version: 66.02
glider: 104
mission: 2
dive: 12
start: 1 10 108 6 38 50
data:
$ID,104
$MISSION,2
$DIVE,12
$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,62.5
$T_MISSION,75
$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,500
$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,-33731.594
$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,23
$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
$GPS1,063321,4807.902,-12223.771,11,2.0,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.36
$_SM_ANGLEo,-64.5
$GPS2,063759,4807.913,-12223.842,14,3.3,33,18.3
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.175,-0.171
$KALMAN_X,-3268.1,-435.8,72.4,3431.9,-529.6
$KALMAN_Y,4478.1,726.0,-288.9,-5302.9,437.1
$MHEAD_RNG_PITCHd_Wd,116.1,1986,-14.8,-8.000
$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,-1.17,-146.6,0.0,0.0,0,94,0.00,0.00,-67.78,0.000,2,0.000,0.000,42,2055,2693
$GC,98,-1.17,-146.6,3.6,-6.0,12,141,12.25,2.60,-24.60,0.000,4,0.160,0.069,2185,3456,3923
$GC,177,-1.17,-146.6,17.2,-10.5,25,183,0.00,2.47,0.00,0.000,6,0.000,0.041,2185,2049,3923
$GC,251,-1.17,-146.6,22.7,-7.0,35,255,0.00,2.58,0.00,0.000,4,0.000,0.066,2185,649,3923
$GC,324,-1.17,-146.6,28.9,-8.3,41,328,0.00,2.45,0.00,0.000,6,0.000,0.041,2185,2049,3923
$GC,522,-1.17,-146.6,43.7,-7.5,59,523,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2050,3923
$GC,710,-1.17,-146.6,57.8,-7.3,72,711,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2050,3922
$GC,1022,-1.17,-146.6,80.8,-7.3,87,1026,0.00,2.58,0.00,0.000,4,0.000,0.063,2185,643,3922
$GC,1078,-1.17,-146.6,85.4,-7.7,89,1084,0.00,2.47,0.00,0.000,6,0.000,0.041,2186,2057,3922
$STATE,1384,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1384,begin apogee
$GC,1390,-0.33,0.0,107.6,6.8,109,1510,0.88,0.00,115.90,0.734,6,0.077,0.000,2370,2058,3322
$STATE,1510,end apogee,CONTROL_FINISHED_OK
$STATE,1510,begin climb
$GC,1513,1.17,146.6,109.5,0.0,121,1638,1.50,2.62,115.30,0.697,4,0.049,0.062,2704,647,2724
$GC,1654,1.17,146.6,96.1,14.2,133,1661,0.00,2.47,0.00,0.000,6,0.000,0.040,2704,2061,2723
$GC,1970,1.17,146.6,50.7,14.4,149,1974,0.00,2.58,0.00,0.000,4,0.000,0.062,2704,650,2723
$GC,2021,1.17,146.6,43.3,14.4,153,2025,0.00,2.45,0.00,0.000,6,0.000,0.039,2704,2056,2723
$GC,2221,1.17,146.6,16.0,12.6,173,2228,0.00,2.58,0.00,0.000,4,0.000,0.061,2704,649,2723
$GC,2482,1.46,386.0,11.8,-0.7,219,2675,0.22,2.47,183.25,0.642,6,0.037,0.038,2772,2057,1747
$GC,2745,1.62,516.0,2.3,3.3,264,2753,0.15,0.00,5.38,0.484,2,0.050,0.000,2817,2057,1721
$STATE,2754,end climb,SURFACE_DEPTH_REACHED
$STATE,2754,begin surface coast
$FINISH,0.7,1.017080
$STATE,2822,end surface coast,CONTROL_FINISHED_OK
$STATE,2822,begin surface
$SM_CCo,2845,56.67,0.601,1,0,1282,500.17
$SM_GC,0.93,0.00,0.00,56.67,0.000,0.000,0.601,43,2057,1282,-11.07,0.14,500.17
$IRIDIUM_FIX,4751.72,-12209.22,100108,090953
$TT8_MAMPS,0.026845
$HUMID,1637
$INTERNAL_PRESSURE,8.77207
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.5,26.5
$24V_AH,23.4,1.594
$10V_AH,10.1,0.611
$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,27.900,30.325,419.825,56.675,0.000,38.162,38.278,92.351,1.500,0.000,0.000,36.256,419.382,1364.824,464.595,677.587,273.597,33.321,834.724,0.000,654.800,0.000,12.860
$DEVICE_MAMPS,159.536,69.030,734.019,601.328,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,192.574,188.315,537.842,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12837,277
$CFSIZE,260165632,257974272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$GPS,100108,072826,4807.767,-12223.602,32,1.8,32,18.3