version: 66.02
glider: 103
mission: 6
dive: 4
start: 10 8 107 23 22 36
data:
$ID,103
$MISSION,6
$DIVE,4
$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,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,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,48.133301
$TGT_DEFAULT_LON,-122.3833
$TGT_AUTO_DEFAULT,0
$SM_CC,660
$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,-61238.957
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,55
$PITCH_MAX,3362
$C_PITCH,2100
$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,2300
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,572
$VBD_MAX,3921
$C_VBD,3309
$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,-15.352555
$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,60
$ALTIM_PING_DELTA,10
$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
$GPS1,231733,4806.908,-12222.944,12,1.8,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.11
$_SM_ANGLEo,-50.7
$GPS2,232147,4806.857,-12222.930,16,3.0,35,18.3
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.073,0.157
$KALMAN_X,304.6,150.5,115.6,-441.9,132.8
$KALMAN_Y,-442.9,-168.2,-132.1,-853.3,-199.3
$MHEAD_RNG_PITCHd_Wd,316.6,279,-27.9,-10.000
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-2.40,-62.4,0.0,0.0,0,133,0.00,0.00,-109.88,0.000,6,0.000,0.000,48,2300,3563
$GC,135,-2.47,-121.7,1.5,-3.7,21,153,8.48,0.00,-6.40,0.000,6,0.157,0.000,1559,2300,3807
$GC,221,-2.48,-125.5,10.9,-9.6,36,227,0.00,0.00,-0.25,0.000,6,0.000,0.000,1559,2300,3821
$GC,294,-2.48,-125.5,19.7,-12.4,49,299,0.00,0.00,0.00,0.000,6,0.000,0.000,1559,2300,3821
$GC,363,-2.48,-125.5,28.2,-12.3,56,364,0.00,0.00,0.00,0.000,6,0.000,0.000,1559,2300,3822
$GC,563,-2.48,-125.5,56.6,-15.2,73,564,0.00,0.00,0.00,0.000,6,0.000,0.000,1559,2300,3821
$GC,873,-2.48,-125.5,105.0,-15.4,89,877,0.00,2.62,0.00,0.000,4,0.000,0.081,1559,3704,3821
$STATE,914,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,915,begin apogee
$GC,920,-0.42,0.0,111.9,16.3,92,1027,2.22,0.00,98.68,0.820,6,0.105,0.000,2006,2300,3308
$STATE,1028,end apogee,CONTROL_FINISHED_OK
$STATE,1028,begin climb
$GC,1029,2.48,125.5,114.5,0.0,103,1136,2.85,2.62,97.75,0.806,4,0.044,0.052,2649,890,2797
$GC,1387,2.48,125.5,42.1,22.0,126,1395,0.00,2.47,0.00,0.000,6,0.000,0.037,2649,2300,2797
$STATE,1578,end climb,SURFACE_DEPTH_REACHED
$STATE,1578,begin surface coast
$FINISH,1.5,1.020492
$STATE,1607,end surface coast,CONTROL_FINISHED_OK
$STATE,1607,begin surface
$SM_CCo,1624,318.85,0.710,1,0,617,660.10
$SM_GC,-0.25,0.00,0.00,318.85,0.000,0.000,0.710,53,2301,617,-9.42,0.03,660.10
$IRIDIUM_FIX,4748.51,-12221.84,091007,030318
$TT8_MAMPS,0.028379
$HUMID,2033
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,18.60
$XPDR_PINGS,20
$ALTIM_BOTTOM_PING,82.7,38.3
$24V_AH,23.8,4.552
$10V_AH,10.2,1.857
$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,25.575,10.175,196.425,318.850,0.000,0.000,0.000,0.000,6.000,0.000,0.000,36.403,267.215,754.396,588.519,406.235,21.956,32.329,824.705,0.000,383.097,0.000,8.521
$DEVICE_MAMPS,157.235,80.535,819.923,710.242,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,102.738,115.672,267.459,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6520,156
$CFSIZE,260165632,258994176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,081007,235611,4806.934,-12222.829,15,2.2,34,18.3