version: 66.04
glider: 104
mission: 6
dive: 13
start: 7 31 108 6 26 34
data:
$ID,104
$MISSION,6
$DIVE,13
$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,-210418.08
$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,32
$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,4
$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
$GPS1,062155,4806.202,-12222.280,33,1.8,50,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.25
$_SM_ANGLEo,-63.0
$GPS2,062520,4806.186,-12222.276,12,1.8,29,18.3
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.115,-0.138
$KALMAN_X,-1315.4,-290.2,-3.4,2956.0,28.2
$KALMAN_Y,2166.8,479.0,31.2,-4996.6,26.2
$MHEAD_RNG_PITCHd_Wd,121.8,485,-21.2,-8.000
$D_GRID,107
$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,-1.51,-74.7,0.0,0.0,0,125,0.00,0.00,-107.65,0.000,6,0.000,0.000,46,2013,3602
$GC,127,-1.56,-113.9,3.6,-5.2,18,148,11.57,2.67,-3.55,0.000,4,0.156,0.071,2076,587,3762
$GC,401,-1.56,-113.9,28.9,-8.7,57,405,0.00,2.45,0.00,0.000,6,0.000,0.037,2076,2004,3763
$GC,597,-1.56,-113.9,45.6,-8.6,75,598,0.00,0.00,0.00,0.000,6,0.000,0.000,2075,2004,3763
$GC,795,-1.56,-113.9,62.7,-8.3,87,796,0.00,0.00,0.00,0.000,6,0.000,0.000,2075,2004,3763
$GC,1104,-1.56,-116.4,86.9,-7.8,102,1105,0.00,0.00,0.00,0.000,6,0.000,0.000,2076,2004,3763
$STATE,1373,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1373,begin apogee
$GC,1377,-0.33,0.0,107.7,7.7,119,1476,1.33,0.00,90.90,0.677,6,0.091,0.000,2341,1840,3296
$STATE,1477,end apogee,CONTROL_FINISHED_OK
$STATE,1477,begin climb
$GC,1479,1.56,116.4,108.6,0.0,129,1580,1.88,2.60,91.80,0.657,4,0.041,0.054,2766,3250,2821
$GC,1618,1.56,116.4,91.1,17.5,140,1623,0.00,2.53,0.00,0.000,6,0.000,0.044,2766,1854,2821
$GC,1937,1.56,116.4,38.1,15.8,159,1941,0.00,2.62,0.00,0.000,4,0.000,0.066,2766,430,2820
$GC,2009,1.56,116.4,26.0,17.2,165,2013,0.00,2.45,0.00,0.000,6,0.000,0.037,2766,1844,2820
$GC,2214,1.71,236.9,4.0,-0.6,197,2314,0.12,2.70,93.20,0.617,4,0.060,0.064,2798,425,2329
$STATE,2318,end climb,SURFACE_DEPTH_REACHED
$STATE,2318,begin surface coast
$FINISH,2.5,1.021397
$STATE,2333,end surface coast,CONTROL_FINISHED_OK
$STATE,2333,begin surface
$SM_CCo,2354,243.35,0.587,3,0,617,657.16
$SM_GC,0.23,0.00,0.00,243.35,0.000,0.000,0.587,42,2012,617,-10.94,0.34,657.16
$IRIDIUM_FIX,4748.51,-12220.12,251097,050512
$TT8_MAMPS,0.026078
$HUMID,2025
$INTERNAL_PRESSURE,8.05915
$TCM_TEMP,17.80
$XPDR_PINGS,143
$24V_AH,23.5,1.564
$10V_AH,10.1,0.529
$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,27.925,21.100,275.900,243.350,0.000,27.771,25.258,70.498,37.250,0.000,0.000,31.482,358.952,1209.165,567.724,549.136,174.150,33.326,861.679,0.000,529.511,0.000,10.102,0.000
$DEVICE_MAMPS,156.468,70.564,677.261,586.755,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,143.879,156.002,419.290,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9671,216
$CAP_FILE_SIZE,30059,0
$CFSIZE,260165632,258084864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,3,0
$GPS,310708,071107,4806.045,-12221.980,11,2.0,27,18.3