version: 66.02
glider: 106
mission: 7
dive: 103
start: 9 28 107 15 56 5
data:
$ID,106
$MISSION,7
$DIVE,103
$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,-45262.266
$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,17
$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
$GPS1,154338,4739.568,-12252.996,12,1.1,29,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-60.9
$GPS2,155459,4739.583,-12252.893,11,3.0,30,18.3
$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,2679.6,57.9,-53.6,-3548.0,71.5
$KALMAN_Y,1478.5,-43.6,-101.5,-1670.3,58.6
$MHEAD_RNG_PITCHd_Wd,220.9,442,-19.2,-9.524
$D_GRID,120
$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,-122.2,0.0,0.0,0,93,0.00,0.00,-67.50,0.000,2,0.000,0.000,465,1814,3069
$GC,96,-1.63,-122.2,2.2,-4.3,11,139,14.95,2.50,-21.88,0.000,4,0.217,0.060,2742,3208,3718
$GC,212,-1.63,-122.2,7.8,-6.3,29,218,0.00,2.50,0.00,0.000,6,0.000,0.038,2743,1794,3720
$GC,284,-1.63,-122.2,13.0,-7.1,40,289,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,1794,3720
$GC,355,-1.63,-122.2,17.0,-5.6,51,361,0.00,2.62,0.00,0.000,4,0.000,0.072,2743,395,3721
$GC,400,-1.63,-122.2,19.8,-6.6,58,407,0.00,2.45,0.00,0.000,6,0.000,0.034,2743,1810,3721
$GC,470,-1.63,-122.2,23.7,-5.7,64,471,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,1810,3722
$GC,660,-1.63,-122.2,34.3,-5.4,79,664,0.00,2.67,0.00,0.000,4,0.000,0.070,2743,394,3722
$GC,745,-1.63,-122.2,39.6,-6.0,85,749,0.00,2.42,0.00,0.000,6,0.000,0.034,2743,1799,3722
$GC,940,-1.63,-122.2,50.9,-5.9,100,941,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,1802,3722
$GC,1132,-1.63,-122.2,62.7,-6.3,115,1133,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,1802,3722
$GC,1320,-1.63,-122.2,74.0,-6.0,130,1324,0.00,2.50,0.00,0.000,4,0.000,0.050,2743,3195,3722
$GC,1357,-1.63,-122.2,76.5,-6.2,132,1364,0.00,2.50,0.00,0.000,6,0.000,0.038,2743,1800,3722
$GC,1553,-1.63,-122.2,87.5,-5.5,148,1558,0.00,2.65,0.00,0.000,4,0.000,0.074,2743,391,3722
$GC,1631,-1.63,-122.2,91.8,-5.9,153,1639,0.00,2.47,0.00,0.000,6,0.000,0.035,2743,1801,3722
$STATE,1801,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1801,begin apogee
$GC,1806,-0.38,0.0,100.6,5.1,167,1912,1.35,0.00,98.18,0.677,6,0.100,0.000,3012,1720,3218
$STATE,1912,end apogee,CONTROL_FINISHED_OK
$STATE,1912,begin climb
$GC,1914,1.63,122.2,100.9,0.0,176,2019,1.98,2.70,95.05,0.647,4,0.054,0.077,3460,334,2718
$GC,2036,1.63,122.2,90.1,11.9,185,2044,0.00,2.50,0.00,0.000,6,0.000,0.035,3460,1727,2716
$GC,2233,1.63,122.2,65.3,12.5,201,2237,0.00,2.67,0.00,0.000,4,0.000,0.077,3460,340,2716
$GC,2277,1.63,122.2,59.6,12.6,204,2286,0.00,2.47,0.00,0.000,6,0.000,0.035,3460,1730,2716
$GC,2474,1.63,122.2,36.2,11.9,220,2478,0.00,2.67,0.00,0.000,4,0.000,0.077,3460,339,2717
$GC,2505,1.63,122.2,32.0,13.1,222,2513,0.00,2.47,0.00,0.000,6,0.000,0.035,3460,1734,2716
$GC,2707,1.63,122.2,9.7,10.9,244,2713,0.00,2.67,0.00,0.000,4,0.000,0.077,3460,341,2716
$STATE,2750,end climb,SURFACE_DEPTH_REACHED
$STATE,2750,begin surface coast
$FINISH,1.5,1.020978
$STATE,2798,end surface coast,CONTROL_FINISHED_OK
$STATE,2798,begin surface
$SM_CCo,2825,120.10,0.581,0,0,1586,400.08
$SM_GC,0.99,0.00,0.00,120.10,0.000,0.000,0.581,464,1819,1586,-12.13,0.54,400.08
$IRIDIUM_FIX,4719.74,-12254.47,280907,191926
$TT8_MAMPS,0.06903
$HUMID,2041
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.1,51.2
$24V_AH,23.4,14.460
$10V_AH,10.1,36.100
$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,32.125,46.250,193.225,120.100,0.000,117.873,193.398,121.957,0.500,19.160,3736.840,30.946,487.510,1697.826,439.961,489.733,540.072,33.331,725.649,0.000,443.312,0.000,5.484
$DEVICE_MAMPS,217.061,77.467,677.261,581.386,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,172.672,0.000,0.000,0.000,0.000,0.000,0.000,3756.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6451,258
$CFSIZE,260034560,253931520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280907,164607,4739.512,-12253.144,13,2.0,23,18.3