version: 66.02
glider: 104
mission: 2
dive: 16
start: 1 10 108 10 30 21
data:
$ID,104
$MISSION,2
$DIVE,16
$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,-33844.242
$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,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
$GPS1,102342,4807.414,-12223.121,11,2.2,30,18.3
$_CALLS,1
$_XMS_NAKs,14
$_XMS_TOUTs,3
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-67.1
$GPS2,102930,4807.477,-12223.157,15,2.3,34,18.3
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.095,-0.226
$KALMAN_X,-4937.5,-22.2,27.9,5578.9,-334.1
$KALMAN_Y,7360.4,-252.5,-87.3,-8217.6,746.4
$MHEAD_RNG_PITCHd_Wd,138.9,905,-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,-146.6,0.0,0.0,0,115,0.00,0.00,-90.12,0.000,2,0.000,0.000,44,2050,3059
$GC,118,-1.17,-146.6,3.4,-4.9,16,155,12.27,2.55,-18.58,0.000,4,0.160,0.066,2185,3456,3922
$GC,180,-1.17,-146.6,12.8,-5.7,26,186,0.00,2.47,0.00,0.000,6,0.000,0.041,2185,2050,3922
$GC,256,-1.17,-146.6,17.7,-6.8,39,262,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2050,3922
$GC,329,-1.17,-146.6,23.4,-7.8,48,330,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2050,3922
$GC,519,-1.17,-146.6,38.5,-8.0,66,521,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2050,3921
$GC,720,-1.17,-146.6,53.6,-7.5,83,725,0.00,2.55,0.00,0.000,4,0.000,0.055,2185,3461,3921
$GC,821,-1.17,-146.6,61.2,-7.8,87,827,0.00,2.47,0.00,0.000,6,0.000,0.041,2185,2047,3921
$GC,1137,-1.17,-146.6,84.2,-7.4,103,1141,0.00,2.53,0.00,0.000,4,0.000,0.055,2185,3455,3921
$GC,1215,-1.17,-146.6,89.8,-7.1,106,1221,0.00,2.45,0.00,0.000,6,0.000,0.040,2185,2052,3921
$STATE,1512,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1512,begin apogee
$GC,1518,-0.33,0.0,110.7,6.7,128,1637,0.90,0.00,115.50,0.739,6,0.078,0.000,2373,2052,3322
$STATE,1638,end apogee,CONTROL_FINISHED_OK
$STATE,1638,begin climb
$GC,1641,1.17,146.6,112.3,0.0,140,1763,1.50,2.62,114.78,0.703,4,0.051,0.066,2705,649,2724
$GC,1802,1.17,146.6,95.1,14.9,154,1806,0.00,2.45,0.00,0.000,6,0.000,0.040,2705,2049,2722
$GC,2118,1.17,146.6,49.8,13.8,169,2119,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2049,2723
$GC,2310,1.17,146.6,23.7,13.5,187,2314,0.00,2.58,0.00,0.000,4,0.000,0.061,2705,644,2723
$GC,2383,1.17,146.6,13.7,12.8,197,2390,0.00,2.47,0.00,0.000,6,0.000,0.039,2705,2063,2723
$GC,2459,1.30,254.0,7.3,4.1,210,2552,0.12,2.58,83.00,0.644,4,0.054,0.054,2740,3455,2285
$GC,2582,1.51,422.5,6.3,1.9,231,2710,0.10,2.50,121.25,0.627,6,0.042,0.039,2782,2047,1598
$STATE,2717,end climb,SURFACE_DEPTH_REACHED
$STATE,2717,begin surface coast
$FINISH,0.7,1.015943
$STATE,2813,end surface coast,CONTROL_FINISHED_OK
$STATE,2813,begin surface
$SM_CCo,2835,38.00,0.610,0,0,1282,500.17
$SM_GC,0.30,0.00,0.00,38.00,0.000,0.000,0.610,43,2045,1282,-11.07,-0.20,500.17
$IRIDIUM_FIX,4751.72,-12226.29,100108,131350
$TT8_MAMPS,0.026845
$HUMID,1611
$INTERNAL_PRESSURE,8.77207
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,81.1,39.6
$24V_AH,23.4,2.007
$10V_AH,10.1,0.785
$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,27.550,30.225,434.525,38.000,0.000,40.407,40.196,157.846,1.000,0.000,0.000,36.808,402.335,1348.589,450.683,689.152,345.065,33.327,848.032,0.000,668.460,0.000,8.514
$DEVICE_MAMPS,160.303,65.962,738.621,609.765,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,187.452,183.383,526.156,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12766,271
$CFSIZE,260165632,257863680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,100108,111922,4807.384,-12223.104,11,4.6,30,18.3