version: 66.03
glider: 102
mission: 5
dive: 15
start: 4 30 108 11 34 18
data:
$ID,102
$MISSION,5
$DIVE,15
$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,62.5
$T_MISSION,80
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$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,-89403.68
$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,35
$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,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
$GPS1,112917,4806.792,-12222.859,8,2.8,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.12
$_SM_ANGLEo,-61.5
$GPS2,113323,4806.772,-12222.837,15,2.6,34,18.3
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.100,0.216
$KALMAN_X,4254.6,97.8,9.5,-3818.2,222.4
$KALMAN_Y,-7665.9,-315.9,-65.9,5778.4,-491.0
$MHEAD_RNG_PITCHd_Wd,316.9,468,-14.7,-8.000
$D_GRID,150
$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,-1.23,-146.6,0.0,0.0,0,181,0.00,0.00,-133.95,0.000,6,0.000,0.000,29,1940,3876
$GC,184,-1.23,-146.6,3.3,-3.5,25,203,10.77,2.60,0.00,0.000,4,0.143,0.049,2026,3346,3877
$GC,457,-1.23,-146.6,24.1,-7.4,68,461,0.00,2.50,0.00,0.000,6,0.000,0.040,2026,1955,3878
$GC,655,-1.23,-146.6,38.2,-7.1,86,659,0.00,2.55,0.00,0.000,4,0.000,0.049,2026,3353,3878
$GC,837,-1.23,-146.6,51.7,-7.3,101,841,0.00,2.50,0.00,0.000,6,0.000,0.041,2026,1954,3878
$GC,1160,-1.23,-146.6,74.5,-6.9,117,1164,0.00,2.53,0.00,0.000,4,0.000,0.048,2026,3348,3878
$GC,1249,-1.23,-146.6,81.2,-7.4,121,1254,0.00,2.50,0.00,0.000,6,0.000,0.041,2026,1948,3878
$GC,1572,-1.23,-146.6,102.7,-6.5,138,1573,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,1948,3878
$STATE,1718,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1718,begin apogee
$GC,1725,-0.36,0.0,112.4,6.4,152,1843,0.90,0.00,114.20,0.851,6,0.083,0.000,2218,2105,3278
$STATE,1843,end apogee,CONTROL_FINISHED_OK
$STATE,1844,begin climb
$GC,1846,1.23,146.6,113.7,0.0,164,1968,1.58,2.67,112.45,0.818,4,0.055,0.059,2565,693,2679
$GC,1976,1.23,146.6,101.1,13.6,176,1983,0.00,2.50,0.00,0.000,6,0.000,0.038,2565,2099,2679
$GC,2303,1.23,146.6,55.5,13.9,193,2307,0.00,2.55,0.00,0.000,4,0.000,0.049,2565,3498,2678
$GC,2347,1.23,146.6,49.0,14.2,195,2353,0.00,2.53,0.00,0.000,6,0.000,0.041,2565,2091,2678
$GC,2545,1.23,146.6,22.2,13.8,214,2546,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2091,2678
$STATE,2698,end climb,SURFACE_DEPTH_REACHED
$STATE,2698,begin surface coast
$FINISH,1.7,1.018184
$STATE,2750,end surface coast,CONTROL_FINISHED_OK
$STATE,2750,begin surface
$SM_CCo,2772,307.67,0.723,15,0,628,650.04
$SM_GC,0.12,0.00,0.00,307.67,0.000,0.000,0.723,31,1938,628,-10.44,-0.48,650.04
$IRIDIUM_FIX,4748.51,-12221.84,250797,101039
$TT8_MAMPS,0.026845
$HUMID,1608
$INTERNAL_PRESSURE,8.38899
$TCM_TEMP,16.50
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.5,19.7
$ALTIM_BOTTOM_PING,90.4,31.4
$24V_AH,23.5,2.471
$10V_AH,10.0,0.800
$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,24.575,25.925,226.650,307.675,0.000,23.156,25.315,84.052,1.750,0.000,0.000,36.419,435.327,1466.138,681.087,604.193,236.311,33.352,998.228,0.000,574.368,0.000,13.003
$DEVICE_MAMPS,142.662,59.059,851.370,723.281,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,173.425,171.965,428.831,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12812,249
$CAP_FILE_SIZE,34441,0
$CFSIZE,260165632,258826240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,15,0
$GPS,300408,122805,4806.908,-12222.895,9,99.0,28,18.3