version: 66.02
glider: 106
mission: 7
dive: 102
start: 9 28 107 14 52 58
data:
$ID,106
$MISSION,7
$DIVE,102
$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,-45230.691
$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,25
$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
$GPS1,144623,4739.482,-12252.712,16,2.2,35,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-60.7
$GPS2,145151,4739.476,-12252.682,17,1.9,17,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.236,-0.004
$KALMAN_X,2530.7,41.9,-88.0,-3083.4,45.0
$KALMAN_Y,1346.4,-50.3,-132.1,-1696.8,-1.9
$MHEAD_RNG_PITCHd_Wd,250.8,649,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-1.63,-122.2,0.0,0.0,0,92,0.00,0.00,-67.45,0.000,2,0.000,0.000,462,1810,3076
$GC,95,-1.63,-122.2,2.1,-4.3,11,144,15.02,2.60,-24.17,0.000,4,0.219,0.063,2740,3207,3719
$GC,203,-1.63,-122.2,7.5,-6.8,28,210,0.00,2.50,0.00,0.000,6,0.000,0.038,2739,1797,3720
$GC,275,-1.63,-122.2,12.0,-5.6,39,281,0.00,2.55,0.00,0.000,4,0.000,0.048,2740,3207,3721
$GC,354,-1.63,-122.2,16.3,-5.9,51,360,0.00,2.50,0.00,0.000,6,0.000,0.038,2740,1793,3721
$GC,426,-1.63,-122.2,20.1,-5.3,62,430,0.00,2.62,0.00,0.000,4,0.000,0.073,2740,394,3721
$GC,470,-1.63,-122.2,22.5,-5.2,65,478,0.00,2.50,0.00,0.000,6,0.000,0.035,2740,1811,3721
$GC,666,-1.63,-122.2,32.9,-5.8,81,668,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,1811,3722
$GC,857,-1.63,-122.2,43.4,-5.4,96,858,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,1811,3722
$GC,1045,-1.63,-122.2,53.8,-5.6,111,1046,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1812,3722
$GC,1235,-1.63,-122.2,65.0,-5.8,126,1237,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,1812,3722
$GC,1426,-1.63,-122.2,76.1,-5.9,141,1430,0.00,2.47,0.00,0.000,4,0.000,0.051,2740,3192,3722
$GC,1517,-1.63,-122.2,81.7,-6.3,147,1524,0.00,2.50,0.00,0.000,6,0.000,0.039,2740,1797,3722
$GC,1713,-1.63,-122.2,92.9,-6.0,163,1717,0.00,2.65,0.00,0.000,4,0.000,0.074,2740,391,3722
$GC,1804,-1.63,-122.2,98.8,-6.3,169,1811,0.00,2.47,0.00,0.000,6,0.000,0.035,2740,1799,3722
$STATE,1834,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1835,begin apogee
$GC,1839,-0.38,0.0,100.6,5.7,172,1946,1.38,0.00,98.28,0.678,6,0.107,0.000,3011,1729,3217
$STATE,1946,end apogee,CONTROL_FINISHED_OK
$STATE,1947,begin climb
$GC,1948,1.63,122.2,101.4,0.0,181,2052,2.03,2.60,95.53,0.650,4,0.055,0.053,3460,3129,2718
$GC,2083,1.63,122.2,89.2,12.3,191,2091,0.00,2.53,0.00,0.000,6,0.000,0.041,3460,1749,2717
$GC,2280,1.63,122.2,65.8,11.9,207,2284,0.00,2.75,0.00,0.000,4,0.000,0.082,3460,326,2717
$GC,2345,1.63,122.2,57.3,12.9,212,2350,0.00,2.47,0.00,0.000,6,0.000,0.035,3460,1734,2716
$GC,2547,1.63,122.2,33.7,11.6,228,2552,0.00,2.72,0.00,0.000,4,0.000,0.076,3460,328,2716
$GC,2600,1.63,122.2,27.4,12.1,232,2604,0.00,2.47,0.00,0.000,6,0.000,0.036,3460,1736,2716
$GC,2801,1.63,122.2,6.1,10.6,257,2808,0.00,2.70,0.00,0.000,4,0.000,0.077,3460,330,2716
$STATE,2812,end climb,SURFACE_DEPTH_REACHED
$STATE,2812,begin surface coast
$FINISH,3.4,1.021943
$STATE,2826,end surface coast,CONTROL_FINISHED_OK
$STATE,2827,begin surface
$SM_CCo,2855,122.18,0.581,0,0,1586,400.08
$SM_GC,0.92,0.00,0.00,122.18,0.000,0.000,0.581,465,1814,1586,-12.12,0.40,400.08
$IRIDIUM_FIX,4722.92,-12249.11,280907,171733
$TT8_MAMPS,0.068263
$HUMID,2028
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,19.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.2,51.2
$24V_AH,23.9,14.372
$10V_AH,10.1,36.022
$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,32.700,46.400,193.800,122.175,0.000,41.210,37.485,138.158,0.500,20.030,3413.970,18.001,495.781,1590.371,452.946,478.589,317.359,33.327,734.135,0.000,446.667,0.000,5.483
$DEVICE_MAMPS,219.362,82.069,678.028,581.386,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,174.845,0.000,0.000,0.000,0.000,0.000,0.000,3434.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6426,261
$CFSIZE,260034560,253964288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280907,154338,4739.568,-12252.996,12,1.1,29,18.3