version: 66.03
glider: 102
mission: 6
dive: 4
start: 6 7 108 2 55 35
data:
$ID,102
$MISSION,6
$DIVE,4
$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,-90147.609
$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,35
$R_STBD_OVSHOOT,37
$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
$GPS1,024837,6125.556,-825.245,76,1.7,92,-8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.41
$_SM_ANGLEo,-62.9
$GPS2,025409,6125.587,-825.168,10,1.7,10,-8.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.230,0.120
$KALMAN_X,-241.3,-686.6,7.0,-3771.6,980.3
$KALMAN_Y,184.1,427.5,23.7,3195.2,-165.9
$MHEAD_RNG_PITCHd_Wd,306.5,49355,-17.9,-10.000
$D_GRID,634
$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,-78.35,0.000,6,0.000,0.000,34,1940,3470
$GC,103,-1.46,-146.6,5.3,-7.8,4,118,10.85,2.55,0.00,0.000,4,0.140,0.059,2074,556,3471
$GC,289,-1.46,-146.6,40.6,-13.7,12,292,0.00,2.45,0.00,0.000,6,0.000,0.036,2074,1964,3472
$GC,610,-1.46,-146.6,78.7,-12.1,28,613,0.00,2.58,0.00,0.000,4,0.000,0.059,2074,561,3472
$GC,737,-1.42,-146.6,94.0,-11.7,34,741,0.00,2.42,0.00,0.000,6,0.000,0.038,2074,1956,3472
$GC,1059,-1.42,-146.6,130.1,-11.0,50,1060,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,1960,3472
$GC,1364,-1.42,-146.6,162.0,-9.8,65,1365,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,1960,3473
$GC,1669,-1.42,-146.6,193.1,-9.6,80,1670,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,1961,3473
$GC,1975,-1.42,-146.6,225.0,-10.9,95,1976,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,1961,3472
$GC,2279,-1.42,-146.6,259.6,-11.4,110,2283,0.00,2.58,0.00,0.000,4,0.000,0.061,2074,562,3473
$GC,2332,-1.42,-146.6,265.8,-11.9,112,2338,0.00,2.42,0.00,0.000,6,0.000,0.040,2074,1954,3473
$GC,2643,-1.42,-146.6,303.9,-12.3,128,2643,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,1958,3473
$GC,2948,-1.42,-146.6,341.9,-12.5,143,2951,0.00,2.50,0.00,0.000,4,0.000,0.051,2074,3348,3473
$GC,2995,-1.42,-146.6,348.1,-12.8,145,2999,0.00,2.45,0.00,0.000,6,0.000,0.043,2074,1967,3473
$GC,3317,-1.42,-146.6,389.0,-13.0,161,3318,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,1967,3472
$GC,3623,-1.42,-146.6,430.7,-14.1,176,3623,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,1967,3473
$GC,3928,-1.42,-146.6,472.4,-13.3,191,3931,0.00,2.60,0.00,0.000,4,0.000,0.063,2074,545,3473
$GC,3964,-1.42,-146.6,477.7,-13.9,193,3968,0.00,2.45,0.00,0.000,6,0.000,0.041,2074,1952,3472
$GC,4291,-1.42,-146.6,520.4,-12.8,209,4294,0.00,2.53,0.00,0.000,4,0.000,0.053,2074,3352,3472
$GC,4349,-1.42,-146.6,528.1,-13.2,211,4355,0.00,2.50,0.00,0.000,6,0.000,0.046,2074,1955,3473
$GC,4659,-1.42,-146.6,563.7,-11.6,227,4660,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,1956,3472
$GC,4965,-1.42,-146.6,600.7,-11.9,242,4969,0.00,2.58,0.00,0.000,4,0.000,0.067,2074,552,3472
$GC,5012,-1.42,-146.6,606.3,-11.8,244,5016,0.00,2.47,0.00,0.000,6,0.000,0.044,2074,1955,3472
$STATE,5285,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5285,begin apogee
$GC,5291,-0.36,0.0,635.3,9.5,258,5416,1.15,0.00,122.90,1.189,6,0.081,0.000,2319,2116,2871
$STATE,5417,end apogee,CONTROL_FINISHED_OK
$STATE,5417,begin climb
$GC,5419,1.46,146.6,638.6,0.0,264,5544,1.80,0.00,121.10,1.150,6,0.057,0.000,2719,2116,2273
$GC,5847,1.34,162.4,609.2,9.3,285,5868,0.15,2.60,14.10,1.134,4,0.095,0.057,2686,3497,2208
$GC,6082,1.29,190.1,588.5,8.7,296,6110,0.00,2.55,23.55,1.134,6,0.000,0.044,2686,2093,2094
$GC,6430,1.29,221.9,558.5,8.5,313,6463,0.00,2.65,26.52,1.122,4,0.000,0.052,2686,3493,1967
$GC,6512,1.29,221.9,550.3,10.1,317,6516,0.00,2.53,0.00,0.000,6,0.000,0.043,2686,2099,1967
$GC,6833,1.29,221.9,517.4,10.4,333,6837,0.00,2.53,0.00,0.000,4,0.000,0.051,2686,3493,1966
$GC,6859,1.29,221.9,514.5,11.1,334,6863,0.00,2.53,0.00,0.000,6,0.000,0.042,2686,2092,1967
$GC,7175,1.29,221.9,481.8,10.4,350,7176,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2091,1965
$GC,7480,1.30,228.6,451.2,9.7,365,7490,0.00,2.60,6.28,1.072,4,0.000,0.050,2687,3497,1939
$GC,7538,1.30,228.6,445.5,10.2,368,7542,0.00,2.53,0.00,0.000,6,0.000,0.041,2686,2093,1940
$GC,7859,1.30,228.6,413.0,10.2,384,7860,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2093,1940
$GC,8164,1.30,228.6,380.0,11.1,399,8165,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2093,1940
$GC,8469,1.30,228.6,346.0,11.3,414,8473,0.00,2.53,0.00,0.000,4,0.000,0.049,2686,3499,1940
$GC,8528,1.30,228.6,339.2,11.6,416,8534,0.00,2.50,0.00,0.000,6,0.000,0.041,2686,2096,1940
$GC,8838,1.30,228.6,306.7,10.5,432,8842,0.00,2.53,0.00,0.000,4,0.000,0.050,2686,3497,1940
$GC,8865,1.30,228.6,303.8,11.3,433,8868,0.00,2.50,0.00,0.000,6,0.000,0.041,2686,2090,1939
$GC,9180,1.30,234.7,271.9,9.7,449,9190,0.00,2.58,6.30,0.992,4,0.000,0.049,2686,3493,1914
$GC,9211,1.30,234.7,268.6,10.7,450,9217,0.00,2.53,0.00,0.000,6,0.000,0.041,2686,2099,1914
$GC,9522,1.32,244.5,238.2,9.5,466,9532,0.00,0.00,8.80,0.976,6,0.000,0.000,2687,2099,1874
$GC,9827,1.34,266.7,210.1,9.0,481,9850,0.00,2.67,18.35,0.946,4,0.000,0.060,2686,697,1783
$GC,9868,1.36,277.3,206.2,9.5,483,9882,0.00,2.47,9.55,0.919,6,0.000,0.038,2686,2110,1739
$GC,10194,1.36,277.3,171.9,10.9,499,10197,0.00,2.60,0.00,0.000,4,0.000,0.059,2686,695,1740
$GC,10209,1.36,277.3,170.0,11.0,499,10215,0.00,2.47,0.00,0.000,6,0.000,0.038,2686,2105,1740
$GC,10520,1.36,277.3,138.0,10.2,515,10524,0.00,2.60,0.00,0.000,4,0.000,0.059,2686,696,1740
$GC,10567,1.36,277.3,133.0,11.0,517,10571,0.00,2.45,0.00,0.000,6,0.000,0.037,2686,2100,1740
$GC,10884,1.36,277.3,100.2,10.3,533,10884,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2104,1739
$GC,11189,1.36,280.5,69.1,9.8,548,11197,0.00,2.62,3.60,0.867,4,0.000,0.059,2686,694,1727
$GC,11236,1.36,280.5,64.1,10.3,550,11240,0.00,2.45,0.00,0.000,6,0.000,0.036,2686,2109,1726
$GC,11552,1.36,280.5,31.2,10.1,566,11556,0.00,2.58,0.00,0.000,4,0.000,0.059,2686,695,1726
$GC,11600,1.36,280.5,26.1,10.2,568,11603,0.00,2.45,0.00,0.000,6,0.000,0.036,2686,2106,1726
$STATE,11846,end climb,SURFACE_DEPTH_REACHED
$STATE,11847,begin surface coast
$FINISH,-0.3,1.012428
$STATE,11867,end surface coast,CONTROL_FINISHED_OK
$STATE,11867,begin surface
$SM_CCo,11888,15.20,0.830,0,0,1648,300.00
$SM_GC,0.65,0.00,0.00,15.20,0.000,0.000,0.830,27,1937,1648,-10.92,-0.51,300.00
$IRIDIUM_FIX,6059.36,-820.51,310897,232336
$TT8_MAMPS,0.051389
$HUMID,1767
$INTERNAL_PRESSURE,8.45736
$TCM_TEMP,16.90
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.6,19.2
$24V_AH,23.3,3.823
$10V_AH,10.0,1.678
$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,25.425,96.625,361.050,15.200,0.000,23.575,31.717,166.040,5.750,0.000,0.000,11.528,0.000,9753.131,497.072,1548.596,476.658,32.340,1122.424,0.000,1258.991,0.000,34.592
$DEVICE_MAMPS,139.594,66.729,1188.850,829.894,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,424.738,398.271,379.451,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28532,581
$CAP_FILE_SIZE,89900,0
$CFSIZE,260165632,258035712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,070608,061537,6126.095,-829.349,70,1.6,75,-8.9