version: 66.02
glider: 103
mission: 7
dive: 50
start: 11 19 107 19 56 34
data:
$ID,103
$MISSION,7
$DIVE,50
$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,412.5
$T_MISSION,440
$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,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,62
$TGT_DEFAULT_LON,-6.8000002
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$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,-63069.527
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,55
$PITCH_MAX,3362
$C_PITCH,2410
$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,2900
$C_ROLL_CLIMB,1775
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,9
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,572
$VBD_MAX,3921
$C_VBD,2901
$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,-14.98249
$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,150
$ALTIM_PING_DELTA,25
$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
$GPS1,195050,6127.732,-824.521,12,1.8,30,-8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.02
$_SM_ANGLEo,-60.8
$GPS2,195457,6127.709,-824.513,12,1.8,12,-8.9
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,AE
$TGT_LATLONG,6153.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.113,0.215
$KALMAN_X,-101569.8,2817.1,935.4,106530.5,-27554.4
$KALMAN_Y,73976.9,-1771.0,-1202.1,-82610.9,14457.7
$MHEAD_RNG_PITCHd_Wd,341.2,64309,-14.9,-8.000
$D_GRID,822
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.42,-146.6,0.0,0.0,0,83,0.00,0.00,-62.50,0.000,2,0.000,0.000,33,2886,3491
$GC,85,-1.42,-146.6,3.8,-8.9,3,101,11.80,1.83,0.00,0.000,4,0.163,0.104,2096,3786,3492
$GC,273,-1.42,-146.6,33.3,-12.2,10,281,0.00,1.62,0.00,0.000,6,0.000,0.051,2096,2896,3493
$GC,589,-1.42,-146.6,66.3,-9.8,26,594,0.00,2.60,0.00,0.000,4,0.000,0.067,2096,1485,3493
$GC,632,-1.42,-146.6,70.3,-9.7,28,637,0.00,2.70,0.00,0.000,6,0.000,0.077,2096,2893,3493
$GC,959,-1.42,-146.6,100.8,-9.2,44,961,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2893,3493
$GC,1269,-1.42,-146.6,129.0,-8.8,59,1270,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2893,3493
$STATE,1518,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1518,begin apogee
$GC,1524,-0.42,0.0,151.0,8.7,71,1643,1.10,0.00,115.78,0.920,6,0.087,0.000,2318,1773,2901
$STATE,1644,end apogee,CONTROL_FINISHED_OK
$STATE,1644,begin climb
$GC,1645,1.42,146.6,155.1,0.0,77,1771,1.88,2.72,115.57,0.876,4,0.058,0.065,2717,364,2303
$GC,1927,1.48,192.7,144.6,6.3,90,1970,0.00,2.53,37.15,0.868,6,0.000,0.037,2717,1789,2115
$GC,2291,1.48,194.3,116.7,7.9,108,2295,0.00,2.65,0.00,0.000,4,0.000,0.084,2717,3172,2115
$GC,2412,1.48,194.3,106.5,8.6,113,2420,0.00,2.58,0.00,0.000,6,0.000,0.058,2717,1774,2114
$GC,2728,1.49,202.9,81.2,7.7,129,2743,0.00,2.72,9.80,0.804,4,0.000,0.085,2717,3172,2072
$GC,2833,1.49,202.9,72.4,8.4,133,2838,0.00,2.60,0.00,0.000,6,0.000,0.063,2717,1766,2072
$GC,3159,1.49,202.9,43.0,9.3,149,3164,0.00,2.75,0.00,0.000,4,0.000,0.087,2717,3178,2072
$GC,3229,1.49,202.9,36.4,8.9,152,3234,0.00,2.58,0.00,0.000,6,0.000,0.058,2717,1778,2072
$GC,3551,1.53,234.4,11.1,6.8,168,3583,0.12,2.62,25.50,0.829,4,0.044,0.061,2756,3177,1945
$STATE,3642,end climb,SURFACE_DEPTH_REACHED
$STATE,3642,begin surface coast
$FINISH,1.4,1.027256
$STATE,3649,end surface coast,CONTROL_FINISHED_OK
$STATE,3649,begin surface
$SM_CCo,3668,52.92,0.786,2,0,1678,300.00
$SM_GC,-0.09,0.00,0.00,52.92,0.000,0.000,0.786,52,2883,1678,-10.85,-0.48,300.00
$IRIDIUM_FIX,6103.81,-821.82,191107,222210
$TT8_MAMPS,0.028379
$HUMID,2020
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,19.30
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,151.0,5.5
$24V_AH,23.6,14.449
$10V_AH,10.1,5.377
$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,27.275,35.100,303.800,52.925,0.000,39.299,32.880,111.749,1.000,0.000,0.000,12.428,382.397,2425.543,413.421,550.420,269.229,33.341,711.652,0.000,547.009,0.000,5.372
$DEVICE_MAMPS,163.371,103.545,919.633,786.175,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,122.288,117.359,271.025,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6560,172
$CFSIZE,260165632,255991808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,2,0
$GPS,191107,205938,6127.700,-825.181,16,1.7,21,-8.9