version: 66.02
glider: 106
mission: 7
dive: 84
start: 9 27 107 22 6 53
data:
$ID,106
$MISSION,7
$DIVE,84
$D_SURF,5
$D_FLARE,2
$D_TGT,100
$D_ABORT,1050
$D_NO_BLEED,200
$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,35
$T_MISSION,70
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,120
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,125
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51341
$NAV_MODE,1
$FERRY_MAX,0
$KALMAN_USE,1
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.650002
$TGT_DEFAULT_LON,-122.8667
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$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,150000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-44861.043
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,460
$PITCH_MAX,3783
$C_PITCH,3100
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,13
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,125
$PITCH_MAXERRORS,2
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,156
$ROLL_MAX,3859
$C_ROLL_DIVE,1800
$C_ROLL_CLIMB,1735
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,16
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,735
$VBD_MAX,3975
$C_VBD,3218
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$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,-7.4494777
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,25
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,50
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,2
$SMARTDEVICE1,5
$SMARTDEVICE2,19
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043539782
$SEABIRD_T_H,0.00064512313
$SEABIRD_T_I,2.5114456e-05
$SEABIRD_T_J,2.5805668e-06
$SEABIRD_C_G,-9.960248
$SEABIRD_C_H,1.1215916
$SEABIRD_C_I,-0.00087542483
$SEABIRD_C_J,0.00015764491
$GPS1,220009,4739.384,-12252.953,10,1.8,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-63.4
$GPS2,220547,4739.375,-12252.973,15,3.0,34,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.207,0.113
$KALMAN_X,2076.8,19.2,38.4,-3092.4,-61.0
$KALMAN_Y,1568.9,-54.7,12.0,-2241.9,-149.6
$MHEAD_RNG_PITCHd_Wd,43.0,733,-19.2,-9.524
$D_GRID,116
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,22,-1.63,-122.2,0.0,0.0,0,85,0.00,0.00,-60.80,0.000,2,0.000,0.000,463,1796,2933
$GC,88,-1.63,-122.2,2.2,-4.7,10,143,15.07,2.60,-32.40,0.000,4,0.217,0.061,2739,3207,3719
$GC,354,-1.63,-122.2,16.6,-5.2,51,361,0.00,2.53,0.00,0.000,6,0.000,0.038,2739,1795,3721
$GC,426,-1.63,-122.2,20.3,-5.5,62,431,0.00,2.70,0.00,0.000,4,0.000,0.076,2739,396,3721
$GC,472,-1.63,-122.2,22.9,-5.8,65,476,0.00,2.58,0.00,0.000,6,0.000,0.035,2739,1805,3721
$GC,674,-1.63,-122.2,35.0,-6.1,81,678,0.00,2.53,0.00,0.000,4,0.000,0.050,2739,3195,3721
$GC,766,-1.63,-122.2,40.7,-5.9,88,770,0.00,2.53,0.00,0.000,6,0.000,0.040,2739,1794,3722
$GC,968,-1.63,-122.2,52.6,-5.7,104,969,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1793,3721
$GC,1158,-1.63,-122.2,64.2,-6.2,119,1162,0.00,2.58,0.00,0.000,4,0.000,0.050,2739,3198,3722
$GC,1262,-1.63,-122.2,70.6,-5.9,126,1269,0.00,2.55,0.00,0.000,6,0.000,0.040,2739,1797,3722
$GC,1458,-1.63,-122.2,81.6,-5.5,142,1459,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1797,3722
$GC,1650,-1.63,-122.2,93.2,-7.2,157,1654,0.00,2.70,0.00,0.000,4,0.000,0.076,2739,396,3722
$GC,1689,-1.63,-122.2,96.1,-7.1,159,1695,0.00,2.55,0.00,0.000,6,0.000,0.037,2739,1799,3722
$STATE,1756,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1756,begin apogee
$GC,1761,-0.38,0.0,100.4,6.1,165,1867,1.40,0.00,98.65,0.677,6,0.104,0.000,3014,1720,3216
$STATE,1868,end apogee,CONTROL_FINISHED_OK
$STATE,1868,begin climb
$GC,1870,1.63,122.2,101.3,0.0,174,1976,2.03,2.65,95.05,0.651,4,0.053,0.052,3459,3124,2717
$GC,2007,1.63,122.2,89.5,11.9,185,2015,0.00,2.53,0.00,0.000,6,0.000,0.041,3459,1744,2716
$GC,2204,1.63,122.2,66.2,12.4,201,2208,0.00,2.75,0.00,0.000,4,0.000,0.086,3459,330,2716
$GC,2248,1.63,122.2,60.2,13.7,204,2256,0.00,2.50,0.00,0.000,6,0.000,0.037,3459,1730,2716
$GC,2445,1.63,122.2,36.8,11.7,220,2446,0.00,0.00,0.00,0.000,6,0.000,0.000,3459,1733,2716
$GC,2636,1.63,122.2,15.0,11.1,238,2641,0.00,0.00,0.00,0.000,6,0.000,0.000,3459,1733,2716
$GC,2707,1.63,122.2,7.0,10.3,249,2712,0.00,0.00,0.00,0.000,6,0.000,0.000,3460,1733,2716
$STATE,2730,end climb,SURFACE_DEPTH_REACHED
$STATE,2730,begin surface coast
$FINISH,0.8,1.020532
$STATE,2791,end surface coast,CONTROL_FINISHED_OK
$STATE,2792,begin surface
$SM_CCo,2816,119.57,0.584,0,0,1586,400.08
$SM_GC,0.99,0.00,0.00,119.57,0.000,0.000,0.584,460,1799,1586,-12.14,-0.03,400.08
$IRIDIUM_FIX,4722.92,-12254.47,280907,010125
$TT8_MAMPS,0.075933
$HUMID,2049
$INTERNAL_PRESSURE,8.42806
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.4,51.4
$24V_AH,23.8,12.895
$10V_AH,10.1,34.768
$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,32.175,36.500,193.700,119.575,0.000,39.934,36.769,136.455,0.500,0.000,3382.000,35.241,490.670,1570.031,441.064,497.218,303.739,33.327,720.543,0.000,447.707,0.000,6.357
$DEVICE_MAMPS,217.061,85.904,677.261,583.687,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,175.527,0.000,0.000,0.000,0.000,0.000,0.000,3382.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6450,262
$CFSIZE,260034560,254525440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270907,225653,4739.398,-12252.683,11,2.2,30,18.3