version: 66.04
glider: 104
mission: 6
dive: 12
start: 7 31 108 5 30 1
data:
$ID,104
$MISSION,6
$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,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,-210385.97
$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,1840
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,27
$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,2
$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
$GPS1,052521,4806.463,-12222.304,11,2.0,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.31
$_SM_ANGLEo,-65.2
$GPS2,052847,4806.459,-12222.305,11,2.1,30,18.3
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.069,-0.235
$KALMAN_X,-1105.6,-327.1,-50.9,2791.8,80.7
$KALMAN_Y,1958.7,531.3,67.9,-4371.8,31.0
$MHEAD_RNG_PITCHd_Wd,145.3,930,-14.8,-8.000
$D_GRID,108
$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,-146.6,0.0,0.0,0,131,0.00,0.00,-114.55,0.000,6,0.000,0.000,43,2008,3895
$GC,132,-1.17,-146.6,4.6,-8.4,19,152,12.07,2.53,0.00,0.000,4,0.156,0.053,2159,3402,3896
$GC,405,-1.17,-146.6,28.2,-7.3,57,409,0.00,2.45,0.00,0.000,6,0.000,0.038,2159,1998,3896
$GC,602,-1.17,-146.6,41.4,-6.6,75,606,0.00,2.53,0.00,0.000,4,0.000,0.054,2159,3402,3897
$GC,768,-1.17,-146.6,53.1,-7.4,87,776,0.00,2.47,0.00,0.000,6,0.000,0.038,2159,2004,3897
$GC,1084,-1.17,-146.6,72.6,-6.0,103,1088,0.00,2.58,0.00,0.000,4,0.000,0.064,2159,592,3897
$GC,1115,-1.17,-146.6,74.9,-7.0,104,1123,0.00,2.45,0.00,0.000,6,0.000,0.038,2159,1990,3897
$GC,1431,-1.17,-146.6,94.3,-5.9,120,1433,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,1991,3897
$STATE,1672,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1672,begin apogee
$GC,1676,-0.33,0.0,108.1,5.4,138,1796,0.88,0.00,116.20,0.689,6,0.079,0.000,2341,1830,3295
$STATE,1797,end apogee,CONTROL_FINISHED_OK
$STATE,1797,begin climb
$GC,1798,1.17,146.6,109.1,0.0,150,1918,1.50,0.00,115.38,0.658,6,0.045,0.000,2678,1830,2697
$GC,2224,1.17,146.6,56.2,13.6,177,2228,0.00,2.58,0.00,0.000,4,0.000,0.069,2678,436,2697
$GC,2296,1.17,146.6,46.1,13.9,181,2300,0.00,2.45,0.00,0.000,6,0.000,0.038,2678,1848,2697
$GC,2492,1.17,146.6,21.0,12.7,199,2497,0.00,2.62,0.00,0.000,4,0.000,0.067,2678,433,2696
$GC,2576,1.17,146.6,10.5,12.6,212,2583,0.00,2.45,0.00,0.000,6,0.000,0.038,2678,1847,2696
$STATE,2650,end climb,SURFACE_DEPTH_REACHED
$STATE,2650,begin surface coast
$FINISH,2.1,1.021271
$STATE,2684,end surface coast,CONTROL_FINISHED_OK
$STATE,2684,begin surface
$SM_CCo,2703,301.95,0.590,5,0,617,657.16
$SM_GC,0.22,0.00,0.00,301.95,0.000,0.000,0.590,45,2012,617,-10.93,0.34,657.16
$IRIDIUM_FIX,4748.51,-12224.57,251097,040413
$TT8_MAMPS,0.025311
$HUMID,2008
$INTERNAL_PRESSURE,8.04938
$TCM_TEMP,16.80
$XPDR_PINGS,166
$24V_AH,23.5,1.462
$10V_AH,10.1,0.494
$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,26.650,25.650,231.575,301.950,0.000,30.529,33.717,63.139,43.000,0.000,0.000,32.704,403.031,1470.679,629.796,600.387,174.739,33.331,924.517,0.000,579.470,0.000,10.098,0.000
$DEVICE_MAMPS,156.468,69.030,688.766,589.823,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,154.836,167.486,448.289,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9697,231
$CAP_FILE_SIZE,32819,0
$CFSIZE,260165632,258105344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,5,0
$GPS,310708,062155,4806.202,-12222.280,33,1.8,50,18.3