version: 66.03
glider: 102
mission: 5
dive: 17
start: 4 30 108 13 29 29
data:
$ID,102
$MISSION,5
$DIVE,17
$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,-89435.008
$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,34
$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
$GPS1,132451,4807.042,-12222.968,10,1.8,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.18
$_SM_ANGLEo,-63.4
$GPS2,132833,4807.023,-12222.953,14,1.6,14,18.3
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.134,-0.196
$KALMAN_X,5133.3,-174.4,45.0,-4604.1,343.2
$KALMAN_Y,-9206.5,76.2,-50.2,7374.8,-625.1
$MHEAD_RNG_PITCHd_Wd,127.3,2232,-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,44,-1.23,-146.6,0.0,0.0,0,186,0.00,0.00,-137.35,0.000,6,0.000,0.000,35,1941,3876
$GC,189,-1.23,-146.6,3.2,-4.3,26,207,10.85,2.53,0.00,0.000,4,0.146,0.055,2028,561,3877
$GC,421,-1.23,-146.6,23.1,-6.6,63,427,0.00,2.45,0.00,0.000,6,0.000,0.038,2029,1957,3878
$GC,619,-1.23,-146.6,35.9,-7.1,82,623,0.00,2.53,0.00,0.000,4,0.000,0.049,2029,3354,3878
$GC,693,-1.23,-146.6,41.3,-7.4,88,697,0.00,2.50,0.00,0.000,6,0.000,0.041,2029,1959,3878
$GC,889,-1.23,-146.6,55.1,-7.1,103,893,0.00,2.55,0.00,0.000,4,0.000,0.049,2029,3354,3878
$GC,951,-1.23,-146.6,59.6,-7.3,106,956,0.00,2.53,0.00,0.000,6,0.000,0.041,2028,1948,3878
$GC,1279,-1.23,-146.6,82.1,-6.8,122,1283,0.00,2.55,0.00,0.000,4,0.000,0.048,2029,3356,3878
$GC,1357,-1.23,-146.6,87.6,-6.9,125,1363,0.00,2.50,0.00,0.000,6,0.000,0.041,2029,1955,3878
$GC,1677,-1.23,-146.6,108.7,-6.5,147,1678,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,1955,3878
$STATE,1769,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1769,begin apogee
$GC,1776,-0.36,0.0,114.9,6.6,156,1894,0.88,0.00,114.18,0.853,6,0.082,0.000,2216,2108,3278
$STATE,1895,end apogee,CONTROL_FINISHED_OK
$STATE,1895,begin climb
$GC,1898,1.23,146.6,116.3,0.0,168,2015,1.58,0.00,112.95,0.821,6,0.056,0.000,2564,2111,2680
$GC,2327,1.23,146.6,62.8,13.8,197,2329,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2111,2679
$GC,2641,1.23,146.6,20.2,13.1,222,2646,0.00,2.53,0.00,0.000,4,0.000,0.050,2563,3494,2679
$STATE,2768,end climb,SURFACE_DEPTH_REACHED
$STATE,2768,begin surface coast
$FINISH,1.6,1.020021
$STATE,2792,end surface coast,CONTROL_FINISHED_OK
$STATE,2792,begin surface
$SM_CCo,2816,291.85,0.736,9,0,627,650.04
$SM_GC,-0.02,0.00,0.00,291.85,0.000,0.000,0.736,31,1944,627,-10.44,-0.31,650.04
$IRIDIUM_FIX,4748.51,-12221.84,250797,121207
$TT8_MAMPS,0.026845
$HUMID,1608
$INTERNAL_PRESSURE,8.38899
$TCM_TEMP,16.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,19.6
$ALTIM_BOTTOM_PING,80.6,44.2
$24V_AH,23.5,2.711
$10V_AH,10.0,0.873
$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,24.600,25.675,227.125,291.850,0.000,22.293,23.431,85.577,1.000,0.000,0.000,15.903,426.175,1540.842,652.780,544.235,232.316,33.349,947.202,0.000,541.593,0.000,8.646
$DEVICE_MAMPS,146.497,55.224,852.904,736.320,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,171.891,177.629,427.152,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12830,248
$CAP_FILE_SIZE,33243,0
$CFSIZE,260165632,258777088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,9,0
$GPS,300408,142314,4806.725,-12222.595,13,1.9,31,18.3