version: 66.02
glider: 104
mission: 2
dive: 21
start: 1 10 108 15 8 55
data:
$ID,104
$MISSION,2
$DIVE,21
$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,-33948.121
$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,24
$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
$GPS1,145637,4807.208,-12222.621,12,1.5,28,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.47
$_SM_ANGLEo,-65.9
$GPS2,150803,4807.371,-12222.672,10,1.6,10,18.3
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.080,-0.232
$KALMAN_X,-7229.6,668.8,-56.9,7863.4,-407.8
$KALMAN_Y,11397.2,-1089.2,426.6,-12127.7,683.4
$MHEAD_RNG_PITCHd_Wd,142.7,798,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.17,-146.6,0.0,0.0,0,128,0.00,0.00,-100.62,0.000,2,0.000,0.000,46,2053,3054
$GC,131,-1.17,-146.6,3.2,-5.1,18,168,11.98,2.55,-18.45,0.000,4,0.157,0.069,2149,3456,3921
$GC,231,-1.17,-146.6,17.5,-8.9,35,238,0.00,2.50,0.00,0.000,6,0.000,0.041,2149,2050,3922
$GC,306,-1.17,-146.6,24.0,-8.9,44,307,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2050,3921
$GC,496,-1.17,-146.6,41.7,-9.6,62,500,0.00,2.55,0.00,0.000,4,0.000,0.056,2149,3463,3921
$GC,580,-1.17,-146.6,49.9,-10.0,69,584,0.00,2.47,0.00,0.000,6,0.000,0.041,2149,2051,3920
$GC,773,-1.17,-146.6,67.8,-9.2,78,774,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2051,3920
$GC,1082,-1.17,-146.6,94.9,-8.7,93,1086,0.00,2.53,0.00,0.000,4,0.000,0.054,2149,3456,3921
$GC,1223,-1.17,-146.6,107.7,-9.0,103,1227,0.00,2.45,0.00,0.000,6,0.000,0.041,2149,2051,3921
$STATE,1296,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1296,begin apogee
$GC,1302,-0.33,0.0,114.2,8.5,110,1422,0.88,0.00,115.72,0.739,6,0.081,0.000,2331,2051,3322
$STATE,1422,end apogee,CONTROL_FINISHED_OK
$STATE,1423,begin climb
$GC,1425,1.17,146.6,117.4,0.0,122,1546,1.52,0.00,115.15,0.706,6,0.058,0.000,2662,2051,2724
$GC,1857,1.17,146.6,71.6,12.2,153,1861,0.00,2.53,0.00,0.000,4,0.000,0.054,2662,3461,2724
$GC,1906,1.17,146.6,65.2,13.2,155,1910,0.00,2.47,0.00,0.000,6,0.000,0.040,2662,2052,2724
$GC,2227,1.17,146.6,28.1,10.9,179,2232,0.00,2.53,0.00,0.000,4,0.000,0.052,2662,3462,2724
$GC,2256,1.17,146.6,24.9,11.5,181,2261,0.00,2.47,0.00,0.000,6,0.000,0.040,2663,2052,2724
$GC,2465,1.39,322.8,7.9,1.6,213,2609,0.17,2.62,135.23,0.644,4,0.044,0.066,2716,650,2005
$GC,2729,1.59,485.5,2.4,2.1,259,2744,0.17,2.42,8.52,0.558,2,0.044,0.037,2763,2056,1962
$STATE,2744,end climb,SURFACE_DEPTH_REACHED
$STATE,2744,begin surface coast
$FINISH,-0.4,1.018358
$STATE,2823,end surface coast,CONTROL_FINISHED_OK
$STATE,2823,begin surface
$SM_CCo,2845,86.18,0.620,0,0,1282,500.17
$SM_GC,0.64,0.00,0.00,86.18,0.000,0.000,0.620,40,2057,1282,-10.90,0.14,500.17
$IRIDIUM_FIX,4751.72,-12223.57,100108,191927
$TT8_MAMPS,0.027612
$HUMID,1631
$INTERNAL_PRESSURE,8.77207
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,91.4,32.4
$24V_AH,23.4,2.503
$10V_AH,10.1,0.989
$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,27.025,30.100,374.625,86.175,0.000,110.407,118.438,238.095,1.500,0.000,0.000,12.129,423.590,1485.269,469.278,667.197,587.961,33.308,841.828,0.000,668.282,0.000,12.888
$DEVICE_MAMPS,157.235,69.030,738.621,619.736,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,193.033,187.762,533.879,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12743,275
$CFSIZE,260165632,257732608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,100108,155833,4807.156,-12222.500,10,1.7,10,18.3