version: 66.02
glider: 106
mission: 7
dive: 78
start: 9 27 107 16 49 4
data:
$ID,106
$MISSION,7
$DIVE,78
$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,-44714.777
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,460
$PITCH_MAX,3783
$C_PITCH,3080
$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,1990
$C_ROLL_CLIMB,1930
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,16
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,28
$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
$GPS1,164145,4739.452,-12253.131,12,1.4,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-64.1
$GPS2,164757,4739.446,-12253.150,16,1.4,16,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.233,-0.038
$KALMAN_X,2238.3,-1.9,-3.5,-3415.5,71.0
$KALMAN_Y,2121.0,-4.0,-2.8,-2699.3,102.4
$MHEAD_RNG_PITCHd_Wd,81.0,935,-19.2,-9.524
$D_GRID,117
$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,23,-1.63,-122.2,0.0,0.0,0,87,0.00,0.00,-61.78,0.000,2,0.000,0.000,462,2002,2978
$GC,90,-1.63,-122.2,2.3,-4.2,10,138,15.32,0.00,-25.95,0.000,6,0.219,0.000,2721,2002,3719
$GC,203,-1.63,-122.2,9.2,-8.2,28,210,0.00,2.75,0.00,0.000,4,0.000,0.066,2722,589,3720
$GC,368,-1.63,-122.2,19.4,-5.6,53,374,0.00,2.53,0.00,0.000,6,0.000,0.034,2722,2001,3721
$GC,437,-1.63,-122.2,23.0,-5.3,60,442,0.00,2.67,0.00,0.000,4,0.000,0.064,2722,592,3721
$GC,515,-1.63,-122.2,27.9,-6.4,65,523,0.00,2.47,0.00,0.000,6,0.000,0.034,2722,1981,3721
$GC,711,-1.63,-122.2,39.3,-5.7,81,713,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1981,3722
$GC,906,-1.63,-122.2,50.6,-5.9,96,910,0.00,2.55,0.00,0.000,4,0.000,0.055,2722,3388,3722
$GC,930,-1.63,-122.2,52.5,-6.4,97,938,0.00,2.47,0.00,0.000,6,0.000,0.038,2722,1998,3722
$GC,1127,-1.63,-122.2,64.9,-6.2,113,1131,0.00,2.62,0.00,0.000,4,0.000,0.069,2721,592,3722
$GC,1167,-1.63,-122.2,67.3,-6.4,116,1172,0.00,2.45,0.00,0.000,6,0.000,0.035,2722,1991,3722
$GC,1362,-1.63,-122.2,78.7,-5.9,131,1363,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1991,3722
$GC,1552,-1.63,-122.2,90.0,-5.8,146,1556,0.00,2.53,0.00,0.000,4,0.000,0.056,2722,3390,3722
$GC,1597,-1.63,-122.2,92.8,-6.9,149,1601,0.00,2.47,0.00,0.000,6,0.000,0.039,2722,1982,3722
$STATE,1709,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1709,begin apogee
$GC,1714,-0.38,0.0,100.3,6.7,158,1820,1.38,0.00,98.18,0.676,6,0.107,0.000,2992,1925,3217
$STATE,1821,end apogee,CONTROL_FINISHED_OK
$STATE,1821,begin climb
$GC,1823,1.63,122.2,102.4,0.0,167,1923,2.05,0.00,94.97,0.654,6,0.056,0.000,3439,1924,2718
$GC,2106,1.63,122.2,75.7,11.2,190,2110,0.00,2.65,0.00,0.000,4,0.000,0.075,3439,537,2717
$GC,2150,1.63,122.2,70.1,12.2,193,2158,0.00,2.47,0.00,0.000,6,0.000,0.035,3439,1926,2717
$GC,2346,1.63,122.2,47.8,11.2,209,2351,0.00,2.65,0.00,0.000,4,0.000,0.071,3439,535,2717
$GC,2412,1.63,122.2,40.0,12.0,214,2416,0.00,2.47,0.00,0.000,6,0.000,0.036,3439,1924,2716
$GC,2608,1.63,122.2,17.9,10.6,230,2615,0.00,2.65,0.00,0.000,4,0.000,0.072,3439,533,2717
$STATE,2733,end climb,SURFACE_DEPTH_REACHED
$STATE,2733,begin surface coast
$FINISH,0.6,1.020103
$STATE,2806,end surface coast,CONTROL_FINISHED_OK
$STATE,2806,begin surface
$SM_CCo,2833,121.40,0.584,0,0,1587,400.08
$SM_GC,1.08,0.00,0.00,121.40,0.000,0.000,0.584,462,1998,1587,-12.04,0.20,400.08
$IRIDIUM_FIX,4722.92,-12249.11,270907,191905
$TT8_MAMPS,0.069797
$HUMID,2033
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.6,51.4
$24V_AH,23.9,12.437
$10V_AH,10.1,34.369
$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,32.500,41.125,193.150,121.400,0.000,41.350,35.946,185.168,0.500,0.000,3442.000,16.253,492.058,1601.221,440.761,466.684,355.945,33.331,710.278,0.000,434.863,0.000,6.228
$DEVICE_MAMPS,219.362,95.108,675.727,584.454,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,174.396,0.000,0.000,0.000,0.000,0.000,0.000,3442.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6469,260
$CFSIZE,260034560,254701568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270907,173923,4739.404,-12252.689,12,4.8,31,18.3