version: 66.02
glider: 106
mission: 7
dive: 71
start: 9 27 107 10 29 28
data:
$ID,106
$MISSION,7
$DIVE,71
$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,-44562.469
$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,33
$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
$GPS1,101837,4739.468,-12252.467,41,0.9,41,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-63.7
$GPS2,102821,4739.445,-12252.456,12,1.5,12,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.225,0.073
$KALMAN_X,1996.5,-23.5,18.0,-2305.5,-97.4
$KALMAN_Y,1890.8,35.1,-6.7,-2506.4,-128.8
$MHEAD_RNG_PITCHd_Wd,269.7,932,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,23,-1.63,-122.2,0.0,0.0,0,81,0.00,0.00,-55.92,0.000,2,0.000,0.000,463,2002,2844
$GC,84,-1.63,-122.2,2.1,-4.1,9,138,14.50,0.00,-35.62,0.000,6,0.210,0.000,2722,2002,3718
$GC,204,-1.63,-122.2,7.3,-7.6,28,210,0.00,2.62,0.00,0.000,4,0.000,0.065,2722,599,3720
$GC,236,-1.63,-122.2,9.6,-7.8,33,243,0.00,2.42,0.00,0.000,6,0.000,0.034,2722,1985,3720
$GC,308,-1.63,-122.2,13.7,-5.4,44,314,0.00,2.53,0.00,0.000,4,0.000,0.054,2722,3387,3720
$GC,418,-1.63,-122.2,20.8,-5.9,60,426,0.00,2.47,0.00,0.000,6,0.000,0.037,2722,1993,3721
$GC,615,-1.63,-122.2,32.5,-6.1,76,619,0.00,2.60,0.00,0.000,4,0.000,0.068,2722,593,3721
$GC,654,-1.63,-122.2,35.1,-6.6,79,658,0.00,2.45,0.00,0.000,6,0.000,0.035,2722,1996,3722
$GC,856,-1.63,-122.2,48.3,-6.8,95,860,0.00,2.62,0.00,0.000,4,0.000,0.067,2722,593,3722
$GC,895,-1.63,-122.2,51.3,-7.5,98,899,0.00,2.47,0.00,0.000,6,0.000,0.036,2722,1991,3722
$GC,1097,-1.63,-122.2,64.6,-6.3,114,1101,0.00,2.62,0.00,0.000,4,0.000,0.067,2722,588,3722
$GC,1155,-1.63,-122.2,68.3,-6.6,118,1163,0.00,2.47,0.00,0.000,6,0.000,0.035,2722,1988,3722
$GC,1352,-1.63,-122.2,80.6,-6.6,134,1353,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1988,3722
$GC,1541,-1.63,-122.2,92.7,-6.3,149,1542,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1988,3722
$STATE,1652,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1652,begin apogee
$GC,1657,-0.38,0.0,100.1,6.6,158,1763,1.35,0.00,98.05,0.676,6,0.100,0.000,2993,1917,3219
$STATE,1764,end apogee,CONTROL_FINISHED_OK
$STATE,1764,begin climb
$GC,1766,1.63,122.2,101.9,0.0,167,1866,1.98,0.00,95.10,0.651,6,0.053,0.000,3438,1918,2719
$GC,2051,1.63,122.2,74.4,11.1,190,2055,0.00,2.65,0.00,0.000,4,0.000,0.073,3438,530,2717
$GC,2103,1.63,122.2,68.5,11.7,194,2107,0.00,2.50,0.00,0.000,6,0.000,0.036,3438,1927,2716
$GC,2305,1.63,122.2,46.4,10.9,210,2309,0.00,2.65,0.00,0.000,4,0.000,0.071,3438,538,2716
$GC,2410,1.63,122.2,34.7,11.1,218,2415,0.00,2.47,0.00,0.000,6,0.000,0.035,3438,1929,2716
$GC,2608,1.64,131.1,16.0,9.1,237,2622,0.00,2.67,6.22,0.683,4,0.000,0.071,3438,533,2683
$GC,2647,1.64,131.1,11.9,10.5,243,2654,0.00,2.47,0.00,0.000,6,0.000,0.035,3438,1938,2683
$STATE,2717,end climb,SURFACE_DEPTH_REACHED
$STATE,2717,begin surface coast
$FINISH,0.7,1.020643
$STATE,2778,end surface coast,CONTROL_FINISHED_OK
$STATE,2778,begin surface
$SM_CCo,2803,115.97,0.587,0,0,1586,400.08
$SM_GC,1.09,0.00,0.00,115.97,0.000,0.000,0.587,461,1998,1586,-12.05,0.23,400.08
$IRIDIUM_FIX,4719.74,-12254.47,270907,141417
$TT8_MAMPS,0.070564
$HUMID,2035
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.3,51.2
$24V_AH,23.8,11.802
$10V_AH,10.1,33.895
$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,31.325,40.925,199.375,115.975,0.000,105.138,147.882,115.314,0.500,4.150,3641.850,12.303,494.860,1682.665,434.171,468.075,453.563,33.331,716.964,0.000,445.501,0.000,5.485
$DEVICE_MAMPS,210.158,88.972,682.630,586.755,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,176.176,0.000,0.000,0.000,0.000,0.000,0.000,3646.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6433,263
$CFSIZE,260034560,254922752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270907,111907,4739.514,-12252.902,11,1.8,27,18.3