version: 66.02
glider: 106
mission: 2
dive: 1
start: 9 16 107 18 11 4
data:
$ID,106
$MISSION,2
$DIVE,1
$D_SURF,2
$D_FLARE,2
$D_TGT,45
$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,15
$T_MISSION,30
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,120
$USE_BATHY,-4
$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,48.133331
$TGT_DEFAULT_LON,-122.4
$TGT_AUTO_DEFAULT,0
$SM_CC,600
$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,1
$CAPMAXSIZE,150000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-29958.656
$T_RSLEEP,5
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,460
$PITCH_MAX,3783
$C_PITCH,2703
$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,2008
$C_ROLL_CLIMB,2008
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,400
$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,-8.2799959
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,25
$ALTIM_TOP_PING_RANGE,10
$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
$GPS1,180524,4807.545,-12223.840,12,3.1,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-56.3
$GPS2,181018,4807.566,-12223.852,16,2.8,35,18.3
$SPEED_LIMITS,0.173,0.240
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.170,-0.169
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,116.6,1487,-20.0,-10.000
$D_GRID,102
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-1.69,-122.2,0.0,0.0,0,144,0.00,0.00,-121.78,0.000,2,0.000,0.000,463,2014,3564
$GC,146,-1.69,-122.2,2.1,-4.1,20,171,12.12,2.58,-4.62,0.000,4,0.211,0.067,2328,3410,3719
$GC,183,-1.69,-122.2,4.9,-7.0,26,190,0.00,2.47,0.00,0.000,6,0.000,0.041,2327,2015,3720
$GC,255,-1.69,-122.2,8.0,-3.6,37,262,0.00,2.55,0.00,0.000,4,0.000,0.053,2327,3416,3721
$GC,314,-1.69,-122.2,9.6,-2.8,46,321,0.00,2.53,0.00,0.000,6,0.000,0.041,2328,2010,3721
$GC,386,-1.69,-122.2,12.3,-3.4,57,392,0.00,2.55,0.00,0.000,4,0.000,0.054,2328,3413,3721
$GC,643,-1.69,-122.2,27.5,-7.6,88,650,0.00,2.50,0.00,0.000,6,0.000,0.042,2328,1997,3723
$GC,838,-1.69,-122.2,43.9,-8.7,104,842,0.00,2.62,0.00,0.000,4,0.000,0.057,2327,3409,3723
$STATE,849,end dive,TARGET_DEPTH_EXCEEDED
$STATE,849,begin apogee
$GC,855,-0.38,0.0,45.0,8.7,105,953,1.65,0.00,93.18,0.666,6,0.163,0.000,2612,2012,3218
$STATE,954,end apogee,CONTROL_FINISHED_OK
$STATE,954,begin climb
$GC,955,1.69,122.2,48.0,0.0,113,1056,2.30,2.78,91.12,0.639,4,0.110,0.077,3068,607,2719
$GC,1306,1.76,176.4,25.9,7.0,140,1352,0.00,2.53,40.12,0.641,6,0.000,0.041,3068,2000,2498
$GC,1546,1.81,221.4,7.9,7.5,170,1585,0.15,2.75,32.92,0.637,4,0.062,0.076,3104,607,2314
$STATE,1629,end climb,SURFACE_DEPTH_REACHED
$STATE,1629,begin surface coast
$FINISH,0.1,1.019802
$STATE,1663,end surface coast,CONTROL_FINISHED_OK
$STATE,1663,begin surface
$SM_CCo,1688,163.27,0.592,0,0,771,600.00
$SM_GC,0.63,0.00,0.00,163.27,0.000,0.000,0.592,461,2019,771,-10.31,0.31,600.00
$IRIDIUM_FIX,4748.51,-12224.57,160907,222217
$TT8_MAMPS,0.070564
$HUMID,1983
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,19.90
$XPDR_PINGS,55
$ALTIM_TOP_PING,9.9,10.4
$ALTIM_BOTTOM_PING,27.5,28.9
$24V_AH,23.8,0.306
$10V_AH,10.0,0.340
$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,28.025,30.950,257.350,163.275,0.000,0.000,0.000,0.000,14.250,30.591,1750.409,35.970,328.012,679.516,530.696,377.601,23.302,29.235,768.648,0.000,347.305,0.000,4.106
$DEVICE_MAMPS,210.925,76.700,665.756,592.124,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,123.409,0.000,0.000,0.000,0.000,0.000,0.000,1781.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3294,188
$CFSIZE,260034560,257818624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,160907,184257,4807.524,-12223.886,13,1.9,30,18.3