version: 66.02
glider: 104
mission: 2
dive: 6
start: 1 10 108 1 42 29
data:
$ID,104
$MISSION,2
$DIVE,6
$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,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,550
$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,-33608.297
$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,22
$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
$GPS1,013714,4808.725,-12224.175,13,1.5,30,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.24
$_SM_ANGLEo,-65.1
$GPS2,014139,4808.788,-12224.207,10,2.0,28,18.4
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.109,-0.240
$KALMAN_X,-662.8,-370.9,-232.3,620.1,-51.3
$KALMAN_Y,1404.7,693.4,440.7,-1313.8,106.8
$MHEAD_RNG_PITCHd_Wd,137.1,3633,-18.1,-10.000
$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,22,begin dive
$GC,24,-1.39,-146.6,0.0,0.0,0,122,0.00,0.00,-95.15,0.000,2,0.000,0.000,44,2052,2888
$GC,126,-1.39,-146.6,3.3,-8.3,17,168,11.82,2.62,-24.55,0.000,4,0.155,0.074,2137,645,3922
$GC,198,-1.39,-146.6,11.0,-7.4,29,205,0.00,2.50,0.00,0.000,6,0.000,0.042,2137,2079,3921
$GC,273,-1.39,-146.6,18.3,-10.0,42,280,0.00,2.50,0.00,0.000,4,0.000,0.060,2137,3461,3922
$GC,343,-1.39,-146.6,25.6,-10.1,50,347,0.00,2.47,0.00,0.000,6,0.000,0.042,2138,2052,3922
$GC,541,-1.39,-146.6,45.9,-10.0,68,545,0.00,2.55,0.00,0.000,4,0.000,0.058,2137,3462,3922
$GC,613,-1.39,-146.6,53.3,-9.7,73,617,0.00,2.47,0.00,0.000,6,0.000,0.042,2137,2050,3921
$GC,929,-1.39,-146.6,84.3,-9.9,88,930,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2051,3922
$STATE,1071,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1071,begin apogee
$GC,1077,-0.33,0.0,98.2,9.4,95,1197,1.17,0.00,116.10,0.735,6,0.085,0.000,2376,2050,3322
$STATE,1198,end apogee,CONTROL_FINISHED_OK
$STATE,1198,begin climb
$GC,1200,1.39,146.6,100.4,0.0,103,1327,1.70,2.65,114.82,0.699,4,0.051,0.067,2751,656,2723
$GC,1366,1.39,146.6,81.1,17.2,111,1373,0.00,2.47,0.00,0.000,6,0.000,0.042,2751,2048,2723
$GC,1686,1.39,146.6,28.3,16.1,133,1691,0.00,2.58,0.00,0.000,4,0.000,0.063,2751,649,2722
$GC,1749,1.39,146.6,17.4,16.8,139,1756,0.00,2.45,0.00,0.000,6,0.000,0.040,2751,2055,2722
$GC,1825,1.39,146.6,6.7,12.8,152,1831,0.00,2.60,0.00,0.000,4,0.000,0.064,2751,638,2723
$GC,2085,1.65,361.4,8.4,0.2,198,2260,0.25,2.45,165.27,0.649,6,0.046,0.039,2812,2054,1848
$STATE,2311,end climb,SURFACE_DEPTH_REACHED
$STATE,2311,begin surface coast
$FINISH,-0.5,1.011330
$STATE,2350,end surface coast,CONTROL_FINISHED_OK
$STATE,2350,begin surface
$SM_CCo,2372,92.95,0.616,0,0,1079,550.21
$SM_GC,0.13,0.00,0.00,92.95,0.000,0.000,0.616,45,2055,1079,-11.06,0.08,550.21
$IRIDIUM_FIX,4751.72,-12220.85,100108,040445
$TT8_MAMPS,0.026845
$HUMID,1642
$INTERNAL_PRESSURE,8.733
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.0,38.0
$24V_AH,23.4,0.966
$10V_AH,10.1,0.380
$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,27.400,30.325,396.200,92.950,0.000,41.176,34.078,87.616,0.750,0.000,0.000,29.994,371.584,991.902,497.613,620.364,263.229,33.320,856.569,0.000,606.538,0.000,6.977
$DEVICE_MAMPS,154.934,73.632,734.786,615.901,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,172.266,162.849,473.846,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12826,244
$CFSIZE,260165632,258129920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,100108,022441,4808.670,-12224.186,10,3.1,29,18.4