version: 66.03
glider: 102
mission: 5
dive: 9
start: 4 30 108 5 11 43
data:
$ID,102
$MISSION,5
$DIVE,9
$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,50
$T_MISSION,60
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$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,650
$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,-89250.047
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,38
$PITCH_MAX,3332
$C_PITCH,2300
$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
$PITCH_ADJ_DBAND,0
$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,34
$R_STBD_OVSHOOT,39
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,603
$VBD_MAX,3890
$C_VBD,3278
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$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,-8.8701944
$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,70
$ALTIM_PING_DELTA,10
$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
$GPS1,050455,4806.340,-12222.391,39,1.5,39,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.15
$_SM_ANGLEo,-65.4
$GPS2,051021,4806.262,-12222.335,11,1.6,11,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.126,0.227
$KALMAN_X,2204.5,655.1,114.2,-1812.0,21.4
$KALMAN_Y,-3408.0,-1016.5,-212.5,1429.7,-72.9
$MHEAD_RNG_PITCHd_Wd,312.6,1595,-17.9,-10.000
$D_GRID,107
$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,40,end surface,CONTROL_FINISHED_OK
$STATE,40,begin dive
$GC,43,-1.46,-146.6,0.0,0.0,0,143,0.00,0.00,-96.72,0.000,2,0.000,0.000,33,1941,3126
$GC,147,-1.46,-146.6,3.1,-5.3,18,187,10.43,2.60,-24.12,0.000,4,0.140,0.068,1978,557,3876
$GC,223,-1.46,-146.6,6.5,-7.5,31,229,0.00,2.42,0.00,0.000,6,0.000,0.035,1978,1955,3876
$GC,298,-1.46,-146.6,11.4,-7.7,44,304,0.00,2.53,0.00,0.000,4,0.000,0.048,1978,3353,3876
$GC,473,-1.46,-146.6,24.4,-7.5,70,479,0.00,2.47,0.00,0.000,6,0.000,0.040,1978,1961,3877
$GC,671,-1.46,-146.6,40.5,-8.5,89,672,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1961,3877
$GC,870,-1.46,-146.6,57.2,-8.3,104,875,0.00,2.53,0.00,0.000,4,0.000,0.048,1978,3349,3877
$GC,994,-1.46,-146.6,67.8,-8.8,109,1000,0.00,2.47,0.00,0.000,6,0.000,0.041,1978,1956,3877
$GC,1310,-1.46,-146.6,93.0,-8.0,125,1314,0.00,2.55,0.00,0.000,4,0.000,0.049,1978,3354,3877
$GC,1400,-1.46,-146.6,100.8,-8.4,129,1406,0.00,2.50,0.00,0.000,6,0.000,0.042,1978,1951,3877
$STATE,1478,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1478,begin apogee
$GC,1485,-0.36,0.0,107.6,8.4,137,1603,1.15,0.00,113.50,0.852,6,0.087,0.000,2219,2108,3278
$STATE,1603,end apogee,CONTROL_FINISHED_OK
$STATE,1603,begin climb
$GC,1606,1.46,146.6,109.3,0.0,149,1728,1.80,0.00,113.25,0.815,6,0.057,0.000,2614,2109,2679
$GC,2041,1.46,146.6,42.9,16.5,177,2045,0.00,2.53,0.00,0.000,4,0.000,0.049,2615,3494,2679
$GC,2159,1.46,146.6,22.6,16.9,187,2164,0.00,2.47,0.00,0.000,6,0.000,0.040,2614,2103,2679
$STATE,2286,end climb,SURFACE_DEPTH_REACHED
$STATE,2286,begin surface coast
$FINISH,1.4,1.015000
$STATE,2315,end surface coast,CONTROL_FINISHED_OK
$STATE,2315,begin surface
$SM_CCo,2338,428.55,0.716,58,1,712,629.19
$SM_CCo,3061,18.48,0.682,2,0,628,650.04
$SM_GC,0.07,0.00,0.00,18.48,0.000,0.000,0.682,33,1932,628,-10.43,-0.65,650.04
$IRIDIUM_FIX,4751.72,-12219.12,250797,040435
$TT8_MAMPS,0.026845
$HUMID,1619
$INTERNAL_PRESSURE,8.42806
$TCM_TEMP,16.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,19.8
$ALTIM_BOTTOM_PING,81.5,48.4
$24V_AH,23.5,1.631
$10V_AH,10.0,0.555
$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,24.900,25.600,226.750,447.025,0.000,25.953,28.291,158.985,1.250,0.000,0.000,13.315,402.073,1157.391,1057.911,498.678,346.311,33.323,1337.708,0.000,493.760,0.000,11.526
$DEVICE_MAMPS,139.594,68.263,852.137,715.611,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,147.342,148.603,367.207,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9702,213
$CAP_FILE_SIZE,37027,8
$CFSIZE,260165632,258990080
$ERRORS,0,0,0,0,0,0,0,0,0,0,1,0,1,60,0
$GPS,300408,060422,4806.335,-12222.441,9,4.3,28,18.3