version: 66.04
glider: 104
mission: 6
dive: 23
start: 7 31 108 15 53 53
data:
$ID,104
$MISSION,6
$DIVE,23
$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,-210614.33
$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,23
$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
$GPS1,154637,4807.351,-12223.206,40,0.9,40,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.26
$_SM_ANGLEo,-63.5
$GPS2,155239,4807.342,-12223.132,14,1.4,14,18.3
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.172,0.174
$KALMAN_X,144.7,355.4,24.7,-243.4,156.7
$KALMAN_Y,1162.4,-443.4,-42.7,-849.2,-120.7
$MHEAD_RNG_PITCHd_Wd,297.0,1624,-14.8,-8.000
$D_GRID,105
$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,-146.6,0.0,0.0,0,120,0.00,0.00,-104.05,0.000,2,0.000,0.000,44,1999,3616
$GC,122,-1.17,-146.6,4.5,-7.8,17,149,12.10,2.58,-5.25,0.000,4,0.158,0.069,2162,602,3897
$GC,307,-1.17,-146.6,22.5,-7.2,46,311,0.00,2.42,0.00,0.000,6,0.000,0.035,2162,2011,3897
$GC,503,-1.17,-146.6,34.8,-6.6,64,504,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2012,3897
$GC,694,-1.17,-146.6,47.0,-6.6,82,699,0.00,2.60,0.00,0.000,4,0.000,0.061,2162,589,3898
$GC,738,-1.17,-146.6,50.0,-7.3,85,745,0.00,2.45,0.00,0.000,6,0.000,0.038,2162,1989,3897
$GC,930,-1.17,-146.6,62.7,-6.6,95,934,0.00,2.55,0.00,0.000,4,0.000,0.061,2162,594,3898
$GC,950,-1.17,-146.6,64.0,-6.0,96,955,0.00,2.47,0.00,0.000,6,0.000,0.038,2162,2012,3897
$GC,1278,-1.17,-146.6,83.4,-6.2,112,1282,0.00,2.60,0.00,0.000,4,0.000,0.061,2162,588,3898
$GC,1309,-1.17,-146.6,85.3,-6.5,113,1316,0.00,2.45,0.00,0.000,6,0.000,0.038,2162,1990,3897
$GC,1627,-1.17,-146.6,103.6,-5.4,132,1629,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,1990,3897
$STATE,1658,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1658,begin apogee
$GC,1661,-0.33,0.0,105.3,5.2,135,1782,0.88,0.00,116.55,0.677,6,0.073,0.000,2345,1838,3295
$STATE,1782,end apogee,CONTROL_FINISHED_OK
$STATE,1783,begin climb
$GC,1784,1.17,146.6,105.9,0.0,147,1907,1.45,2.60,115.10,0.650,4,0.042,0.055,2674,3252,2697
$GC,1944,1.17,146.6,89.4,14.5,159,1949,0.00,2.55,0.00,0.000,6,0.000,0.044,2674,1846,2697
$GC,2267,1.17,146.6,46.4,12.9,176,2271,0.00,2.62,0.00,0.000,4,0.000,0.067,2674,427,2696
$GC,2422,1.17,146.6,25.4,13.4,189,2430,0.00,2.47,0.00,0.000,6,0.000,0.037,2674,1838,2696
$GC,2629,1.18,158.0,4.7,7.6,222,2642,0.00,0.00,10.32,0.565,6,0.000,0.000,2674,1839,2650
$GC,2711,1.56,461.0,4.4,-3.0,236,2853,0.35,0.00,137.60,0.607,2,0.038,0.000,2764,1838,1920
$STATE,2854,end climb,SURFACE_DEPTH_REACHED
$STATE,2854,begin surface coast
$FINISH,-0.5,1.009703
$STATE,2948,end surface coast,CONTROL_FINISHED_OK
$STATE,2949,begin surface
$SM_CCo,2967,188.23,0.574,2,0,616,657.16
$SM_GC,0.28,0.00,0.00,188.23,0.000,0.000,0.574,40,2021,616,-10.95,0.59,657.16
$IRIDIUM_FIX,4751.72,-12223.57,251097,151521
$TT8_MAMPS,0.026078
$HUMID,2009
$INTERNAL_PRESSURE,8.08845
$TCM_TEMP,18.30
$XPDR_PINGS,150
$24V_AH,23.5,2.635
$10V_AH,10.1,0.913
$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,27.100,30.925,379.575,188.225,0.000,58.306,51.295,123.191,39.000,0.000,0.000,15.918,446.705,1551.020,592.948,685.000,292.167,33.343,966.090,0.000,680.819,0.000,10.107,0.000
$DEVICE_MAMPS,158.002,69.030,677.261,573.716,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,184.047,197.260,535.223,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12790,276
$CAP_FILE_SIZE,40651,0
$CFSIZE,260165632,257806336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,6,2,0
$GPS,310708,164726,4807.533,-12223.204,14,1.9,14,18.3