version: 66.02
glider: 106
mission: 7
dive: 168
start: 10 1 107 3 18 13
data:
$ID,106
$MISSION,7
$DIVE,168
$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,-46684.055
$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,30
$R_STBD_OVSHOOT,36
$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
$GPS1,030751,4739.509,-12252.385,10,1.2,10,18.3
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-61.8
$GPS2,031707,4739.610,-12252.233,15,1.4,31,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.159,-0.174
$KALMAN_X,6834.5,220.5,-36.9,-7060.9,131.2
$KALMAN_Y,10045.9,210.5,-7.6,-10536.2,108.1
$MHEAD_RNG_PITCHd_Wd,204.1,338,-19.2,-9.524
$D_GRID,124
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-1.63,-122.2,0.0,0.0,0,107,0.00,0.00,-78.93,0.000,2,0.000,0.000,462,1819,3335
$GC,109,-1.63,-122.2,2.1,-2.8,13,140,14.38,0.00,-12.38,0.000,6,0.203,0.000,2742,1820,3718
$GC,206,-1.63,-122.2,6.9,-5.0,28,212,0.00,2.50,0.00,0.000,4,0.000,0.051,2742,3199,3721
$GC,245,-1.63,-122.2,8.8,-4.6,34,251,0.00,2.47,0.00,0.000,6,0.000,0.036,2742,1800,3721
$GC,317,-1.63,-122.2,12.7,-6.1,45,323,0.00,2.65,0.00,0.000,4,0.000,0.074,2742,400,3722
$GC,382,-1.63,-122.2,16.1,-5.0,55,389,0.00,2.45,0.00,0.000,6,0.000,0.034,2742,1808,3722
$GC,454,-1.63,-122.2,19.7,-5.0,66,461,0.00,2.67,0.00,0.000,4,0.000,0.071,2742,398,3722
$GC,574,-1.63,-122.2,27.8,-7.1,76,578,0.00,2.45,0.00,0.000,6,0.000,0.033,2742,1804,3722
$GC,769,-1.63,-122.2,40.2,-5.8,91,774,0.00,2.50,0.00,0.000,4,0.000,0.050,2742,3198,3722
$GC,820,-1.63,-122.2,43.5,-6.3,94,828,0.00,2.50,0.00,0.000,6,0.000,0.036,2742,1798,3722
$GC,1017,-1.63,-122.2,54.7,-5.3,110,1018,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1797,3722
$GC,1208,-1.63,-122.2,63.8,-4.6,125,1209,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1797,3722
$GC,1397,-1.63,-122.2,72.7,-4.7,140,1401,0.00,2.53,0.00,0.000,4,0.000,0.048,2742,3198,3723
$GC,1461,-1.63,-122.2,75.8,-4.8,144,1468,0.00,2.50,0.00,0.000,6,0.000,0.036,2742,1795,3722
$GC,1658,-1.63,-122.2,84.8,-4.5,160,1659,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1796,3722
$GC,1848,-1.63,-122.2,93.6,-4.5,175,1849,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1796,3723
$STATE,1984,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1984,begin apogee
$GC,1989,-0.38,0.0,100.0,4.9,186,2095,1.38,0.00,98.38,0.682,6,0.107,0.000,3014,1720,3217
$STATE,2096,end apogee,CONTROL_FINISHED_OK
$STATE,2096,begin climb
$GC,2098,1.63,122.2,99.9,0.0,195,2203,2.03,0.00,95.60,0.650,6,0.055,0.000,3456,1720,2717
$GC,2392,1.63,122.2,67.7,12.0,219,2393,0.00,0.00,0.00,0.000,6,0.000,0.000,3455,1720,2716
$GC,2582,1.63,122.2,45.3,11.5,234,2583,0.00,0.00,0.00,0.000,6,0.000,0.000,3456,1720,2715
$GC,2771,1.63,122.2,23.9,10.9,249,2776,0.00,2.65,0.00,0.000,4,0.000,0.081,3456,338,2715
$GC,2856,1.63,122.2,13.4,12.9,258,2863,0.00,2.45,0.00,0.000,6,0.000,0.035,3456,1737,2715
$GC,2928,1.63,122.2,5.8,10.6,269,2935,0.00,2.67,0.00,0.000,4,0.000,0.077,3456,341,2715
$STATE,2939,end climb,SURFACE_DEPTH_REACHED
$STATE,2939,begin surface coast
$FINISH,0.2,1.004638
$STATE,2993,end surface coast,CONTROL_FINISHED_OK
$STATE,2995,begin surface
$SM_CCo,3022,119.30,0.582,0,0,1585,400.08
$SM_GC,0.86,0.00,0.00,119.30,0.000,0.000,0.582,462,1821,1585,-12.13,0.62,400.08
$IRIDIUM_FIX,4722.92,-12256.21,011007,070747
$TT8_MAMPS,0.072098
$HUMID,2022
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.5,51.6
$24V_AH,23.9,19.443
$10V_AH,10.1,40.547
$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,31.025,35.750,193.975,119.300,0.000,82.127,135.318,144.236,0.500,0.000,3812.000,31.870,514.498,1780.521,442.040,501.398,488.405,33.332,721.715,0.000,454.158,0.000,5.484
$DEVICE_MAMPS,203.255,80.535,681.863,582.153,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,187.145,0.000,0.000,0.000,0.000,0.000,0.000,3812.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6456,279
$CFSIZE,260034560,251920384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011007,041155,4739.521,-12252.406,36,1.3,46,18.3