version: 66.02
glider: 104
mission: 2
dive: 17
start: 1 10 108 11 24 50
data:
$ID,104
$MISSION,2
$DIVE,17
$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,-33880.238
$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,25
$R_STBD_OVSHOOT,24
$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
$GPS1,111922,4807.384,-12223.104,11,4.6,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-70.1
$GPS2,112359,4807.470,-12223.189,13,5.1,32,18.3
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.113,-0.217
$KALMAN_X,-5589.6,186.2,75.2,5937.2,-451.4
$KALMAN_Y,8345.2,-545.0,55.1,-9067.0,911.3
$MHEAD_RNG_PITCHd_Wd,134.1,901,-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,-146.6,0.0,0.0,0,83,0.00,0.00,-56.90,0.000,2,0.000,0.000,43,2044,2519
$GC,86,-1.17,-146.6,3.4,-5.8,10,146,12.23,2.58,-38.92,0.000,4,0.159,0.076,2187,649,3922
$GC,170,-1.17,-146.6,11.5,-11.5,24,176,0.00,2.47,0.00,0.000,6,0.000,0.041,2187,2059,3922
$GC,246,-1.17,-146.6,16.6,-7.1,37,253,0.00,2.53,0.00,0.000,4,0.000,0.058,2187,3456,3922
$GC,298,-1.17,-146.6,20.4,-7.3,45,304,0.00,2.47,0.00,0.000,6,0.000,0.041,2187,2049,3922
$GC,496,-1.17,-146.6,34.6,-7.7,64,497,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2049,3921
$GC,688,-1.17,-146.6,49.1,-7.6,82,692,0.00,2.55,0.00,0.000,4,0.000,0.056,2187,3462,3921
$GC,744,-1.17,-146.6,53.6,-7.6,84,750,0.00,2.50,0.00,0.000,6,0.000,0.041,2188,2050,3921
$GC,1060,-1.17,-146.6,76.7,-7.1,100,1064,0.00,2.55,0.00,0.000,4,0.000,0.055,2187,3465,3921
$GC,1145,-1.17,-146.6,82.8,-7.4,104,1149,0.00,2.47,0.00,0.000,6,0.000,0.040,2187,2049,3921
$GC,1463,-1.17,-146.6,104.8,-6.8,122,1465,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2049,3920
$STATE,1567,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1567,begin apogee
$GC,1573,-0.33,0.0,112.0,6.7,132,1692,0.88,0.00,115.15,0.738,6,0.077,0.000,2373,2049,3322
$STATE,1692,end apogee,CONTROL_FINISHED_OK
$STATE,1692,begin climb
$GC,1695,1.17,146.6,113.8,0.0,144,1817,1.50,2.62,114.50,0.700,4,0.049,0.064,2706,649,2724
$GC,1858,1.17,146.6,96.3,15.3,158,1863,0.00,2.45,0.00,0.000,6,0.000,0.039,2706,2049,2723
$GC,2174,1.17,146.6,49.8,14.2,173,2179,0.00,2.55,0.00,0.000,4,0.000,0.061,2706,648,2722
$GC,2196,1.17,146.6,46.5,14.2,174,2203,0.00,2.47,0.00,0.000,6,0.000,0.040,2706,2054,2723
$GC,2394,1.17,146.6,19.1,13.6,193,2400,0.00,2.58,0.00,0.000,4,0.000,0.061,2705,648,2723
$GC,2458,1.17,146.6,10.5,13.3,204,2464,0.00,2.45,0.00,0.000,6,0.000,0.039,2706,2052,2723
$GC,2535,1.45,377.8,7.1,-0.4,217,2721,0.22,2.55,175.32,0.634,4,0.044,0.055,2766,3456,1779
$STATE,2726,end climb,SURFACE_DEPTH_REACHED
$STATE,2726,begin surface coast
$FINISH,1.0,1.017498
$STATE,2740,end surface coast,CONTROL_FINISHED_OK
$STATE,2740,begin surface
$SM_CCo,2765,59.20,0.603,0,0,1283,500.17
$SM_GC,0.45,0.00,0.00,59.20,0.000,0.000,0.603,44,2042,1283,-11.07,-0.28,500.17
$IRIDIUM_FIX,4751.72,-12221.84,100108,141423
$TT8_MAMPS,0.026078
$HUMID,1623
$INTERNAL_PRESSURE,8.78183
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,91.2,30.2
$24V_AH,23.4,2.103
$10V_AH,10.1,0.824
$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,27.475,40.325,404.975,59.200,0.000,40.197,35.514,93.142,1.250,0.000,0.000,35.366,389.368,1357.003,451.026,643.075,274.539,33.324,830.478,0.000,621.021,0.000,10.016
$DEVICE_MAMPS,158.769,75.933,737.854,602.862,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,176.194,170.091,489.137,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12847,252
$CFSIZE,260165632,257839104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,100108,121308,4807.385,-12223.067,37,1.8,37,18.3