version: 66.02
glider: 106
mission: 2
dive: 6
start: 9 16 107 21 57 40
data:
$ID,106
$MISSION,2
$DIVE,6
$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,50
$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,200
$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,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,150000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-30236.246
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,460
$PITCH_MAX,3783
$C_PITCH,3040
$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,21
$R_STBD_OVSHOOT,20
$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
$GPS1,215133,4807.213,-12223.354,9,1.8,9,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.52
$_SM_ANGLEo,-60.8
$GPS2,215644,4807.233,-12223.354,16,1.5,33,18.3
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.215,-0.204
$KALMAN_X,-180.2,-108.1,-80.3,983.9,-6.3
$KALMAN_Y,180.6,121.1,93.2,-1012.8,-0.9
$MHEAD_RNG_PITCHd_Wd,115.2,616,-15.7,-10.000
$D_GRID,103
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-1.45,-195.5,0.0,0.0,0,133,0.00,0.00,-109.93,0.000,2,0.000,0.000,461,2007,3763
$GC,135,-1.45,-195.5,2.1,-1.7,18,161,14.50,2.67,-5.32,0.000,4,0.203,0.071,2719,3416,3978
$GC,325,-1.45,-195.5,16.1,-6.0,47,332,0.00,2.55,0.00,0.000,6,0.000,0.044,2720,2006,3981
$GC,397,-1.45,-195.5,20.0,-5.5,58,403,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2006,3981
$GC,466,-1.45,-195.5,23.6,-5.2,64,467,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2006,3981
$GC,655,-1.45,-195.5,34.1,-5.7,79,659,0.00,2.65,0.00,0.000,4,0.000,0.060,2721,3421,3981
$GC,694,-1.45,-195.5,36.4,-6.1,82,698,0.00,2.55,0.00,0.000,6,0.000,0.044,2719,2009,3982
$STATE,856,end dive,TARGET_DEPTH_EXCEEDED
$STATE,857,begin apogee
$GC,860,-0.38,0.0,45.5,5.5,95,1010,1.15,0.00,145.88,0.634,6,0.087,0.000,2951,2009,3218
$STATE,1012,end apogee,CONTROL_FINISHED_OK
$STATE,1012,begin climb
$GC,1013,1.45,195.5,47.1,0.0,107,1171,1.83,2.75,148.35,0.613,4,0.054,0.076,3359,607,2420
$GC,1262,1.45,195.5,19.4,14.0,127,1269,0.00,2.55,0.00,0.000,6,0.000,0.042,3358,2003,2419
$GC,1334,1.45,195.5,10.2,12.6,138,1342,0.00,2.75,0.00,0.000,4,0.000,0.073,3358,606,2418
$STATE,1399,end climb,SURFACE_DEPTH_REACHED
$STATE,1399,begin surface coast
$FINISH,0.5,1.019906
$STATE,1415,end surface coast,CONTROL_FINISHED_OK
$STATE,1415,begin surface
$SM_CCo,1440,130.38,0.578,0,0,1178,500.17
$SM_GC,0.45,0.00,0.00,130.38,0.000,0.000,0.578,460,2012,1178,-11.87,0.11,500.17
$IRIDIUM_FIX,4748.51,-12221.84,170907,010158
$TT8_MAMPS,0.069797
$HUMID,2102
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,9.5,9.2
$ALTIM_BOTTOM_PING,27.7,29.3
$24V_AH,23.2,0.875
$10V_AH,10.0,0.637
$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,30.700,21.050,294.225,130.375,0.000,39.459,40.191,128.600,0.500,205.341,1767.659,33.311,268.582,561.365,529.252,296.068,248.814,33.326,719.888,0.000,257.529,0.000,4.109
$DEVICE_MAMPS,203.255,75.933,633.542,577.551,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,98.244,0.000,0.000,0.000,0.000,0.000,0.000,1973.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3300,150
$CFSIZE,260034560,257691648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,160907,222433,4807.149,-12223.226,11,1.8,11,18.3