version: 66.04
glider: 104
mission: 6
dive: 25
start: 7 31 108 17 46 27
data:
$ID,104
$MISSION,6
$DIVE,25
$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,-210664.62
$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,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,20
$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,5
$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
$GPS1,174055,4807.686,-12223.292,34,1.9,34,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.28
$_SM_ANGLEo,-60.5
$GPS2,174514,4807.678,-12223.255,16,1.8,33,18.3
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.234,0.121
$KALMAN_X,757.0,435.7,37.5,-1100.8,161.0
$KALMAN_Y,1019.3,-507.6,-13.0,-54.2,-38.9
$MHEAD_RNG_PITCHd_Wd,279.0,1098,-18.1,-10.000
$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,14,-1.39,-146.6,0.0,0.0,0,126,0.00,0.00,-109.20,0.000,2,0.000,0.000,39,2024,3725
$GC,128,-1.39,-146.6,5.3,-15.9,18,149,11.93,2.62,-2.92,0.000,4,0.161,0.069,2113,587,3895
$GC,368,-1.39,-146.6,32.8,-9.0,47,373,0.00,2.42,0.00,0.000,6,0.000,0.035,2113,1994,3895
$GC,566,-1.39,-146.6,49.4,-8.3,65,571,0.00,2.53,0.00,0.000,4,0.000,0.055,2113,3403,3895
$GC,598,-1.39,-146.6,52.5,-8.6,66,606,0.00,2.45,0.00,0.000,6,0.000,0.037,2113,2004,3895
$GC,914,-1.39,-146.6,77.7,-7.7,82,916,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2003,3895
$GC,1224,-1.39,-146.6,100.0,-7.1,97,1225,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2003,3895
$STATE,1296,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1296,begin apogee
$GC,1300,-0.33,0.0,105.0,6.9,103,1420,1.12,0.00,116.20,0.671,6,0.079,0.000,2345,1835,3295
$STATE,1421,end apogee,CONTROL_FINISHED_OK
$STATE,1421,begin climb
$GC,1422,1.39,146.6,105.8,0.0,115,1545,1.67,2.62,114.88,0.645,4,0.041,0.065,2725,435,2697
$GC,1583,1.39,146.6,85.7,17.8,126,1588,0.00,2.47,0.00,0.000,6,0.000,0.036,2725,1838,2697
$GC,1903,1.39,146.6,34.8,15.6,146,1907,0.00,2.60,0.00,0.000,4,0.000,0.065,2725,434,2696
$GC,1934,1.39,146.6,29.4,16.3,148,1942,0.00,2.45,0.00,0.000,6,0.000,0.035,2725,1836,2696
$GC,2140,1.43,182.5,4.3,8.4,179,2177,0.00,2.60,28.45,0.600,4,0.000,0.054,2725,3240,2550
$STATE,2333,end climb,NO_VERTICAL_VELOCITY
$STATE,2333,begin surface
$SM_CCo,2335,293.20,0.568,7,0,573,667.71
$SM_GC,0.43,12.10,0.00,0.00,0.037,0.000,0.000,40,2002,580,-10.88,0.06,666.23
$IRIDIUM_FIX,4751.72,-12220.85,251097,161611
$TT8_MAMPS,0.025311
$HUMID,2013
$INTERNAL_PRESSURE,8.08845
$TCM_TEMP,18.00
$XPDR_PINGS,117
$ALTIM_TOP_PING,19.1,999.0
$24V_AH,23.5,2.849
$10V_AH,10.1,0.983
$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,26.825,25.300,259.525,293.200,0.000,26.102,23.548,122.640,31.000,0.000,0.000,34.512,368.263,1282.434,643.908,552.854,226.250,33.344,931.159,0.000,530.504,0.000,11.680,0.000
$DEVICE_MAMPS,161.070,69.030,671.125,567.580,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,141.658,155.779,413.562,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9682,213
$CAP_FILE_SIZE,33630,0
$CFSIZE,260165632,257761280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,7,0
$GPS,310708,183356,4807.832,-12223.495,41,1.3,41,18.3