version: 66.02
glider: 104
mission: 2
dive: 14
start: 1 10 108 8 30 20
data:
$ID,104
$MISSION,2
$DIVE,14
$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,-33770.809
$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
$GPS1,082421,4807.652,-12223.425,9,1.8,9,18.3
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-64.7
$GPS2,082927,4807.684,-12223.430,20,1.8,20,18.3
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.138,-0.202
$KALMAN_X,-4117.9,-304.3,36.9,4693.8,-460.0
$KALMAN_Y,5836.2,305.7,-333.9,-6621.2,621.5
$MHEAD_RNG_PITCHd_Wd,127.4,1374,-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,-146.6,0.0,0.0,0,98,0.00,0.00,-73.65,0.000,2,0.000,0.000,46,2059,2787
$GC,102,-1.17,-146.6,3.4,-5.9,13,144,12.23,2.53,-24.05,0.000,4,0.159,0.068,2188,3462,3920
$GC,250,-1.17,-146.6,20.2,-7.8,38,257,0.00,2.47,0.00,0.000,6,0.000,0.041,2188,2050,3920
$GC,448,-1.17,-146.6,36.4,-8.0,57,449,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2050,3920
$GC,650,-1.17,-146.6,51.7,-7.4,75,654,0.00,2.55,0.00,0.000,4,0.000,0.056,2188,3463,3919
$GC,722,-1.17,-146.6,57.1,-7.7,78,726,0.00,2.47,0.00,0.000,6,0.000,0.041,2188,2047,3919
$GC,1038,-1.17,-146.6,78.6,-6.7,93,1043,0.00,2.55,0.00,0.000,4,0.000,0.056,2188,3463,3919
$GC,1089,-1.17,-146.6,82.3,-7.0,95,1093,0.00,2.45,0.00,0.000,6,0.000,0.039,2188,2053,3919
$GC,1406,-1.17,-146.6,104.3,-7.0,112,1411,0.00,2.53,0.00,0.000,4,0.000,0.055,2188,3460,3919
$STATE,1482,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1482,begin apogee
$GC,1491,-0.33,0.0,109.9,6.6,118,1610,0.88,0.00,115.10,0.738,6,0.081,0.000,2370,2043,3322
$STATE,1610,end apogee,CONTROL_FINISHED_OK
$STATE,1610,begin climb
$GC,1613,1.17,146.6,111.9,0.0,130,1735,1.52,0.00,115.00,0.703,6,0.055,0.000,2705,2043,2724
$GC,2044,1.17,146.6,58.6,13.8,158,2045,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2043,2723
$GC,2363,1.17,146.6,15.4,12.6,188,2369,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2043,2723
$GC,2438,1.29,247.7,9.0,4.3,201,2526,0.12,2.62,78.22,0.647,4,0.053,0.064,2741,654,2312
$GC,2780,1.55,457.3,9.1,0.4,261,2931,0.22,2.42,143.52,0.637,2,0.044,0.039,2796,2052,1548
$STATE,2933,end climb,SURFACE_DEPTH_REACHED
$STATE,2933,begin surface coast
$FINISH,0.4,1.014578
$STATE,2961,end surface coast,CONTROL_FINISHED_OK
$STATE,2961,begin surface
$SM_CCo,2983,35.83,0.584,1,0,1283,500.17
$SM_GC,1.53,0.00,0.00,35.83,0.000,0.000,0.584,45,2053,1283,-11.06,0.03,500.17
$IRIDIUM_FIX,4758.15,-11908.94,100108,111119
$TT8_MAMPS,0.026845
$HUMID,1610
$INTERNAL_PRESSURE,8.7623
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.3,39.3
$24V_AH,23.4,1.797
$10V_AH,10.1,0.696
$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,27.675,25.100,451.850,35.825,0.000,40.948,35.516,132.805,1.000,0.000,0.000,23.482,419.291,1442.010,456.624,703.877,317.068,33.318,851.681,0.000,702.396,0.000,8.516
$DEVICE_MAMPS,158.769,68.263,737.854,584.454,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,202.368,196.479,567.153,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12766,292
$CFSIZE,260165632,257921024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$GPS,100108,092444,4807.538,-12223.242,199,1.4,210,18.3