version: 66.02
glider: 104
mission: 2
dive: 8
start: 1 10 108 3 13 53
data:
$ID,104
$MISSION,2
$DIVE,8
$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,-33650.996
$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,24
$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
$GPS1,030837,4808.607,-12224.156,12,1.5,28,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.36
$_SM_ANGLEo,-66.7
$GPS2,031303,4808.634,-12224.251,8,2.0,8,18.4
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.134,-0.227
$KALMAN_X,-1397.1,-477.1,-87.3,1261.2,-287.6
$KALMAN_Y,2590.0,869.9,176.0,-2693.7,457.0
$MHEAD_RNG_PITCHd_Wd,131.1,3399,-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,-146.6,0.0,0.0,0,117,0.00,0.00,-89.55,0.000,2,0.000,0.000,45,2058,2823
$GC,120,-1.39,-146.6,3.4,-9.1,16,161,11.95,0.00,-24.90,0.000,6,0.159,0.000,2138,2058,3922
$GC,232,-1.39,-146.6,15.9,-8.8,35,238,0.00,2.53,0.00,0.000,4,0.000,0.059,2138,3456,3922
$GC,362,-1.39,-146.6,28.4,-9.4,50,368,0.00,2.47,0.00,0.000,6,0.000,0.042,2138,2051,3922
$GC,560,-1.39,-146.6,47.4,-9.7,69,561,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2050,3921
$GC,757,-1.39,-146.6,66.4,-9.5,80,758,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2050,3921
$GC,1066,-1.39,-146.6,95.6,-9.4,95,1070,0.00,2.55,0.00,0.000,4,0.000,0.056,2138,3463,3921
$STATE,1164,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1164,begin apogee
$GC,1172,-0.33,0.0,104.9,9.0,101,1292,1.12,0.00,116.00,0.736,6,0.086,0.000,2370,2049,3322
$STATE,1293,end apogee,CONTROL_FINISHED_OK
$STATE,1293,begin climb
$GC,1296,1.39,146.6,107.0,0.0,113,1421,1.73,2.67,115.57,0.700,4,0.051,0.064,2752,646,2723
$GC,1449,1.39,146.6,89.6,16.8,125,1456,0.00,2.47,0.00,0.000,6,0.000,0.041,2752,2041,2722
$GC,1767,1.39,146.6,36.2,16.4,144,1771,0.00,2.58,0.00,0.000,4,0.000,0.062,2752,642,2722
$GC,1821,1.39,146.6,26.8,17.0,148,1828,0.00,2.47,0.00,0.000,6,0.000,0.040,2752,2048,2723
$GC,2030,1.71,407.9,9.2,-1.9,181,2244,0.28,2.62,200.45,0.640,4,0.049,0.062,2820,651,1658
$STATE,2288,end climb,SURFACE_DEPTH_REACHED
$STATE,2288,begin surface coast
$FINISH,-0.6,1.015943
$STATE,2380,end surface coast,CONTROL_FINISHED_OK
$STATE,2380,begin surface
$SM_CCo,2405,75.57,0.602,1,0,1078,550.21
$SM_GC,0.28,0.00,0.00,75.57,0.000,0.000,0.602,40,2054,1078,-11.09,0.08,550.21
$IRIDIUM_FIX,4751.72,-12226.29,100108,060623
$TT8_MAMPS,0.026845
$HUMID,1646
$INTERNAL_PRESSURE,8.74277
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.3,44.5
$24V_AH,23.4,1.176
$10V_AH,10.1,0.451
$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,27.700,25.400,432.025,75.575,0.000,37.081,44.695,101.308,0.750,0.000,0.000,10.097,348.713,1052.949,510.059,575.331,279.881,33.332,860.976,0.000,582.217,0.000,6.996
$DEVICE_MAMPS,158.769,64.428,735.553,602.095,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,171.618,162.412,470.022,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12828,242
$CFSIZE,260165632,258080768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,1,0
$GPS,100108,035609,4808.470,-12224.169,13,1.5,13,18.4