version: 66.03
glider: 102
mission: 5
dive: 4
start: 4 30 108 0 12 58
data:
$ID,102
$MISSION,5
$DIVE,4
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$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,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,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,650
$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,-89127.836
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,38
$PITCH_MAX,3332
$C_PITCH,2300
$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
$PITCH_ADJ_DBAND,0
$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,33
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,603
$VBD_MAX,3890
$C_VBD,3278
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$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,2
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-8.8701944
$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,70
$ALTIM_PING_DELTA,10
$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
$GPS1,000423,4806.854,-12222.483,10,2.8,30,18.3
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-58.8
$GPS2,001138,4806.716,-12222.399,39,1.4,39,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.189,0.178
$KALMAN_X,815.6,327.2,267.7,-330.9,163.5
$KALMAN_Y,-1108.7,-475.0,-384.3,-395.7,-212.5
$MHEAD_RNG_PITCHd_Wd,295.0,910,-17.9,-10.000
$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,40,end surface,CONTROL_FINISHED_OK
$STATE,40,begin dive
$GC,43,-1.46,-146.6,0.0,0.0,0,154,0.00,0.00,-107.75,0.000,2,0.000,0.000,31,1945,3312
$GC,157,-1.46,-146.6,3.3,-6.4,20,187,10.45,0.00,-15.65,0.000,6,0.141,0.000,1979,1945,3878
$GC,256,-1.46,-146.6,9.6,-6.2,37,262,0.00,2.55,0.00,0.000,4,0.000,0.048,1979,3357,3878
$GC,455,-1.46,-146.6,23.3,-7.4,68,462,0.00,2.47,0.00,0.000,6,0.000,0.039,1979,1962,3879
$GC,653,-1.46,-146.6,39.2,-8.4,87,654,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1962,3879
$GC,853,-1.46,-146.6,56.2,-8.7,103,857,0.00,2.53,0.00,0.000,4,0.000,0.049,1979,3355,3878
$GC,953,-1.46,-146.6,65.2,-8.4,107,960,0.00,2.47,0.00,0.000,6,0.000,0.041,1979,1956,3879
$GC,1270,-1.46,-146.6,91.2,-8.1,123,1271,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1956,3878
$STATE,1464,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1465,begin apogee
$GC,1471,-0.36,0.0,107.3,7.9,136,1589,1.12,0.00,113.65,0.830,6,0.088,0.000,2216,2110,3278
$STATE,1590,end apogee,CONTROL_FINISHED_OK
$STATE,1590,begin climb
$GC,1592,1.46,146.6,108.7,0.0,148,1713,1.80,2.67,112.20,0.795,4,0.056,0.059,2613,697,2680
$GC,1741,1.46,146.6,90.0,17.2,159,1745,0.00,2.45,0.00,0.000,6,0.000,0.037,2613,2093,2680
$GC,2064,1.46,146.6,35.0,16.9,179,2069,0.00,2.55,0.00,0.000,4,0.000,0.051,2614,3498,2680
$GC,2166,1.46,146.6,18.0,16.1,188,2173,0.00,2.50,0.00,0.000,6,0.000,0.041,2614,2101,2679
$GC,2242,1.46,146.6,7.2,12.3,201,2248,0.00,2.55,0.00,0.000,4,0.000,0.050,2613,3503,2680
$GC,2356,1.75,378.3,5.9,-0.9,221,2479,0.30,2.50,115.40,0.759,2,0.038,0.039,2690,2088,2056
$STATE,2479,end climb,SURFACE_DEPTH_REACHED
$STATE,2480,begin surface coast
$FINISH,3.0,1.017935
$STATE,2512,end surface coast,CONTROL_FINISHED_OK
$STATE,2512,begin surface
$SM_CCo,2536,305.52,0.696,41,0,628,650.04
$SM_GC,0.36,0.00,0.00,305.52,0.000,0.000,0.696,35,1947,628,-10.42,-0.23,650.04
$IRIDIUM_FIX,4751.72,-12223.57,240797,232350
$TT8_MAMPS,0.026845
$HUMID,1635
$INTERNAL_PRESSURE,8.43782
$TCM_TEMP,16.50
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.7,19.7
$ALTIM_BOTTOM_PING,81.1,40.6
$24V_AH,23.5,0.875
$10V_AH,10.0,0.357
$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,25.675,25.725,341.250,305.525,0.000,25.243,29.035,219.583,1.250,0.000,0.000,40.462,419.980,1210.228,876.483,589.473,430.181,32.331,1218.833,0.000,557.059,0.000,8.625
$DEVICE_MAMPS,141.128,59.059,829.894,695.669,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,172.264,171.135,429.480,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12854,249
$CAP_FILE_SIZE,39416,0
$CFSIZE,260165632,259129344
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,2,41,0
$GPS,300408,010458,4806.670,-12222.475,13,3.4,32,18.3