version: 66.03
glider: 102
mission: 6
dive: 3
start: 6 6 108 23 35 28
data:
$ID,102
$MISSION,6
$DIVE,3
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$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,330
$T_MISSION,360
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-3
$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,300
$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,-90135.453
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,38
$PITCH_MAX,3332
$C_PITCH,2400
$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,0.039999999
$PITCH_ADJ_DBAND,1
$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,29
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,603
$VBD_MAX,3890
$C_VBD,2871
$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,-8.5724421
$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,150
$ALTIM_PING_DELTA,25
$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
$GPS1,232944,6124.495,-822.774,8,2.0,13,-8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.55
$_SM_ANGLEo,-63.9
$GPS2,233405,6124.504,-822.943,13,99.0,32,-8.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.211,0.151
$KALMAN_X,-363.6,-627.2,-467.6,-1251.3,-228.9
$KALMAN_Y,43.4,276.4,124.8,1370.4,173.3
$MHEAD_RNG_PITCHd_Wd,314.4,52111,-17.9,-10.000
$D_GRID,605
$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,18,-1.46,-146.6,0.0,0.0,0,100,0.00,0.00,-79.97,0.000,6,0.000,0.000,30,1947,3470
$GC,103,-1.46,-146.6,5.1,-7.2,4,118,10.88,2.55,0.00,0.000,4,0.140,0.058,2073,556,3471
$GC,214,-1.46,-146.6,33.7,-20.1,8,217,0.00,2.42,0.00,0.000,6,0.000,0.035,2073,1957,3471
$GC,530,-1.46,-146.6,80.6,-10.0,24,533,0.00,2.47,0.00,0.000,4,0.000,0.045,2073,3346,3472
$GC,743,-1.46,-146.6,102.7,-11.0,34,746,0.00,2.47,0.00,0.000,6,0.000,0.040,2073,1951,3471
$GC,1065,-1.46,-146.6,137.4,-11.1,50,1068,0.00,2.50,0.00,0.000,4,0.000,0.046,2073,3347,3472
$GC,1138,-1.46,-146.6,146.0,-11.6,53,1145,0.00,2.50,0.00,0.000,6,0.000,0.041,2073,1955,3471
$GC,1449,-1.46,-146.6,182.4,-12.0,69,1450,0.00,0.00,0.00,0.000,6,0.000,0.000,2073,1955,3472
$GC,1754,-1.46,-146.6,218.9,-12.5,84,1758,0.00,2.55,0.00,0.000,4,0.000,0.064,2073,553,3471
$GC,1807,-1.46,-146.6,225.6,-11.9,86,1811,0.00,2.42,0.00,0.000,6,0.000,0.039,2073,1953,3471
$GC,2123,-1.46,-146.6,261.6,-10.8,102,2126,0.00,2.50,0.00,0.000,4,0.000,0.049,2073,3348,3472
$GC,2176,-1.46,-146.6,267.4,-10.0,104,2180,0.00,2.47,0.00,0.000,6,0.000,0.043,2073,1950,3471
$GC,2486,-1.46,-146.6,299.5,-10.4,119,2487,0.00,0.00,0.00,0.000,6,0.000,0.000,2073,1951,3471
$GC,2792,-1.46,-146.6,329.1,-9.9,134,2792,0.00,0.00,0.00,0.000,6,0.000,0.000,2072,1951,3471
$GC,3097,-1.46,-146.6,359.9,-10.2,149,3100,0.00,2.53,0.00,0.000,4,0.000,0.050,2073,3349,3471
$GC,3166,-1.46,-146.6,366.7,-10.0,152,3170,0.00,2.47,0.00,0.000,6,0.000,0.044,2073,1960,3471
$GC,3482,-1.46,-146.6,400.6,-11.2,168,3486,0.00,2.58,0.00,0.000,4,0.000,0.065,2073,553,3471
$GC,3541,-1.46,-146.6,407.7,-12.1,171,3544,0.00,2.45,0.00,0.000,6,0.000,0.041,2073,1959,3470
$GC,3861,-1.46,-146.6,445.4,-11.2,187,3862,0.00,0.00,0.00,0.000,6,0.000,0.000,2073,1964,3471
$GC,4166,-1.46,-146.6,482.3,-11.9,202,4167,0.00,0.00,0.00,0.000,6,0.000,0.000,2073,1964,3471
$GC,4472,-1.46,-146.6,518.6,-11.9,217,4475,0.00,2.58,0.00,0.000,4,0.000,0.064,2073,551,3470
$GC,4519,-1.46,-146.6,524.7,-13.4,219,4524,0.00,2.47,0.00,0.000,6,0.000,0.043,2073,1958,3470
$GC,4835,-1.46,-146.6,562.0,-11.9,235,4836,0.00,0.00,0.00,0.000,6,0.000,0.000,2073,1962,3470
$GC,5141,-1.46,-146.6,601.1,-13.1,250,5142,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,1962,3470
$STATE,5178,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5178,begin apogee
$GC,5184,-0.36,0.0,606.0,12.5,252,5309,1.15,0.00,121.80,1.180,6,0.080,0.000,2320,2107,2871
$STATE,5309,end apogee,CONTROL_FINISHED_OK
$STATE,5309,begin climb
$GC,5312,1.46,146.6,611.4,0.0,258,5438,1.80,2.60,119.50,1.144,4,0.055,0.056,2718,3493,2272
$GC,5509,1.36,196.0,604.9,7.7,267,5556,0.12,2.53,41.10,1.125,6,0.100,0.043,2696,2100,2071
$GC,5862,1.32,206.3,573.6,9.5,285,5876,0.00,2.58,9.10,1.104,4,0.000,0.052,2696,3491,2030
$GC,5909,1.25,206.3,568.4,10.7,287,5913,0.12,2.53,0.00,0.000,6,0.097,0.042,2672,2096,2031
$GC,6225,1.25,206.3,536.1,10.3,303,6225,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2096,2030
$GC,6530,1.25,206.3,502.9,11.1,318,6531,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2096,2030
$GC,6835,1.25,206.3,469.1,11.1,333,6836,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2096,2030
$GC,7140,1.25,206.3,436.7,10.6,348,7141,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2096,2030
$GC,7445,1.25,206.3,404.9,10.5,363,7446,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2096,2030
$GC,7751,1.27,217.9,375.0,9.5,378,7762,0.00,0.00,10.27,1.058,6,0.000,0.000,2672,2096,1982
$GC,8056,1.29,236.6,346.8,9.1,393,8077,0.00,2.60,16.17,1.035,4,0.000,0.048,2672,3494,1906
$GC,8103,1.31,249.4,342.4,9.4,395,8120,0.00,2.50,10.98,1.013,6,0.000,0.040,2672,2097,1854
$GC,8424,1.33,268.8,313.3,9.1,411,8444,0.00,0.00,16.50,1.007,6,0.000,0.000,2672,2097,1775
$GC,8749,1.39,275.2,282.6,9.7,427,8762,0.15,2.67,6.47,0.989,4,0.048,0.061,2717,693,1747
$GC,8784,1.30,275.2,278.5,12.2,428,8791,0.17,2.47,0.00,0.000,6,0.094,0.038,2683,2107,1747
$GC,9095,1.30,275.2,245.1,10.8,444,9098,0.00,2.62,0.00,0.000,4,0.000,0.060,2683,689,1748
$GC,9137,1.30,275.2,240.4,11.1,446,9141,0.00,2.45,0.00,0.000,6,0.000,0.037,2684,2102,1747
$GC,9458,1.30,275.2,205.4,10.7,462,9459,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2106,1748
$GC,9763,1.30,275.2,172.4,10.8,477,9767,0.00,2.60,0.00,0.000,4,0.000,0.059,2683,691,1747
$GC,9779,1.30,275.2,170.6,11.4,478,9782,0.00,2.45,0.00,0.000,6,0.000,0.038,2683,2106,1748
$GC,10106,1.30,275.2,133.8,11.3,494,10109,0.00,2.60,0.00,0.000,4,0.000,0.059,2684,694,1748
$GC,10158,1.30,275.2,127.8,11.6,496,10165,0.00,2.45,0.00,0.000,6,0.000,0.036,2683,2103,1748
$GC,10469,1.30,275.2,94.0,10.5,512,10473,0.00,2.58,0.00,0.000,4,0.000,0.059,2683,696,1748
$GC,10506,1.32,289.6,90.3,9.3,514,10527,0.00,2.45,12.07,0.888,6,0.000,0.037,2683,2108,1690
$GC,10832,1.33,294.2,57.3,9.8,530,10840,0.00,2.60,4.88,0.873,4,0.000,0.058,2683,693,1671
$GC,10943,1.33,294.2,46.0,10.1,535,10946,0.00,2.42,0.00,0.000,6,0.000,0.035,2683,2100,1671
$GC,11259,1.38,299.6,15.1,9.7,551,11268,0.00,2.60,5.32,0.847,4,0.000,0.059,2683,696,1648
$GC,11300,1.38,299.6,10.6,10.5,553,11304,0.00,2.47,0.00,0.000,6,0.000,0.036,2683,2097,1648
$STATE,11375,end climb,SURFACE_DEPTH_REACHED
$STATE,11375,begin surface coast
$FINISH,-0.2,1.027077
$STATE,11396,end surface coast,CONTROL_FINISHED_OK
$STATE,11396,begin surface
$SM_CCo,11476,0.00,0.000,0,0,1647,300.49
$SM_GC,0.42,11.50,0.00,0.00,0.035,0.000,0.000,34,1943,1647,-10.81,-0.34,300.49
$IRIDIUM_FIX,6103.81,-825.62,310897,232305
$TT8_MAMPS,0.052156
$HUMID,1778
$INTERNAL_PRESSURE,8.46712
$TCM_TEMP,17.20
$XPDR_PINGS,7
$ALTIM_TOP_PING,18.9,18.1
$24V_AH,23.3,3.691
$10V_AH,10.0,1.620
$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,25.900,91.200,374.175,0.000,0.000,0.000,0.000,0.000,6.750,0.000,0.000,34.420,0.000,9389.365,471.706,1537.629,186.613,31.416,1099.036,0.000,1229.576,0.000,33.018
$DEVICE_MAMPS,140.361,65.195,1179.646,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,403.963,381.454,365.914,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28508,558
$CAP_FILE_SIZE,97708,0
$CFSIZE,260165632,258060288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,070608,024837,6125.556,-825.245,76,1.7,92,-8.9