,1.39,146.6,18.3,15.5,169,2101,0.00,2.42,0.00,0.000,6,0.000,0.038,2729,1948,2697
$GC,2168,1.39,146.6,7.8,13.4,182,2174,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1948,2697
$STATE,2212,end climb,SURFACE_DEPTH_REACHED
$STATE,2212,begin surface coast
$FINISH,2.5,1.020274
$STATE,2247,end surface coast,CONTROL_FINISHED_OK
$STATE,2247,begin surface
$SM_CCo,2265,310.23,0.581,7,0,616,657.16
$SM_GC,0.29,0.00,0.00,310.23,0.000,0.000,0.581,42,2013,616,-10.93,0.37,657.16
$IRIDIUM_FIX,4748.51,-12221.84,251097,000003
$TT8_MAMPS,0.024544
$HUMID,2011
$INTERNAL_PRESSURE,8.06891
$TCM_TEMP,17.70
$XPDR_PINGS,133
$ALTIM_BOTTOM_PING,101.3,19.8
$24V_AH,23.6,0.820
$10V_AH,10.1,0.294
$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,26.875,14.950,230.275,310.225,0.000,56.942,73.715,229.948,35.000,0.000,0.000,15.400,343.533,1271.011,630.102,484.706,420.894,33.317,890.581,0.000,478.385,0.000,13.069,0.000
$DEVICE_MAMPS,150.332,91.273,674.193,580.619,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,130.812,142.863,380.421,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9719,196
$CAP_FILE_SIZE,34892,0
$CFSIZE,260165632,258236416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,7,0
$GPS,310708,011907,4807.199,-12223.119,12,1.2,28,18.3