version: 66.02
glider: 104
mission: 2
dive: 22
start: 1 10 108 16 3 43
data:
$ID,104
$MISSION,2
$DIVE,22
$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,-33962.082
$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,22
$R_STBD_OVSHOOT,28
$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
$GPS1,155833,4807.156,-12222.500,10,1.7,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.36
$_SM_ANGLEo,-65.2
$GPS2,160251,4807.184,-12222.526,11,1.7,11,18.3
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.051,-0.240
$KALMAN_X,-7382.7,728.5,-77.8,8155.5,-369.5
$KALMAN_Y,12194.8,-1148.7,207.6,-12992.0,793.0
$MHEAD_RNG_PITCHd_Wd,149.7,677,-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,-146.6,0.0,0.0,0,112,0.00,0.00,-84.65,0.000,2,0.000,0.000,40,2058,2871
$GC,115,-1.17,-146.6,3.0,-5.1,15,156,11.98,0.00,-23.70,0.000,6,0.158,0.000,2145,2057,3921
$GC,226,-1.17,-146.6,16.8,-8.5,34,233,0.00,2.58,0.00,0.000,4,0.000,0.061,2145,649,3921
$GC,341,-1.17,-146.6,27.9,-9.5,47,345,0.00,2.45,0.00,0.000,6,0.000,0.041,2145,2052,3921
$GC,539,-1.17,-146.6,46.5,-9.5,65,540,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2052,3920
$GC,727,-1.17,-146.6,64.0,-9.4,76,728,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2052,3921
$GC,1035,-1.17,-146.6,93.8,-9.8,91,1039,0.00,2.55,0.00,0.000,4,0.000,0.061,2145,648,3920
$GC,1078,-1.17,-146.6,98.1,-9.7,93,1082,0.00,2.45,0.00,0.000,6,0.000,0.041,2145,2056,3920
$STATE,1258,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1258,begin apogee
$GC,1264,-0.33,0.0,113.9,8.7,109,1383,0.90,0.00,115.12,0.735,6,0.081,0.000,2332,2056,3322
$STATE,1384,end apogee,CONTROL_FINISHED_OK
$STATE,1384,begin climb
$GC,1386,1.17,146.6,116.2,0.0,121,1506,1.50,0.00,115.20,0.703,6,0.057,0.000,2659,2056,2724
$GC,1825,1.17,146.6,70.2,11.8,152,1829,0.00,2.60,0.00,0.000,4,0.000,0.061,2659,642,2724
$GC,1857,1.17,146.6,66.0,11.9,153,1864,0.00,2.47,0.00,0.000,6,0.000,0.040,2659,2048,2723
$GC,2179,1.17,146.6,29.0,11.5,177,2183,0.00,2.55,0.00,0.000,4,0.000,0.060,2659,648,2723
$GC,2218,1.17,146.6,24.1,12.3,180,2223,0.00,2.45,0.00,0.000,6,0.000,0.039,2659,2059,2723
$GC,2426,1.47,392.9,8.3,-1.0,213,2623,0.28,2.60,188.23,0.638,4,0.039,0.054,2734,3457,1720
$STATE,2674,end climb,SURFACE_DEPTH_REACHED
$STATE,2674,begin surface coast
$FINISH,-0.1,1.018435
$STATE,2708,end surface coast,CONTROL_FINISHED_OK
$STATE,2708,begin surface
$SM_CCo,2732,54.47,0.594,1,0,1282,500.17
$SM_GC,0.44,0.00,0.00,54.47,0.000,0.000,0.594,41,2047,1282,-10.89,-0.14,500.17
$IRIDIUM_FIX,4748.51,-12221.84,100108,191903
$TT8_MAMPS,0.026845
$HUMID,1630
$INTERNAL_PRESSURE,8.77207
$TCM_TEMP,18.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.0,43.6
$24V_AH,23.4,2.601
$10V_AH,10.1,1.028
$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,26.800,25.225,418.550,54.475,0.000,40.970,37.047,92.212,1.000,0.000,0.000,13.333,385.696,1326.867,467.133,616.813,269.216,33.316,823.098,0.000,617.130,0.000,8.518
$DEVICE_MAMPS,158.002,61.360,734.786,593.658,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,183.175,175.569,508.555,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12820,262
$CFSIZE,260165632,257712128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,1,0
$GPS,100108,165123,4806.891,-12222.394,11,3.0,30,18.3