version: 66.02
glider: 104
mission: 2
dive: 7
start: 1 10 108 2 30 4
data:
$ID,104
$MISSION,2
$DIVE,7
$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,-33640.273
$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,25
$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
$GPS1,022441,4808.670,-12224.186,10,3.1,29,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.25
$_SM_ANGLEo,-65.3
$GPS2,022914,4808.743,-12224.229,12,1.6,29,18.4
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.116,-0.237
$KALMAN_X,-986.4,-450.1,-158.9,923.4,-168.9
$KALMAN_Y,1997.5,830.2,302.3,-1991.7,331.0
$MHEAD_RNG_PITCHd_Wd,135.5,3568,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.39,-146.6,0.0,0.0,0,134,0.00,0.00,-106.35,0.000,2,0.000,0.000,45,2055,3095
$GC,137,-1.39,-146.6,4.3,-12.3,19,174,11.90,2.60,-16.20,0.000,4,0.156,0.074,2141,653,3922
$GC,186,-1.39,-146.6,14.4,-8.2,27,193,0.00,2.47,0.00,0.000,6,0.000,0.043,2141,2046,3922
$GC,263,-1.39,-146.6,21.6,-9.9,39,267,0.00,2.55,0.00,0.000,4,0.000,0.060,2141,3462,3922
$GC,307,-1.39,-146.6,26.3,-9.8,42,313,0.00,2.47,0.00,0.000,6,0.000,0.042,2141,2053,3922
$GC,505,-1.39,-146.6,45.5,-9.9,61,509,0.00,2.55,0.00,0.000,4,0.000,0.058,2141,3462,3922
$GC,568,-1.39,-146.6,51.6,-9.3,66,572,0.00,2.47,0.00,0.000,6,0.000,0.042,2141,2050,3922
$GC,895,-1.39,-146.6,81.9,-8.8,82,896,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2050,3922
$STATE,1099,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1099,begin apogee
$GC,1105,-0.33,0.0,100.6,9.1,92,1225,1.12,0.00,115.97,0.736,6,0.084,0.000,2373,2051,3322
$STATE,1225,end apogee,CONTROL_FINISHED_OK
$STATE,1225,begin climb
$GC,1228,1.39,146.6,102.6,0.0,104,1356,1.70,2.62,114.80,0.700,4,0.050,0.064,2750,646,2722
$GC,1428,1.39,146.6,77.5,17.4,116,1433,0.00,2.45,0.00,0.000,6,0.000,0.041,2750,2053,2721
$GC,1755,1.39,146.6,22.6,16.7,139,1759,0.00,2.58,0.00,0.000,4,0.000,0.062,2749,649,2722
$GC,1817,1.39,146.6,12.4,15.5,148,1823,0.00,2.45,0.00,0.000,6,0.000,0.041,2750,2054,2722
$GC,1893,1.75,440.5,8.9,-3.4,161,2129,0.32,2.62,225.00,0.636,4,0.042,0.064,2832,649,1525
$STATE,2134,end climb,SURFACE_DEPTH_REACHED
$STATE,2134,begin surface coast
$FINISH,-0.3,1.016313
$STATE,2164,end surface coast,CONTROL_FINISHED_OK
$STATE,2165,begin surface
$SM_CCo,2190,57.80,0.607,0,0,1079,550.21
$SM_GC,0.69,0.00,0.00,57.80,0.000,0.000,0.607,45,2058,1079,-11.06,0.14,550.21
$IRIDIUM_FIX,4751.72,-12228.02,100108,050555
$TT8_MAMPS,0.026845
$HUMID,1633
$INTERNAL_PRESSURE,8.74277
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.8,38.0
$24V_AH,23.4,1.071
$10V_AH,10.1,0.414
$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,27.675,30.350,455.775,57.800,0.000,41.257,35.877,91.779,0.750,0.000,0.000,31.349,294.887,939.263,488.564,547.017,265.315,33.320,851.620,0.000,532.481,0.000,6.977
$DEVICE_MAMPS,155.701,74.399,736.320,607.464,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,142.893,134.580,403.824,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9686,208
$CFSIZE,260165632,258109440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,100108,030837,4808.607,-12224.156,12,1.5,28,18.4