version: 66.02
glider: 104
mission: 2
dive: 15
start: 1 10 108 9 34 48
data:
$ID,104
$MISSION,2
$DIVE,15
$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,-33806.805
$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
$GPS1,092444,4807.538,-12223.242,199,1.4,210,18.3
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-67.1
$GPS2,093355,4807.594,-12223.251,13,4.1,32,18.3
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.100,-0.224
$KALMAN_X,-4494.2,-192.9,11.2,5205.5,-315.8
$KALMAN_Y,6604.5,34.3,-240.5,-7378.8,634.4
$MHEAD_RNG_PITCHd_Wd,137.7,1143,-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,-146.6,0.0,0.0,0,104,0.00,0.00,-79.57,0.000,2,0.000,0.000,45,2054,2909
$GC,107,-1.17,-146.6,3.6,-5.1,14,150,12.20,2.60,-21.85,0.000,4,0.160,0.072,2187,3456,3923
$GC,352,-1.17,-146.6,26.4,-6.8,49,358,0.00,2.47,0.00,0.000,6,0.000,0.042,2187,2051,3922
$GC,550,-1.17,-146.6,41.0,-7.6,68,551,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2050,3922
$GC,739,-1.17,-146.6,54.5,-7.0,83,743,0.00,2.55,0.00,0.000,4,0.000,0.057,2187,3456,3922
$GC,806,-1.17,-146.6,59.2,-7.2,86,810,0.00,2.47,0.00,0.000,6,0.000,0.041,2187,2043,3922
$GC,1132,-1.17,-146.6,81.2,-6.9,102,1136,0.00,2.55,0.00,0.000,4,0.000,0.056,2187,3456,3922
$GC,1204,-1.17,-146.6,86.8,-7.2,105,1208,0.00,2.45,0.00,0.000,6,0.000,0.040,2187,2053,3922
$GC,1523,-1.17,-146.6,108.3,-6.7,125,1524,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2053,3922
$STATE,1573,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1573,begin apogee
$GC,1579,-0.33,0.0,112.1,7.1,130,1699,0.88,0.00,115.72,0.747,6,0.083,0.000,2369,2053,3322
$STATE,1699,end apogee,CONTROL_FINISHED_OK
$STATE,1699,begin climb
$GC,1702,1.17,146.6,113.8,0.0,142,1826,1.50,2.62,115.20,0.710,4,0.051,0.066,2701,650,2723
$GC,1861,1.17,146.6,97.9,15.2,157,1866,0.00,2.45,0.00,0.000,6,0.000,0.041,2701,2047,2722
$GC,2189,1.17,146.6,50.3,14.6,173,2193,0.00,2.58,0.00,0.000,4,0.000,0.062,2701,649,2722
$GC,2240,1.17,146.6,42.7,14.7,177,2244,0.00,2.45,0.00,0.000,6,0.000,0.038,2701,2060,2722
$GC,2439,1.17,146.6,15.8,12.4,198,2446,0.00,2.60,0.00,0.000,4,0.000,0.061,2701,640,2722
$GC,2464,1.17,146.6,12.7,12.6,202,2471,0.00,2.45,0.00,0.000,6,0.000,0.038,2701,2054,2722
$GC,2541,1.36,301.2,7.1,2.4,215,2669,0.17,2.55,119.05,0.644,4,0.047,0.055,2751,3455,2093
$GC,2715,1.47,391.5,4.4,4.7,245,2768,0.00,2.50,48.05,0.622,2,0.000,0.041,2751,2054,1817
$STATE,2769,end climb,SURFACE_DEPTH_REACHED
$STATE,2769,begin surface coast
$FINISH,1.2,1.018293
$STATE,2780,end surface coast,CONTROL_FINISHED_OK
$STATE,2780,begin surface
$SM_CCo,2803,63.58,0.611,0,0,1283,500.17
$SM_GC,1.06,0.00,0.00,63.58,0.000,0.000,0.611,43,2051,1283,-11.07,-0.03,500.17
$IRIDIUM_FIX,4751.72,-12219.12,100108,131329
$TT8_MAMPS,0.026845
$HUMID,1608
$INTERNAL_PRESSURE,8.77207
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,81.2,40.6
$24V_AH,23.4,1.904
$10V_AH,10.1,0.743
$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,27.300,35.300,398.025,63.575,0.000,81.790,75.778,213.977,1.000,0.000,0.000,35.365,395.808,1436.856,452.753,658.100,489.648,33.318,828.233,0.000,637.055,0.000,8.515
$DEVICE_MAMPS,159.536,72.098,747.058,610.532,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,179.366,175.725,496.933,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12826,256
$CFSIZE,260165632,257892352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,100108,102342,4807.414,-12223.121,11,2.2,30,18.3