version: 66.02
glider: 104
mission: 2
dive: 13
start: 1 10 108 7 34 3
data:
$ID,104
$MISSION,2
$DIVE,13
$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,-33746.703
$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,26
$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
$GPS1,072826,4807.767,-12223.602,32,1.8,32,18.3
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-67.8
$GPS2,073309,4807.791,-12223.659,12,1.5,12,18.3
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.165,-0.181
$KALMAN_X,-3745.5,-378.0,65.9,4084.1,-534.2
$KALMAN_Y,5125.6,543.8,-341.2,-5944.6,526.7
$MHEAD_RNG_PITCHd_Wd,119.3,1676,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-1.17,-146.6,0.0,0.0,0,87,0.00,0.00,-62.17,0.000,2,0.000,0.000,43,2058,2649
$GC,90,-1.17,-146.6,3.9,-6.6,11,132,12.32,0.00,-26.38,0.000,6,0.162,0.000,2188,2057,3923
$GC,203,-1.17,-146.6,16.4,-6.4,30,209,0.00,2.58,0.00,0.000,4,0.000,0.061,2188,650,3923
$GC,317,-1.17,-146.6,25.5,-8.5,44,322,0.00,2.45,0.00,0.000,6,0.000,0.041,2188,2051,3923
$GC,515,-1.17,-146.6,40.8,-7.5,62,516,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2051,3923
$GC,705,-1.17,-146.6,55.2,-7.6,77,706,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2051,3923
$GC,1014,-1.17,-146.6,79.3,-7.6,92,1018,0.00,2.55,0.00,0.000,4,0.000,0.063,2188,649,3923
$GC,1068,-1.17,-146.6,83.4,-7.2,94,1075,0.00,2.45,0.00,0.000,6,0.000,0.041,2188,2051,3922
$GC,1387,-1.17,-146.6,105.2,-6.4,113,1391,0.00,2.58,0.00,0.000,4,0.000,0.062,2188,643,3923
$GC,1428,-1.17,-146.6,108.1,-7.3,116,1432,0.00,2.45,0.00,0.000,6,0.000,0.041,2188,2054,3922
$STATE,1443,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1443,begin apogee
$GC,1448,-0.33,0.0,109.3,6.9,117,1568,0.88,0.00,115.68,0.738,6,0.077,0.000,2373,2054,3322
$STATE,1569,end apogee,CONTROL_FINISHED_OK
$STATE,1569,begin climb
$GC,1571,1.17,146.6,111.0,0.0,129,1694,1.50,2.62,114.70,0.703,4,0.049,0.062,2706,646,2724
$GC,1750,1.17,146.6,91.7,15.0,143,1754,0.00,2.47,0.00,0.000,6,0.000,0.039,2706,2059,2723
$GC,2072,1.17,146.6,45.0,14.6,160,2076,0.00,2.60,0.00,0.000,4,0.000,0.061,2706,645,2723
$GC,2122,1.17,146.6,37.4,14.6,164,2127,0.00,2.45,0.00,0.000,6,0.000,0.039,2706,2055,2723
$GC,2325,1.17,146.6,10.9,8.6,189,2331,0.00,2.58,0.00,0.000,4,0.000,0.061,2706,649,2723
$GC,2585,1.43,360.1,11.3,0.2,235,2760,0.20,2.47,164.15,0.641,6,0.036,0.038,2763,2057,1854
$GC,2830,1.51,422.7,2.6,5.7,277,2843,0.00,0.00,11.05,0.574,2,0.000,0.000,2762,2057,1797
$STATE,2844,end climb,SURFACE_DEPTH_REACHED
$STATE,2844,begin surface coast
$FINISH,0.9,1.017251
$STATE,2879,end surface coast,CONTROL_FINISHED_OK
$STATE,2879,begin surface
$SM_CCo,2902,65.05,0.602,1,0,1282,500.17
$SM_GC,0.95,0.00,0.00,65.05,0.000,0.000,0.602,45,2059,1282,-11.06,0.20,500.17
$IRIDIUM_FIX,4751.72,-12221.84,100108,101006
$TT8_MAMPS,0.026845
$HUMID,1634
$INTERNAL_PRESSURE,8.77207
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.1,38.7
$24V_AH,23.4,1.693
$10V_AH,10.1,0.653
$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,27.475,30.250,405.575,65.050,0.000,38.136,52.612,105.364,1.000,0.000,0.000,14.480,443.173,1377.759,447.413,700.910,303.539,33.313,836.429,0.000,701.197,0.000,8.511
$DEVICE_MAMPS,161.837,62.894,737.854,602.095,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,197.112,193.899,553.457,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12752,285
$CFSIZE,260165632,257945600
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,5,1,0
$GPS,100108,082421,4807.652,-12223.425,9,1.8,9,18.3