version: 66.03
glider: 102
mission: 5
dive: 12
start: 4 30 108 8 29 2
data:
$ID,102
$MISSION,5
$DIVE,12
$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,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,-89337.391
$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,33
$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,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
$GPS1,081944,4806.482,-12222.646,10,1.9,28,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.11
$_SM_ANGLEo,-64.4
$GPS2,082807,4806.396,-12222.581,28,1.3,28,18.3
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.092,0.219
$KALMAN_X,3164.6,475.2,5.6,-2787.1,119.1
$KALMAN_Y,-5403.3,-805.8,-104.8,3355.1,-336.3
$MHEAD_RNG_PITCHd_Wd,319.0,1232,-14.7,-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,40,end surface,CONTROL_FINISHED_OK
$STATE,40,begin dive
$GC,43,-1.23,-146.6,0.0,0.0,0,176,0.00,0.00,-129.48,0.000,2,0.000,0.000,33,1943,3849
$GC,180,-1.23,-146.6,3.1,-2.9,24,198,10.70,2.58,-0.75,0.000,4,0.141,0.059,2026,3349,3876
$GC,424,-1.23,-146.6,20.8,-6.8,66,429,0.00,2.50,0.00,0.000,6,0.000,0.039,2026,1951,3876
$GC,623,-1.23,-146.6,34.7,-7.3,84,624,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,1952,3876
$GC,814,-1.23,-146.6,49.1,-7.2,102,818,0.00,2.53,0.00,0.000,4,0.000,0.048,2026,3348,3877
$GC,970,-1.23,-146.6,61.1,-7.7,109,975,0.00,2.47,0.00,0.000,6,0.000,0.041,2026,1958,3877
$GC,1291,-1.23,-146.6,83.2,-6.7,125,1293,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,1958,3877
$GC,1602,-1.23,-146.6,103.8,-6.5,142,1606,0.00,2.53,0.00,0.000,4,0.000,0.050,2026,3348,3877
$GC,1687,-1.23,-146.6,109.5,-6.9,149,1694,0.00,2.50,0.00,0.000,6,0.000,0.042,2025,1948,3877
$STATE,1741,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1741,begin apogee
$GC,1748,-0.36,0.0,113.2,6.4,154,1866,0.90,0.00,114.25,0.853,6,0.081,0.000,2219,2104,3278
$STATE,1866,end apogee,CONTROL_FINISHED_OK
$STATE,1866,begin climb
$GC,1869,1.23,146.6,114.4,0.0,166,1991,1.58,0.00,113.25,0.809,6,0.056,0.000,2565,2106,2679
$GC,2303,1.23,146.6,59.5,13.8,194,2307,0.00,2.53,0.00,0.000,4,0.000,0.049,2565,3489,2679
$GC,2347,1.23,146.6,53.0,14.1,196,2351,0.00,2.50,0.00,0.000,6,0.000,0.041,2565,2103,2679
$GC,2675,1.23,146.6,9.2,12.9,232,2681,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2103,2679
$STATE,2724,end climb,SURFACE_DEPTH_REACHED
$STATE,2724,begin surface coast
$FINISH,1.4,1.016542
$STATE,2765,end surface coast,CONTROL_FINISHED_OK
$STATE,2765,begin surface
$SM_CCo,2787,378.38,0.713,38,0,627,650.04
$SM_GC,-0.00,0.00,0.00,378.38,0.000,0.000,0.713,31,1931,627,-10.44,-0.68,650.04
$IRIDIUM_FIX,4748.51,-12219.12,250797,080810
$TT8_MAMPS,0.026845
$HUMID,1612
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,16.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.6,18.8
$ALTIM_BOTTOM_PING,110.1,12.6
$24V_AH,23.5,2.081
$10V_AH,10.0,0.683
$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,24.450,20.650,227.500,378.375,0.000,48.195,103.608,172.399,2.000,0.000,0.000,31.924,431.304,1563.381,875.967,570.095,437.828,33.339,1177.621,0.000,547.776,0.000,16.019
$DEVICE_MAMPS,141.128,59.059,852.904,713.310,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,172.346,179.537,427.396,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12795,248
$CAP_FILE_SIZE,37129,0
$CFSIZE,260165632,258899968
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,38,0
$GPS,300408,092550,4806.539,-12222.698,6,1.4,11,18.3