version: 66.02
glider: 103
mission: 6
dive: 13
start: 10 9 107 6 13 47
data:
$ID,103
$MISSION,6
$DIVE,13
$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,-61435.641
$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,33
$R_STBD_OVSHOOT,29
$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
$GPS1,060857,4806.169,-12221.796,12,1.2,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.32
$_SM_ANGLEo,-55.5
$GPS2,061259,4806.134,-12221.756,12,2.2,31,18.3
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.200,0.138
$KALMAN_X,2507.1,-49.0,-351.5,-519.4,791.7
$KALMAN_Y,-2596.8,-154.6,212.8,-403.1,-566.5
$MHEAD_RNG_PITCHd_Wd,286.2,4431,-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,-117.43,0.000,6,0.000,0.000,49,2475,3907
$GC,141,-1.42,-146.6,3.4,-8.1,22,159,9.82,2.50,0.00,0.000,4,0.156,0.084,1785,3760,3908
$GC,315,-1.42,-146.6,22.7,-9.4,50,323,0.00,2.20,0.00,0.000,6,0.000,0.042,1785,2514,3907
$GC,512,-1.42,-146.6,39.0,-8.5,69,516,0.00,2.53,0.00,0.000,4,0.000,0.053,1785,1093,3906
$GC,566,-1.42,-146.6,44.2,-9.5,73,574,0.00,2.50,0.00,0.000,6,0.000,0.048,1785,2484,3906
$GC,761,-1.42,-146.6,61.1,-8.7,86,765,0.00,2.45,0.00,0.000,4,0.000,0.084,1785,3779,3907
$GC,850,-1.42,-146.6,69.2,-9.0,90,854,0.00,2.22,0.00,0.000,6,0.000,0.042,1785,2500,3907
$GC,1176,-1.42,-146.6,95.9,-7.9,106,1180,0.00,2.45,0.00,0.000,4,0.000,0.081,1785,3785,3907
$GC,1240,-1.42,-146.6,101.5,-8.0,109,1248,0.00,2.25,0.00,0.000,6,0.000,0.041,1785,2504,3907
$STATE,1405,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1405,begin apogee
$GC,1410,-0.42,0.0,114.3,7.7,125,1530,1.08,0.00,115.85,0.797,6,0.074,0.000,2009,1997,3309
$STATE,1530,end apogee,CONTROL_FINISHED_OK
$STATE,1530,begin climb
$GC,1532,1.42,146.6,116.5,0.0,137,1659,1.83,2.62,114.78,0.770,4,0.047,0.060,2410,602,2711
$GC,1720,1.42,146.6,98.9,13.7,154,1727,0.00,2.45,0.00,0.000,6,0.000,0.035,2411,2009,2711
$GC,2035,1.42,146.6,59.6,12.1,170,2039,0.00,2.58,0.00,0.000,4,0.000,0.058,2411,593,2711
$GC,2151,1.42,146.6,44.7,12.2,177,2156,0.00,2.45,0.00,0.000,6,0.000,0.035,2411,2007,2711
$GC,2348,1.42,146.6,23.0,10.5,195,2352,0.00,2.55,0.00,0.000,4,0.000,0.057,2411,597,2711
$GC,2464,1.42,146.6,11.2,9.8,213,2471,0.00,2.42,0.00,0.000,6,0.000,0.035,2410,2000,2711
$GC,2538,1.42,146.6,4.5,8.9,226,2544,0.00,2.55,0.00,0.000,4,0.000,0.063,2411,3397,2711
$STATE,2549,end climb,SURFACE_DEPTH_REACHED
$STATE,2549,begin surface coast
$FINISH,1.0,1.020388
$STATE,2600,end surface coast,CONTROL_FINISHED_OK
$STATE,2600,begin surface
$SM_CCo,2618,320.80,0.693,1,0,618,660.10
$SM_GC,-0.36,0.00,0.00,320.80,0.000,0.000,0.693,50,2487,618,-9.43,-0.37,660.10
$IRIDIUM_FIX,4751.72,-12223.57,091007,090935
$TT8_MAMPS,0.029146
$HUMID,2017
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,18.60
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,81.1,42.6
$24V_AH,23.7,5.651
$10V_AH,10.2,2.144
$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,23.425,39.175,230.625,320.800,0.000,38.743,37.221,83.824,2.250,0.000,0.000,32.161,400.683,1374.156,637.303,588.280,200.827,33.315,962.308,0.000,566.037,0.000,8.531
$DEVICE_MAMPS,156.468,83.603,796.913,693.368,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,156.634,176.429,404.720,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12825,237
$CFSIZE,260165632,258809856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,1,0
$GPS,091007,070353,4806.311,-12222.036,10,7.6,29,18.3