version: 66.03
glider: 102
mission: 6
dive: 2
start: 6 6 108 21 37 27
data:
$ID,102
$MISSION,6
$DIVE,2
$D_SURF,2
$D_FLARE,3
$D_TGT,300
$D_ABORT,1090
$D_NO_BLEED,200
$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,100
$T_MISSION,120
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-3
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$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,22
$KALMAN_USE,1
$HD_A,0.0034169999
$HD_B,0.0095870001
$HD_C,3.1312e-05
$HEADING,-1
$ESCAPE_HEADING,45
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,62
$TGT_DEFAULT_LON,-6.8000002
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-90034.273
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,38
$PITCH_MAX,3332
$C_PITCH,2400
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,14
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,150
$ROLL_MAX,3761
$ROLL_DEG,40
$C_ROLL_DIVE,1955
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,603
$VBD_MAX,3890
$C_VBD,2871
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-8.5724421
$PRESSURE_SLOPE,0.00011626
$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,150
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,3
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$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
$PHONE_DEVICE,48
$GPS_DEVICE,48
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043153311
$SEABIRD_T_H,0.00063080539
$SEABIRD_T_I,2.4434674e-05
$SEABIRD_T_J,2.6712662e-06
$SEABIRD_C_G,-10.14561
$SEABIRD_C_H,1.1327434
$SEABIRD_C_I,-0.0011798358
$SEABIRD_C_J,0.00018524687
$GPS1,213215,6123.541,-820.730,9,1.5,9,-8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-58.5
$GPS2,213605,6123.523,-820.813,11,2.3,30,-8.8
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.151,0.211
$KALMAN_X,-155.1,-155.1,-155.1,-345.2,-654.7
$KALMAN_Y,-31.1,-31.1,-31.1,104.6,-131.5
$MHEAD_RNG_PITCHd_Wd,333.2,54694,-17.9,-10.000
$D_GRID,584
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.46,-146.6,0.0,0.0,0,141,0.00,0.00,-121.60,0.000,2,0.000,0.000,28,1945,3412
$GC,144,-1.46,-146.6,4.1,-4.0,6,165,10.85,2.60,-1.20,0.000,4,0.139,0.073,2074,558,3471
$GC,239,-1.46,-146.6,28.4,-20.8,10,242,0.00,2.42,0.00,0.000,6,0.000,0.036,2074,1956,3472
$GC,555,-1.46,-146.6,75.0,-11.0,26,559,0.00,2.50,0.00,0.000,4,0.000,0.047,2075,3353,3472
$GC,624,-1.46,-146.6,81.2,-9.3,29,627,0.00,2.45,0.00,0.000,6,0.000,0.039,2075,1966,3472
$GC,940,-1.46,-146.6,116.5,-11.2,45,943,0.00,2.45,0.00,0.000,4,0.000,0.046,2075,3349,3472
$GC,1041,-1.46,-146.6,127.6,-11.2,49,1047,0.00,2.50,0.00,0.000,6,0.000,0.041,2075,1955,3472
$GC,1351,-1.46,-146.6,162.4,-11.4,65,1352,0.00,0.00,0.00,0.000,6,0.000,0.000,2075,1955,3472
$GC,1656,-1.46,-146.6,198.9,-12.5,80,1660,0.00,2.50,0.00,0.000,4,0.000,0.048,2075,3349,3472
$GC,1715,-1.46,-146.6,206.3,-12.6,82,1720,0.00,2.47,0.00,0.000,6,0.000,0.041,2075,1950,3472
$GC,2025,-1.46,-146.6,245.8,-13.0,98,2026,0.00,0.00,0.00,0.000,6,0.000,0.000,2075,1949,3472
$GC,2330,-1.46,-146.6,286.3,-13.2,113,2334,0.00,2.53,0.00,0.000,4,0.000,0.049,2075,3354,3472
$GC,2378,-1.46,-146.6,292.4,-12.7,115,2381,0.00,2.47,0.00,0.000,6,0.000,0.042,2074,1956,3472
$STATE,2453,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2453,begin apogee
$GC,2459,-0.36,0.0,302.4,13.0,119,2580,1.15,0.00,117.53,0.969,6,0.077,0.000,2320,2113,2871
$STATE,2580,end apogee,CONTROL_FINISHED_OK
$STATE,2580,begin climb
$GC,2583,1.46,146.6,307.8,0.0,125,2705,1.77,2.55,114.72,0.945,4,0.056,0.051,2717,3496,2272
$GC,2742,1.37,212.5,303.0,6.9,132,2801,0.00,2.53,51.85,0.940,6,0.000,0.041,2717,2092,2004
$GC,3115,1.30,212.5,267.0,10.1,151,3119,0.15,2.55,0.00,0.000,4,0.096,0.049,2684,3493,2004
$GC,3189,1.31,222.0,259.4,9.6,154,3203,0.00,2.50,8.40,0.956,6,0.000,0.041,2684,2095,1965
$GC,3521,1.32,231.1,227.6,9.6,171,3534,0.00,2.58,8.25,0.930,4,0.000,0.049,2684,3486,1928
$GC,3541,1.32,231.1,225.4,10.8,172,3544,0.00,2.50,0.00,0.000,6,0.000,0.041,2684,2097,1928
$GC,3867,1.32,231.1,192.3,10.1,188,3870,0.00,2.53,0.00,0.000,4,0.000,0.048,2685,3491,1927
$GC,3899,1.32,231.1,189.0,10.7,189,3902,0.00,2.47,0.00,0.000,6,0.000,0.040,2684,2099,1927
$GC,4214,1.37,264.2,160.2,8.5,205,4245,0.00,2.55,26.27,0.898,4,0.000,0.047,2684,3491,1793
$GC,4272,1.37,264.8,154.6,10.0,208,4275,0.00,2.47,0.00,0.000,6,0.000,0.040,2684,2100,1794
$GC,4598,1.37,264.8,122.3,10.3,224,4602,0.00,2.55,0.00,0.000,4,0.000,0.058,2684,698,1793
$GC,4629,1.37,264.8,118.8,11.3,225,4636,0.00,2.45,0.00,0.000,6,0.000,0.037,2684,2090,1793
$GC,4940,1.37,264.8,86.3,10.2,241,4944,0.00,2.53,0.00,0.000,4,0.000,0.048,2684,3499,1793
$GC,4956,1.37,264.8,84.6,10.2,242,4960,0.00,2.47,0.00,0.000,6,0.000,0.040,2684,2099,1793
$GC,5277,1.38,272.8,52.6,9.6,258,5286,0.00,0.00,7.70,0.870,6,0.000,0.000,2684,2099,1758
$GC,5583,1.48,314.1,25.9,8.1,273,5617,0.17,0.00,32.55,0.814,6,0.045,0.000,2735,2099,1590
$STATE,5803,end climb,SURFACE_DEPTH_REACHED
$STATE,5803,begin surface coast
$FINISH,-0.1,1.012969
$STATE,5824,end surface coast,CONTROL_FINISHED_OK
$STATE,5824,begin surface
$SM_CCo,5905,0.00,0.000,0,0,1588,314.47
$SM_GC,0.65,11.77,0.00,0.00,0.035,0.000,0.000,30,1950,1588,-10.83,-0.14,314.47
$IRIDIUM_FIX,6059.36,-819.86,310897,212127
$TT8_MAMPS,0.052156
$HUMID,1777
$INTERNAL_PRESSURE,8.46712
$TCM_TEMP,17.10
$XPDR_PINGS,9
$ALTIM_TOP_PING,19.5,19.5
$24V_AH,23.4,3.547
$10V_AH,10.0,1.558
$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
$DEVICE_SECS,25.875,60.625,367.275,0.000,0.000,0.000,0.000,0.000,4.250,0.000,0.000,32.655,0.000,4518.173,477.763,888.673,128.162,30.170,858.414,0.000,696.660,0.000,13.762
$DEVICE_MAMPS,138.827,72.865,969.488,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,206.043,193.174,283.467,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12853,285
$CAP_FILE_SIZE,66109,0
$CFSIZE,260165632,258146304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,060608,231638,6124.489,-822.338,25,1.8,25,-8.8