version: 66.02
glider: 104
mission: 2
dive: 18
start: 1 10 108 12 18 39
data:
$ID,104
$MISSION,2
$DIVE,18
$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,-33905.703
$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,24
$R_STBD_OVSHOOT,23
$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
$GPS1,121308,4807.385,-12223.067,37,1.8,37,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.42
$_SM_ANGLEo,-64.0
$GPS2,121748,4807.468,-12223.146,14,1.3,23,18.3
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.133,-0.206
$KALMAN_X,-6125.0,350.5,77.1,6358.8,-547.7
$KALMAN_Y,9191.1,-759.6,231.8,-9876.4,1013.9
$MHEAD_RNG_PITCHd_Wd,128.9,885,-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,-146.6,0.0,0.0,0,94,0.00,0.00,-67.68,0.000,2,0.000,0.000,44,2042,2638
$GC,98,-1.17,-146.6,3.2,-6.2,12,151,12.23,2.58,-32.72,0.000,4,0.159,0.068,2189,3454,3922
$GC,209,-1.17,-146.6,12.9,-6.1,31,215,0.00,2.45,0.00,0.000,6,0.000,0.041,2189,2053,3922
$GC,286,-1.17,-146.6,18.0,-7.0,44,292,0.00,2.58,0.00,0.000,4,0.000,0.065,2189,650,3922
$GC,367,-1.17,-146.6,24.2,-7.9,54,371,0.00,2.45,0.00,0.000,6,0.000,0.041,2189,2052,3922
$GC,565,-1.17,-146.6,39.4,-7.8,72,566,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,2052,3921
$GC,765,-1.17,-146.6,54.4,-7.2,88,767,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,2052,3921
$GC,1074,-1.17,-146.6,75.4,-6.7,103,1079,0.00,2.55,0.00,0.000,4,0.000,0.061,2189,650,3921
$GC,1164,-1.17,-146.6,81.9,-7.1,107,1168,0.00,2.45,0.00,0.000,6,0.000,0.041,2189,2051,3921
$GC,1486,-1.17,-146.6,102.5,-6.3,124,1487,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,2051,3921
$STATE,1632,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1632,begin apogee
$GC,1638,-0.33,0.0,112.4,7.0,138,1757,0.88,0.00,115.43,0.732,6,0.078,0.000,2373,2051,3322
$STATE,1758,end apogee,CONTROL_FINISHED_OK
$STATE,1758,begin climb
$GC,1761,1.17,146.6,114.2,0.0,150,1883,1.48,2.62,115.30,0.700,4,0.048,0.061,2702,646,2724
$GC,1896,1.17,146.6,101.7,14.1,163,1900,0.00,2.47,0.00,0.000,6,0.000,0.039,2702,2056,2723
$GC,2223,1.17,146.6,55.3,13.8,179,2227,0.00,2.58,0.00,0.000,4,0.000,0.061,2702,650,2723
$GC,2262,1.17,146.6,49.9,13.9,181,2267,0.00,2.45,0.00,0.000,6,0.000,0.039,2702,2060,2723
$GC,2461,1.17,146.6,23.4,13.2,199,2466,0.00,2.58,0.00,0.000,4,0.000,0.061,2702,650,2723
$GC,2537,1.17,146.6,13.0,13.2,209,2543,0.00,2.45,0.00,0.000,6,0.000,0.038,2702,2057,2722
$GC,2612,1.28,240.0,6.2,4.6,222,2694,0.12,2.60,72.50,0.637,4,0.052,0.055,2737,3463,2343
$GC,2786,1.51,425.9,4.8,1.2,252,2897,0.17,2.47,104.47,0.623,2,0.047,0.040,2783,2043,1725
$STATE,2897,end climb,SURFACE_DEPTH_REACHED
$STATE,2897,begin surface coast
$FINISH,-0.5,1.018322
$STATE,2948,end surface coast,CONTROL_FINISHED_OK
$STATE,2948,begin surface
$SM_CCo,2970,52.83,0.606,0,0,1282,500.17
$SM_GC,0.11,0.00,0.00,52.83,0.000,0.000,0.606,41,2040,1282,-11.08,-0.34,500.17
$IRIDIUM_FIX,4748.51,-12224.57,100108,151504
$TT8_MAMPS,0.026078
$HUMID,1623
$INTERNAL_PRESSURE,8.77207
$TCM_TEMP,16.30
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,80.2,42.2
$24V_AH,23.4,2.200
$10V_AH,10.1,0.866
$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,27.300,35.275,407.700,52.825,0.000,39.605,46.916,96.324,1.250,0.000,0.000,24.837,421.034,1470.880,455.280,672.654,290.975,33.319,833.601,0.000,664.048,0.000,8.522
$DEVICE_MAMPS,158.769,68.263,732.485,605.930,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,198.454,190.746,542.960,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12795,280
$CFSIZE,260165632,257810432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,100108,131002,4807.408,-12222.929,13,1.2,30,18.3