version: 66.02
glider: 103
mission: 6
dive: 12
start: 10 9 107 5 19 14
data:
$ID,103
$MISSION,6
$DIVE,12
$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,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,-61402.852
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,55
$PITCH_MAX,3362
$C_PITCH,2100
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,12
$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,2500
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,26
$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
$GPS1,051415,4806.017,-12221.593,8,1.5,8,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.24
$_SM_ANGLEo,-59.0
$GPS2,051826,4805.984,-12221.545,13,1.3,30,18.3
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.179,0.164
$KALMAN_X,2243.5,-94.3,-442.7,131.2,691.1
$KALMAN_Y,-2468.8,-87.1,336.0,-996.1,-640.3
$MHEAD_RNG_PITCHd_Wd,294.2,4811,-14.9,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.42,-146.6,0.0,0.0,0,139,0.00,0.00,-117.43,0.000,6,0.000,0.000,49,2399,3907
$GC,141,-1.42,-146.6,3.4,-8.3,22,159,9.88,2.65,0.00,0.000,4,0.159,0.084,1787,3768,3907
$GC,283,-1.42,-146.6,19.4,-9.3,47,289,0.00,2.20,0.00,0.000,6,0.000,0.041,1787,2505,3907
$GC,358,-1.42,-146.6,26.3,-8.6,55,362,0.00,2.53,0.00,0.000,4,0.000,0.054,1787,1090,3907
$GC,419,-1.42,-146.6,31.7,-9.2,60,423,0.00,2.50,0.00,0.000,6,0.000,0.048,1787,2499,3906
$GC,615,-1.42,-146.6,48.2,-8.3,78,616,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,2499,3906
$GC,812,-1.42,-146.6,64.3,-8.0,89,816,0.00,2.42,0.00,0.000,4,0.000,0.084,1787,3777,3907
$GC,873,-1.42,-146.6,69.4,-8.3,92,877,0.00,2.22,0.00,0.000,6,0.000,0.041,1787,2496,3906
$GC,1198,-1.42,-146.6,95.2,-8.1,108,1203,0.00,2.42,0.00,0.000,4,0.000,0.082,1787,3777,3906
$GC,1275,-1.42,-146.6,101.7,-7.9,112,1283,0.00,2.25,0.00,0.000,6,0.000,0.041,1787,2498,3907
$STATE,1419,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1419,begin apogee
$GC,1423,-0.42,0.0,112.5,7.3,126,1543,1.05,0.00,116.12,0.795,6,0.074,0.000,2005,1996,3308
$STATE,1544,end apogee,CONTROL_FINISHED_OK
$STATE,1544,begin climb
$GC,1545,1.42,146.6,114.7,0.0,138,1672,1.83,2.62,114.93,0.768,4,0.047,0.061,2407,602,2711
$GC,1744,1.42,146.6,95.8,12.2,155,1749,0.00,2.47,0.00,0.000,6,0.000,0.033,2407,2014,2711
$GC,2071,1.42,146.6,55.2,12.2,171,2075,0.00,2.58,0.00,0.000,4,0.000,0.058,2407,598,2711
$GC,2180,1.42,146.6,41.1,12.2,178,2188,0.00,2.45,0.00,0.000,6,0.000,0.033,2407,1997,2711
$GC,2378,1.42,146.6,19.3,10.8,197,2385,0.00,2.55,0.00,0.000,4,0.000,0.058,2408,593,2711
$GC,2457,1.42,146.6,11.7,9.6,211,2464,0.00,2.42,0.00,0.000,6,0.000,0.035,2407,2003,2711
$GC,2531,1.42,146.6,5.1,8.8,224,2538,0.00,2.55,0.00,0.000,4,0.000,0.064,2407,3398,2711
$STATE,2547,end climb,SURFACE_DEPTH_REACHED
$STATE,2548,begin surface coast
$FINISH,0.4,1.019940
$STATE,2599,end surface coast,CONTROL_FINISHED_OK
$STATE,2599,begin surface
$SM_CCo,2617,316.80,0.689,1,0,618,660.10
$SM_GC,-0.37,0.00,0.00,316.80,0.000,0.000,0.689,49,2474,618,-9.43,-0.74,660.10
$IRIDIUM_FIX,4748.51,-12220.12,091007,080849
$TT8_MAMPS,0.028379
$HUMID,2032
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,18.40
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,80.3,41.8
$24V_AH,23.7,5.529
$10V_AH,10.2,2.109
$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,23.400,39.325,231.050,316.800,0.000,40.822,38.185,93.972,2.000,0.000,0.000,30.495,397.581,1383.200,633.340,577.855,214.064,33.313,955.917,0.000,558.285,0.000,8.535
$DEVICE_MAMPS,158.769,83.603,794.612,688.766,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,155.993,174.254,404.458,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12799,236
$CFSIZE,260165632,258838528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,1,0
$GPS,091007,060857,4806.169,-12221.796,12,1.2,12,18.3