version: 66.02
glider: 104
mission: 2
dive: 9
start: 1 10 108 4 1 25
data:
$ID,104
$MISSION,2
$DIVE,9
$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,-33665.977
$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
$GPS1,035609,4808.470,-12224.169,13,1.5,13,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.33
$_SM_ANGLEo,-67.4
$GPS2,040033,4808.475,-12224.261,12,1.5,12,18.4
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.160,-0.210
$KALMAN_X,-1864.1,-485.5,-24.3,1660.3,-367.6
$KALMAN_Y,3080.1,890.3,58.0,-3376.2,434.0
$MHEAD_RNG_PITCHd_Wd,124.3,3145,-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,21,begin dive
$GC,24,-1.39,-146.6,0.0,0.0,0,106,0.00,0.00,-79.40,0.000,2,0.000,0.000,40,2055,2682
$GC,109,-1.39,-146.6,3.2,-6.8,14,156,12.02,0.00,-29.98,0.000,6,0.159,0.000,2142,2054,3921
$GC,227,-1.39,-146.6,16.6,-9.5,34,233,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2054,3921
$GC,305,-1.39,-146.6,23.9,-9.2,44,306,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2054,3921
$GC,496,-1.39,-146.6,41.9,-9.7,62,500,0.00,2.55,0.00,0.000,4,0.000,0.059,2142,3465,3921
$GC,550,-1.39,-146.6,47.5,-10.5,66,557,0.00,2.50,0.00,0.000,6,0.000,0.042,2142,2045,3921
$GC,744,-1.39,-146.6,65.2,-8.9,77,745,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2044,3921
$GC,1053,-1.39,-146.6,93.6,-9.1,92,1057,0.00,2.55,0.00,0.000,4,0.000,0.056,2142,3463,3921
$GC,1149,-1.39,-146.6,102.5,-9.1,97,1153,0.00,2.47,0.00,0.000,6,0.000,0.041,2143,2050,3921
$STATE,1170,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1170,begin apogee
$GC,1176,-0.33,0.0,104.5,8.6,99,1296,1.10,0.00,115.75,0.736,6,0.085,0.000,2370,2049,3322
$STATE,1296,end apogee,CONTROL_FINISHED_OK
$STATE,1296,begin climb
$GC,1299,1.39,146.6,106.5,0.0,111,1419,1.73,0.00,115.72,0.701,6,0.051,0.000,2752,2049,2723
$GC,1717,1.39,146.6,45.9,16.6,137,1718,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2049,2723
$GC,1907,1.39,146.6,15.4,15.3,157,1913,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2049,2723
$GC,1982,1.63,343.1,7.9,1.1,170,2143,0.20,2.60,151.10,0.642,4,0.048,0.052,2807,3463,1923
$GC,2287,1.90,560.4,2.5,0.1,223,2364,0.25,2.47,70.65,0.623,2,0.043,0.041,2870,2048,1474
$STATE,2365,end climb,SURFACE_DEPTH_REACHED
$STATE,2365,begin surface coast
$FINISH,-0.5,1.003585
$STATE,2460,end surface coast,CONTROL_FINISHED_OK
$STATE,2460,begin surface
$SM_CCo,2483,53.97,0.619,0,0,1079,550.21
$SM_GC,1.17,0.00,0.00,53.97,0.000,0.000,0.619,43,2047,1079,-11.07,-0.14,550.21
$IRIDIUM_FIX,4751.72,-12223.57,100108,070722
$TT8_MAMPS,0.026078
$HUMID,1646
$INTERNAL_PRESSURE,8.72324
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.3,33.6
$24V_AH,23.4,1.281
$10V_AH,10.1,0.489
$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,28.125,15.150,453.225,53.975,0.000,37.196,35.580,101.301,1.000,0.000,0.000,14.353,360.712,1101.942,488.165,585.356,281.162,33.341,843.016,0.000,588.996,0.000,8.492
$DEVICE_MAMPS,158.769,59.059,736.320,618.969,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,179.930,169.488,491.452,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12824,253
$CFSIZE,260165632,258056192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,100108,044447,4808.332,-12224.099,8,2.6,27,18.3