version: 66.02
glider: 104
mission: 2
dive: 3
start: 1 9 108 23 24 44
data:
$ID,104
$MISSION,2
$DIVE,3
$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,50
$T_MISSION,60
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$USE_BATHY,-4
$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,600
$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,-33529.059
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,45
$PITCH_MAX,3331
$C_PITCH,2450
$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,19
$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
$GPS1,231939,4808.814,-12224.214,11,1.8,11,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.20
$_SM_ANGLEo,-65.0
$GPS2,232351,4808.879,-12224.252,12,1.9,12,18.4
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.125,-0.232
$KALMAN_X,-357.3,-206.4,-202.2,63.0,-203.7
$KALMAN_Y,723.3,385.5,377.1,-96.5,376.2
$MHEAD_RNG_PITCHd_Wd,133.4,3809,-18.1,-10.000
$D_GRID,85
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-1.39,-146.6,0.0,0.0,0,138,0.00,0.00,-112.25,0.000,2,0.000,0.000,44,2059,2712
$GC,141,-1.39,-146.6,4.1,-10.2,20,200,11.85,2.62,-38.60,0.000,4,0.156,0.077,2141,646,3921
$GC,347,-1.39,-146.6,19.6,-9.3,56,354,0.00,2.50,0.00,0.000,6,0.000,0.044,2142,2054,3921
$GC,418,-1.39,-146.6,26.1,-9.3,63,419,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2053,3921
$GC,609,-1.39,-146.6,44.6,-9.7,81,610,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2054,3921
$GC,798,-1.39,-146.6,62.4,-9.5,93,802,0.00,2.58,0.00,0.000,4,0.000,0.064,2142,645,3921
$GC,861,-1.39,-146.6,68.8,-9.8,96,865,0.00,2.45,0.00,0.000,6,0.000,0.043,2142,2054,3921
$STATE,1041,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1041,begin apogee
$GC,1047,-0.33,0.0,85.5,9.2,105,1167,1.15,0.00,116.20,0.759,6,0.085,0.000,2376,2054,3322
$STATE,1167,end apogee,CONTROL_FINISHED_OK
$STATE,1167,begin climb
$GC,1170,1.39,146.6,87.8,0.0,111,1289,1.73,0.00,114.70,0.719,6,0.049,0.000,2755,2053,2724
$GC,1599,1.39,146.6,25.3,16.5,138,1603,0.00,2.58,0.00,0.000,4,0.000,0.061,2755,646,2724
$GC,1649,1.39,146.6,16.0,17.8,144,1656,0.00,2.47,0.00,0.000,6,0.000,0.041,2755,2047,2724
$GC,1725,1.39,146.6,5.2,12.9,157,1731,0.00,2.58,0.00,0.000,4,0.000,0.064,2755,644,2724
$GC,1986,1.63,347.2,5.4,0.9,203,2147,0.22,2.45,153.98,0.663,6,0.050,0.040,2810,2055,1906
$GC,2219,1.82,503.2,2.5,2.9,243,2233,0.15,0.00,10.95,0.579,2,0.052,0.000,2851,2055,1817
$STATE,2233,end climb,SURFACE_DEPTH_REACHED
$STATE,2233,begin surface coast
$FINISH,-0.7,1.010545
$STATE,2295,end surface coast,CONTROL_FINISHED_OK
$STATE,2295,begin surface
$SM_CCo,2317,116.97,0.631,0,0,875,600.00
$SM_GC,0.06,0.00,0.00,116.97,0.000,0.000,0.631,41,2057,875,-11.08,0.14,600.00
$IRIDIUM_FIX,4748.51,-12226.29,100108,030309
$TT8_MAMPS,0.026845
$HUMID,1668
$INTERNAL_PRESSURE,8.7037
$TCM_TEMP,16.70
$XPDR_PINGS,0
$24V_AH,23.4,0.658
$10V_AH,10.1,0.269
$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,27.875,20.225,395.825,116.975,0.000,0.000,0.000,0.000,1.250,0.000,0.000,14.135,381.028,909.313,561.244,584.823,72.400,31.411,891.325,0.000,586.866,0.000,11.167
$DEVICE_MAMPS,156.468,76.700,759.330,631.241,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,184.832,169.598,497.275,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12821,256
$CFSIZE,260165632,258191360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,100108,000608,4808.793,-12224.169,8,1.8,13,18.4