version: 66.02
glider: 104
mission: 2
dive: 4
start: 1 10 108 0 12 22
data:
$ID,104
$MISSION,2
$DIVE,4
$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,-33545.703
$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,23
$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
$GPS1,000608,4808.793,-12224.169,8,1.8,13,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.22
$_SM_ANGLEo,-66.0
$GPS2,001127,4808.850,-12224.207,14,1.9,14,18.4
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.110,-0.240
$KALMAN_X,-447.1,-253.5,-230.8,280.9,-123.8
$KALMAN_Y,953.4,465.7,421.0,-494.6,260.4
$MHEAD_RNG_PITCHd_Wd,136.9,3737,-18.1,-10.000
$D_GRID,90
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-1.39,-146.6,0.0,0.0,0,132,0.00,0.00,-106.60,0.000,2,0.000,0.000,41,2058,2856
$GC,135,-1.39,-146.6,3.2,-6.4,19,178,11.93,0.00,-27.58,0.000,6,0.156,0.000,2141,2058,3922
$GC,248,-1.39,-146.6,12.7,-8.4,38,254,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2058,3922
$GC,323,-1.39,-146.6,19.8,-9.5,51,329,0.00,2.55,0.00,0.000,4,0.000,0.060,2141,3465,3922
$GC,370,-1.39,-146.6,24.0,-8.6,56,375,0.00,2.47,0.00,0.000,6,0.000,0.041,2141,2047,3922
$GC,568,-1.39,-146.6,42.9,-9.8,74,573,0.00,2.55,0.00,0.000,4,0.000,0.058,2141,3456,3922
$GC,613,-1.39,-146.6,47.2,-9.5,77,620,0.00,2.45,0.00,0.000,6,0.000,0.042,2141,2053,3922
$GC,817,-1.39,-146.6,66.1,-9.4,89,821,0.00,2.58,0.00,0.000,4,0.000,0.067,2141,649,3922
$GC,850,-1.39,-146.6,69.2,-8.6,90,856,0.00,2.45,0.00,0.000,6,0.000,0.043,2141,2049,3921
$STATE,1080,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1080,begin apogee
$GC,1086,-0.33,0.0,90.2,8.9,102,1206,1.15,0.00,116.00,0.739,6,0.087,0.000,2374,2050,3322
$STATE,1207,end apogee,CONTROL_FINISHED_OK
$STATE,1207,begin climb
$GC,1209,1.39,146.6,92.3,0.0,108,1332,1.73,2.60,114.93,0.700,4,0.049,0.062,2754,646,2723
$GC,1345,1.39,146.6,78.6,16.3,115,1349,0.00,2.47,0.00,0.000,6,0.000,0.041,2753,2052,2722
$GC,1665,1.39,146.6,25.1,15.9,137,1670,0.00,2.58,0.00,0.000,4,0.000,0.061,2754,647,2722
$GC,1706,1.39,146.6,18.1,17.5,140,1712,0.00,2.45,0.00,0.000,6,0.000,0.041,2754,2059,2722
$GC,1781,1.39,146.6,6.7,14.2,153,1787,0.00,2.60,0.00,0.000,4,0.000,0.066,2753,649,2722
$GC,2042,1.66,368.1,6.0,-0.1,199,2221,0.25,2.42,166.18,0.648,6,0.048,0.039,2814,2053,1820
$STATE,2238,end climb,SURFACE_DEPTH_REACHED
$STATE,2238,begin surface coast
$FINISH,-0.6,1.017500
$STATE,2305,end surface coast,CONTROL_FINISHED_OK
$STATE,2306,begin surface
$SM_CCo,2328,114.00,0.618,0,0,875,600.00
$SM_GC,0.27,0.00,0.00,114.00,0.000,0.000,0.618,40,2055,875,-11.08,0.08,600.00
$IRIDIUM_FIX,4751.72,-12223.57,100108,030338
$TT8_MAMPS,0.028379
$HUMID,1653
$INTERNAL_PRESSURE,8.71347
$TCM_TEMP,16.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,71.6,32.6
$24V_AH,23.4,0.766
$10V_AH,10.1,0.308
$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,27.550,30.175,397.100,114.000,0.000,41.217,34.527,137.008,1.000,0.000,0.000,16.016,374.926,934.645,539.664,598.156,333.065,32.332,893.616,0.000,593.887,0.000,9.831
$DEVICE_MAMPS,156.468,67.496,738.621,618.202,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,173.860,162.230,475.881,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12859,245
$CFSIZE,260165632,258174976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,100108,005407,4808.745,-12224.155,10,2.0,26,18.4