version: 66.02
glider: 103
mission: 6
dive: 15
start: 10 9 107 8 3 29
data:
$ID,103
$MISSION,6
$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,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,-61470.355
$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,24
$R_STBD_OVSHOOT,19
$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
$GPS1,075837,4806.458,-12222.254,29,1.9,43,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.38
$_SM_ANGLEo,-50.9
$GPS2,080241,4806.415,-12222.194,11,1.9,19,18.3
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.194,0.147
$KALMAN_X,2892.4,65.4,86.8,-2000.7,547.4
$KALMAN_Y,-2792.4,-153.3,-80.2,605.8,-314.8
$MHEAD_RNG_PITCHd_Wd,288.8,3688,-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,-117.97,0.000,6,0.000,0.000,53,2501,3908
$GC,141,-1.42,-146.6,3.4,-8.2,22,159,9.82,2.45,0.00,0.000,4,0.158,0.085,1785,3769,3908
$GC,288,-1.42,-146.6,20.6,-10.6,48,292,0.00,2.22,0.00,0.000,6,0.000,0.043,1785,2499,3908
$GC,490,-1.42,-146.6,37.5,-8.5,67,491,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,2499,3907
$GC,680,-1.42,-146.6,53.8,-8.3,83,681,0.00,0.00,0.00,0.000,6,0.000,0.000,1785,2498,3907
$GC,989,-1.42,-146.6,79.8,-8.5,98,996,0.00,2.45,0.00,0.000,4,0.000,0.083,1784,3779,3907
$GC,1095,-1.42,-146.6,89.3,-9.0,102,1103,0.00,2.28,0.00,0.000,6,0.000,0.043,1785,2505,3907
$STATE,1383,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1384,begin apogee
$GC,1388,-0.42,0.0,112.3,7.8,123,1508,1.08,0.00,115.85,0.798,6,0.074,0.000,2008,1997,3308
$STATE,1509,end apogee,CONTROL_FINISHED_OK
$STATE,1509,begin climb
$GC,1510,1.42,146.6,114.9,0.0,135,1637,1.83,2.62,114.70,0.767,4,0.048,0.058,2409,601,2711
$GC,1691,1.42,146.6,98.2,13.9,151,1696,0.00,2.47,0.00,0.000,6,0.000,0.033,2409,2010,2711
$GC,2013,1.42,146.6,58.5,12.2,167,2017,0.00,2.58,0.00,0.000,4,0.000,0.055,2408,592,2711
$GC,2145,1.42,146.6,42.0,11.9,175,2152,0.00,2.45,0.00,0.000,6,0.000,0.034,2408,1991,2711
$GC,2343,1.42,146.6,20.0,11.3,194,2349,0.00,2.53,0.00,0.000,4,0.000,0.057,2409,599,2711
$GC,2422,1.42,146.6,12.0,9.7,208,2428,0.00,2.42,0.00,0.000,6,0.000,0.034,2409,2007,2711
$GC,2495,1.42,146.6,5.4,8.8,221,2501,0.00,0.00,0.00,0.000,6,0.000,0.000,2409,2007,2710
$STATE,2511,end climb,SURFACE_DEPTH_REACHED
$STATE,2511,begin surface coast
$FINISH,1.2,1.020422
$STATE,2557,end surface coast,CONTROL_FINISHED_OK
$STATE,2557,begin surface
$SM_CCo,2575,318.45,0.686,3,0,618,660.10
$SM_GC,-0.45,0.00,0.00,318.45,0.000,0.000,0.686,50,2488,618,-9.43,-0.34,660.10
$IRIDIUM_FIX,4748.51,-12158.62,091007,111119
$TT8_MAMPS,0.028379
$HUMID,2007
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,18.60
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,80.2,41.5
$24V_AH,23.7,5.893
$10V_AH,10.2,2.215
$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,23.425,26.200,230.550,318.450,0.000,40.543,38.207,93.775,2.500,0.000,0.000,19.804,380.153,1393.967,634.582,543.178,215.755,33.321,945.054,0.000,537.525,0.000,8.547
$DEVICE_MAMPS,158.002,85.137,797.680,686.465,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,153.992,170.856,397.620,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9653,232
$CFSIZE,260165632,258760704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,3,0
$GPS,091007,085259,4806.609,-12222.492,10,2.6,29,18.3