version: 66.02
glider: 106
mission: 7
dive: 124
start: 9 29 107 11 15 11
data:
$ID,106
$MISSION,7
$DIVE,124
$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,-45682.238
$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,18
$R_STBD_OVSHOOT,33
$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
$GPS1,110856,4739.450,-12252.453,14,1.7,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-62.7
$GPS2,111403,4739.432,-12252.455,14,1.7,14,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.221,0.083
$KALMAN_X,2619.9,-42.0,-49.8,-2841.4,-113.1
$KALMAN_Y,2654.9,188.1,42.0,-3495.0,-136.1
$MHEAD_RNG_PITCHd_Wd,272.4,934,-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,24,-1.63,-122.2,0.0,0.0,0,87,0.00,0.00,-61.40,0.000,2,0.000,0.000,462,1807,2960
$GC,90,-1.63,-122.2,2.2,-4.3,10,140,14.82,2.58,-29.80,0.000,4,0.215,0.061,2739,3198,3719
$GC,167,-1.63,-122.2,4.1,-6.2,22,173,0.00,2.50,0.00,0.000,6,0.000,0.038,2739,1785,3720
$GC,239,-1.63,-122.2,7.7,-5.3,33,245,0.00,2.62,0.00,0.000,4,0.000,0.074,2739,400,3720
$GC,450,-1.63,-122.2,19.9,-4.9,65,456,0.00,2.45,0.00,0.000,6,0.000,0.033,2739,1811,3722
$GC,519,-1.63,-122.2,23.2,-4.7,71,523,0.00,2.47,0.00,0.000,4,0.000,0.049,2738,3192,3722
$GC,565,-1.63,-122.2,25.7,-5.1,74,569,0.00,2.47,0.00,0.000,6,0.000,0.037,2739,1791,3722
$GC,760,-1.63,-122.2,36.2,-5.3,89,761,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1791,3722
$GC,952,-1.63,-122.2,46.5,-5.5,104,956,0.00,2.53,0.00,0.000,4,0.000,0.048,2739,3194,3722
$GC,1023,-1.63,-122.2,51.3,-6.8,109,1027,0.00,2.45,0.00,0.000,6,0.000,0.038,2739,1802,3722
$GC,1225,-1.63,-122.2,64.5,-6.2,125,1226,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1802,3722
$GC,1415,-1.63,-122.2,76.5,-6.5,140,1417,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1802,3722
$GC,1605,-1.63,-122.2,87.7,-5.7,155,1606,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1802,3722
$GC,1794,-1.63,-122.2,99.7,-6.4,170,1795,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1802,3722
$STATE,1805,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1805,begin apogee
$GC,1810,-0.38,0.0,100.5,6.4,171,1915,1.38,0.00,98.15,0.680,6,0.104,0.000,3012,1728,3217
$STATE,1916,end apogee,CONTROL_FINISHED_OK
$STATE,1916,begin climb
$GC,1918,1.63,122.2,101.8,0.0,180,2022,1.98,2.72,94.93,0.653,4,0.056,0.078,3458,332,2718
$GC,2066,1.63,122.2,89.2,11.8,191,2074,0.00,2.50,0.00,0.000,6,0.000,0.035,3458,1727,2717
$GC,2263,1.63,122.2,66.9,11.3,207,2264,0.00,0.00,0.00,0.000,6,0.000,0.000,3458,1727,2717
$GC,2453,1.63,122.2,45.2,11.4,222,2458,0.00,2.67,0.00,0.000,4,0.000,0.077,3458,337,2716
$GC,2498,1.63,122.2,39.8,11.9,225,2503,0.00,2.45,0.00,0.000,6,0.000,0.035,3458,1737,2716
$GC,2695,1.63,122.2,17.6,11.2,242,2700,0.00,0.00,0.00,0.000,6,0.000,0.000,3458,1739,2716
$GC,2766,1.63,122.2,10.2,10.5,253,2773,0.00,2.70,0.00,0.000,4,0.000,0.078,3458,333,2716
$GC,2811,1.63,122.2,5.4,10.9,260,2818,0.00,2.45,0.00,0.000,6,0.000,0.036,3458,1739,2716
$STATE,2822,end climb,SURFACE_DEPTH_REACHED
$STATE,2822,begin surface coast
$FINISH,0.4,1.002845
$STATE,2884,end surface coast,CONTROL_FINISHED_OK
$STATE,2884,begin surface
$SM_CCo,2909,119.75,0.584,0,0,1586,400.08
$SM_GC,1.04,0.00,0.00,119.75,0.000,0.000,0.584,464,1801,1586,-12.13,0.03,400.08
$IRIDIUM_FIX,4722.92,-12247.38,290907,141432
$TT8_MAMPS,0.06903
$HUMID,2034
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.4,51.4
$24V_AH,23.9,16.085
$10V_AH,10.1,37.543
$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,31.800,35.775,193.075,119.750,0.000,40.259,32.337,125.138,0.500,0.000,3470.000,14.293,510.230,1645.927,421.523,480.762,308.330,33.330,708.972,0.000,452.332,0.000,5.488
$DEVICE_MAMPS,214.760,83.603,680.329,583.687,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,181.831,0.000,0.000,0.000,0.000,0.000,0.000,3470.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6473,271
$CFSIZE,260034560,253280256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290907,120627,4739.493,-12252.988,14,1.9,14,18.3