version: 66.02
glider: 103
mission: 6
dive: 1
start: 10 8 107 20 44 45
data:
$ID,103
$MISSION,6
$DIVE,1
$D_SURF,4
$D_FLARE,3
$D_TGT,45
$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,15
$T_MISSION,30
$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,55
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,45
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,48.133301
$TGT_DEFAULT_LON,-122.3833
$TGT_AUTO_DEFAULT,0
$SM_CC,660
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,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,-60951.746
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,55
$PITCH_MAX,3362
$C_PITCH,2581
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,10
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,229
$ROLL_MAX,3788
$C_ROLL_DIVE,2008
$C_ROLL_CLIMB,2008
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,41
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,572
$VBD_MAX,3921
$C_VBD,3309
$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,-15.352555
$PRESSURE_SLOPE,0.0001162
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,60
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$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,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043712188
$SEABIRD_T_H,0.00064056052
$SEABIRD_T_I,2.37435e-05
$SEABIRD_T_J,2.3296527e-06
$SEABIRD_C_G,-9.8560104
$SEABIRD_C_H,1.1097485
$SEABIRD_C_I,-0.0009817977
$SEABIRD_C_J,0.00017126031
$GPS1,203951,4807.745,-12223.077,8,1.6,8,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-58.3
$GPS2,204359,4807.721,-12223.037,11,4.0,30,18.3
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.009,-0.262
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,159.7,1336,-18.2,-10.000
$D_GRID,45
$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,16,-2.00,-146.6,0.0,0.0,0,134,0.00,0.00,-114.93,0.000,2,0.000,0.000,47,2014,3836
$GC,136,-2.00,-146.6,3.1,-6.4,21,156,11.55,2.58,-1.62,0.000,4,0.147,0.085,2143,3388,3907
$GC,335,-2.00,-146.6,13.3,-4.5,56,342,0.00,2.38,0.00,0.000,6,0.000,0.035,2144,2000,3906
$GC,410,-2.00,-146.6,16.6,-4.4,69,416,0.00,2.50,0.00,0.000,4,0.000,0.060,2144,603,3906
$GC,472,-2.00,-146.6,19.6,-4.8,80,478,0.00,2.38,0.00,0.000,6,0.000,0.034,2144,2008,3906
$GC,547,-2.00,-146.6,22.8,-4.5,88,552,0.00,2.50,0.00,0.000,4,0.000,0.062,2144,3393,3906
$GC,598,-2.00,-146.6,24.7,-3.3,92,602,0.00,2.38,0.00,0.000,6,0.000,0.037,2144,2003,3906
$GC,794,-2.00,-146.6,32.7,-4.6,110,798,0.00,2.53,0.00,0.000,4,0.000,0.061,2144,3396,3905
$GC,822,-2.00,-146.6,34.0,-4.1,112,826,0.00,2.38,0.00,0.000,6,0.000,0.035,2144,1998,3905
$STATE,911,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,911,begin apogee
$GC,914,-0.50,0.0,38.2,4.7,120,1034,1.42,0.00,111.53,0.789,6,0.024,0.000,2486,1998,3309
$STATE,1035,end apogee,CONTROL_FINISHED_OK
$STATE,1035,begin climb
$GC,1036,2.00,146.6,45.6,0.0,132,1156,2.33,2.58,111.53,0.749,4,0.035,0.071,3020,607,2711
$STATE,1211,end climb,SURFACE_DEPTH_REACHED
$STATE,1211,begin surface coast
$FINISH,-0.1,1.015720
$STATE,1224,end surface coast,CONTROL_FINISHED_OK
$STATE,1224,begin surface
$SM_CCo,1246,279.38,0.676,0,0,618,660.10
$SM_GC,0.48,0.00,0.00,279.38,0.000,0.000,0.676,49,2013,618,-11.65,0.11,660.10
$IRIDIUM_FIX,4751.72,-12230.75,091007,000043
$TT8_MAMPS,0.029146
$HUMID,1926
$INTERNAL_PRESSURE,8.96519
$TCM_TEMP,19.20
$XPDR_PINGS,101
$24V_AH,23.8,4.118
$10V_AH,10.2,1.751
$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,29.100,24.625,223.050,279.375,0.000,0.000,0.000,0.000,25.250,0.000,0.000,31.464,255.828,404.257,566.736,361.421,21.164,29.237,798.626,0.000,346.010,0.000,0.938
$DEVICE_MAMPS,147.264,85.137,789.243,676.494,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,100.594,113.392,264.028,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6525,154
$CFSIZE,260165632,259051520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,081007,211111,4807.713,-12223.042,10,5.2,29,18.3