version: 66.02
glider: 106
mission: 7
dive: 117
start: 9 29 107 4 28 5
data:
$ID,106
$MISSION,7
$DIVE,117
$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,-45562.387
$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,27
$R_STBD_OVSHOOT,31
$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
$GPS1,042127,4739.627,-12252.609,31,2.2,50,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-62.3
$GPS2,042659,4739.645,-12252.568,15,2.4,34,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.203,-0.121
$KALMAN_X,3106.5,7.8,-57.8,-3514.8,110.4
$KALMAN_Y,2441.1,146.9,-26.1,-2783.4,123.6
$MHEAD_RNG_PITCHd_Wd,220.9,857,-19.2,-9.524
$D_GRID,123
$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,24,-1.63,-122.2,0.0,0.0,0,87,0.00,0.00,-61.30,0.000,2,0.000,0.000,464,1805,2934
$GC,90,-1.63,-122.2,2.0,-3.6,10,145,14.85,2.58,-29.83,0.000,4,0.216,0.061,2740,3201,3719
$GC,170,-1.63,-122.2,4.9,-7.0,23,177,0.00,2.47,0.00,0.000,6,0.000,0.037,2740,1799,3720
$GC,243,-1.63,-122.2,9.2,-6.4,34,249,0.00,2.65,0.00,0.000,4,0.000,0.073,2740,398,3720
$GC,268,-1.63,-122.2,11.1,-7.3,38,275,0.00,2.45,0.00,0.000,6,0.000,0.034,2740,1809,3720
$GC,340,-1.63,-122.2,15.5,-5.7,49,347,0.00,2.50,0.00,0.000,4,0.000,0.050,2740,3201,3721
$GC,359,-1.63,-122.2,16.5,-5.2,52,366,0.00,2.47,0.00,0.000,6,0.000,0.036,2740,1796,3721
$GC,437,-1.63,-122.2,21.0,-5.2,63,438,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,1797,3721
$GC,627,-1.63,-122.2,29.8,-5.0,78,629,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,1797,3722
$GC,818,-1.63,-122.2,39.6,-5.0,93,822,0.00,2.62,0.00,0.000,4,0.000,0.073,2740,400,3722
$GC,850,-1.63,-122.2,41.5,-5.2,95,854,0.00,2.42,0.00,0.000,6,0.000,0.034,2740,1805,3722
$GC,1052,-1.63,-122.2,52.5,-5.5,111,1056,0.00,2.47,0.00,0.000,4,0.000,0.049,2741,3192,3722
$GC,1103,-1.63,-122.2,55.7,-6.4,114,1111,0.00,2.47,0.00,0.000,6,0.000,0.038,2740,1805,3722
$GC,1300,-1.63,-122.2,66.8,-5.7,130,1301,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,1805,3722
$GC,1492,-1.63,-122.2,77.3,-5.7,145,1496,0.00,2.50,0.00,0.000,4,0.000,0.049,2740,3194,3722
$GC,1556,-1.63,-122.2,81.3,-6.0,149,1563,0.00,2.50,0.00,0.000,6,0.000,0.038,2740,1795,3722
$GC,1752,-1.63,-122.2,92.3,-5.4,165,1757,0.00,2.62,0.00,0.000,4,0.000,0.074,2740,396,3722
$GC,1823,-1.63,-122.2,96.8,-6.9,170,1831,0.00,2.45,0.00,0.000,6,0.000,0.035,2740,1794,3722
$STATE,1879,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1879,begin apogee
$GC,1884,-0.38,0.0,100.4,6.6,175,1990,1.38,0.00,98.00,0.680,6,0.103,0.000,3014,1726,3218
$STATE,1991,end apogee,CONTROL_FINISHED_OK
$STATE,1991,begin climb
$GC,1993,1.63,122.2,101.4,0.0,184,2097,1.95,2.70,95.15,0.653,4,0.051,0.077,3456,342,2719
$GC,2111,1.63,122.2,91.4,11.8,193,2115,0.00,2.45,0.00,0.000,6,0.000,0.035,3457,1728,2718
$GC,2313,1.63,122.2,66.9,12.0,209,2317,0.00,2.67,0.00,0.000,4,0.000,0.077,3456,341,2716
$GC,2352,1.63,122.2,61.8,13.2,212,2356,0.00,2.45,0.00,0.000,6,0.000,0.035,3456,1735,2716
$GC,2554,1.63,122.2,38.7,11.1,228,2558,0.00,2.70,0.00,0.000,4,0.000,0.077,3455,333,2716
$GC,2606,1.63,122.2,32.1,12.7,232,2610,0.00,2.45,0.00,0.000,6,0.000,0.035,3456,1736,2716
$GC,2806,1.63,122.2,10.0,10.8,254,2811,0.00,0.00,0.00,0.000,6,0.000,0.000,3456,1738,2715
$STATE,2855,end climb,SURFACE_DEPTH_REACHED
$STATE,2855,begin surface coast
$FINISH,0.5,1.020589
$STATE,2910,end surface coast,CONTROL_FINISHED_OK
$STATE,2910,begin surface
$SM_CCo,2935,119.43,0.586,0,0,1586,400.08
$SM_GC,0.92,0.00,0.00,119.43,0.000,0.000,0.586,461,1811,1586,-12.14,0.31,400.08
$IRIDIUM_FIX,4719.74,-12251.79,290907,070727
$TT8_MAMPS,0.070564
$HUMID,2046
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,19.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.3,51.4
$24V_AH,23.9,15.545
$10V_AH,10.1,37.039
$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,31.800,50.850,193.150,119.425,0.000,40.808,38.389,125.560,0.500,0.000,3538.000,35.370,516.260,1629.215,441.435,511.586,315.833,33.330,742.744,0.000,464.657,0.000,6.412
$DEVICE_MAMPS,215.527,76.700,680.329,585.988,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,180.877,0.000,0.000,0.000,0.000,0.000,0.000,3538.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6428,270
$CFSIZE,260034560,253497344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290907,051944,4739.644,-12252.814,11,1.8,11,18.3