version: 66.02
glider: 104
mission: 2
dive: 20
start: 1 10 108 14 8 37
data:
$ID,104
$MISSION,2
$DIVE,20
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,100
$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,75
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$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,12
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.5700001e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,61.599998
$TGT_DEFAULT_LON,-8.75
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-33935.367
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,45
$PITCH_MAX,3331
$C_PITCH,2410
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,176
$ROLL_MAX,3929
$C_ROLL_DIVE,2052
$C_ROLL_CLIMB,2052
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,12
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,607
$VBD_MAX,3934
$C_VBD,3322
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$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,-17.435352
$PRESSURE_SLOPE,0.000115925
$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,3
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.784981
$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,0.0043062796
$SEABIRD_T_H,0.0006289829
$SEABIRD_T_I,2.2033064e-05
$SEABIRD_T_J,2.057111e-06
$SEABIRD_C_G,-10.442612
$SEABIRD_C_H,1.1821688
$SEABIRD_C_I,-0.0015124022
$SEABIRD_C_J,0.00022414648
$GPS1,140327,4807.338,-12222.797,9,1.5,9,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.43
$_SM_ANGLEo,-65.0
$GPS2,140745,4807.380,-12222.838,13,1.5,13,18.3
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.137,-0.203
$KALMAN_X,-6852.4,565.8,-32.1,7359.0,-497.6
$KALMAN_Y,10447.8,-965.1,517.2,-11371.3,821.4
$MHEAD_RNG_PITCHd_Wd,127.6,732,-14.8,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.17,-146.6,0.0,0.0,0,117,0.00,0.00,-89.95,0.000,2,0.000,0.000,43,2058,2957
$GC,121,-1.17,-146.6,3.1,-4.6,16,157,12.00,0.00,-21.98,0.000,6,0.157,0.000,2154,2058,3923
$GC,227,-1.17,-146.6,16.3,-8.8,34,233,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2058,3923
$GC,300,-1.17,-146.6,23.1,-8.8,44,301,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2058,3923
$GC,491,-1.17,-146.6,40.4,-8.7,62,492,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2058,3923
$GC,680,-1.17,-146.6,57.8,-9.3,76,681,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2058,3922
$GC,989,-1.17,-146.6,84.8,-8.4,91,993,0.00,2.53,0.00,0.000,4,0.000,0.058,2154,3465,3922
$GC,1077,-1.17,-146.6,92.4,-8.2,95,1082,0.00,2.47,0.00,0.000,6,0.000,0.040,2154,2048,3922
$STATE,1340,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1340,begin apogee
$GC,1346,-0.33,0.0,113.7,8.3,115,1465,0.85,0.00,115.65,0.729,6,0.082,0.000,2331,2049,3322
$STATE,1466,end apogee,CONTROL_FINISHED_OK
$STATE,1466,begin climb
$GC,1469,1.17,146.6,116.1,0.0,127,1591,1.52,2.62,114.88,0.697,4,0.057,0.064,2663,646,2723
$GC,1637,1.17,146.6,101.0,12.7,142,1642,0.00,2.45,0.00,0.000,6,0.000,0.039,2663,2054,2722
$GC,1964,1.17,146.6,61.3,12.0,158,1968,0.00,2.58,0.00,0.000,4,0.000,0.061,2663,648,2722
$GC,2004,1.17,146.6,56.3,12.8,160,2008,0.00,2.45,0.00,0.000,6,0.000,0.040,2662,2060,2722
$GC,2329,1.17,146.6,19.0,11.5,188,2336,0.00,2.58,0.00,0.000,4,0.000,0.061,2663,650,2722
$GC,2405,1.17,146.6,10.5,11.1,201,2412,0.00,2.45,0.00,0.000,6,0.000,0.039,2663,2049,2723
$GC,2480,1.44,371.3,8.3,-0.2,214,2662,0.22,2.65,172.40,0.634,4,0.041,0.061,2727,646,1808
$GC,2669,1.56,461.2,3.5,4.7,246,2706,0.00,2.45,31.15,0.597,2,0.000,0.038,2727,2052,1624
$STATE,2706,end climb,SURFACE_DEPTH_REACHED
$STATE,2706,begin surface coast
$FINISH,-0.6,1.018684
$STATE,2751,end surface coast,CONTROL_FINISHED_OK
$STATE,2751,begin surface
$SM_CCo,2773,41.75,0.601,0,0,1282,500.17
$SM_GC,0.85,0.00,0.00,41.75,0.000,0.000,0.601,45,2052,1282,-10.87,0.00,500.17
$IRIDIUM_FIX,4751.72,-12223.57,100108,171742
$TT8_MAMPS,0.026845
$HUMID,1628
$INTERNAL_PRESSURE,8.78183
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,81.2,42.1
$24V_AH,23.4,2.392
$10V_AH,10.1,0.944
$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,26.725,25.225,434.075,41.750,0.000,39.377,33.512,96.648,1.000,0.000,0.000,14.892,383.039,1352.561,444.439,630.218,278.496,33.316,828.461,0.000,632.972,0.000,8.515
$DEVICE_MAMPS,157.235,63.661,729.417,600.561,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,185.140,173.182,504.721,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12794,260
$CFSIZE,260165632,257761280
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,100108,145637,4807.208,-12222.621,12,1.5,28,18.3