version: 66.02
glider: 106
mission: 7
dive: 162
start: 9 30 107 21 54 24
data:
$ID,106
$MISSION,7
$DIVE,162
$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,-46539.684
$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,28
$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
$GPS1,214745,4739.428,-12252.454,12,1.4,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-57.1
$GPS2,215315,4739.483,-12252.363,15,1.5,15,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.234,-0.033
$KALMAN_X,6079.2,326.2,192.3,-6799.1,51.2
$KALMAN_Y,9138.4,349.8,169.2,-10176.6,58.1
$MHEAD_RNG_PITCHd_Wd,243.6,1047,-19.2,-9.524
$D_GRID,125
$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,-122.2,0.0,0.0,0,104,0.00,0.00,-79.03,0.000,2,0.000,0.000,463,1811,3293
$GC,107,-1.63,-122.2,2.3,-5.1,13,145,14.73,2.70,-14.05,0.000,4,0.212,0.084,2741,401,3719
$GC,184,-1.63,-122.2,6.0,-4.5,25,190,0.00,2.47,0.00,0.000,6,0.000,0.035,2741,1816,3721
$GC,256,-1.63,-122.2,9.5,-5.9,36,261,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,1817,3721
$GC,328,-1.63,-122.2,13.2,-5.6,47,335,0.00,2.70,0.00,0.000,4,0.000,0.071,2741,395,3721
$GC,465,-1.63,-122.2,24.1,-7.3,64,473,0.00,2.47,0.00,0.000,6,0.000,0.033,2740,1802,3721
$GC,662,-1.63,-122.2,33.5,-4.7,80,663,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,1802,3721
$GC,854,-1.63,-122.2,42.4,-4.6,95,858,0.00,2.65,0.00,0.000,4,0.000,0.072,2741,404,3721
$GC,926,-1.63,-122.2,45.9,-5.0,100,930,0.00,2.42,0.00,0.000,6,0.000,0.035,2741,1801,3721
$GC,1122,-1.63,-122.2,53.9,-4.1,115,1123,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,1804,3721
$GC,1312,-1.63,-122.2,60.7,-3.4,130,1316,0.00,2.50,0.00,0.000,4,0.000,0.050,2741,3200,3721
$GC,1363,-1.63,-122.2,62.7,-3.8,133,1371,0.00,2.47,0.00,0.000,6,0.000,0.037,2741,1809,3721
$GC,1560,-1.63,-122.2,69.2,-3.2,149,1561,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,1809,3721
$GC,1752,-1.63,-122.2,76.1,-3.9,164,1753,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,1809,3721
$GC,1940,-1.63,-122.2,84.6,-4.8,179,1944,0.00,2.47,0.00,0.000,4,0.000,0.048,2741,3191,3721
$GC,1998,-1.63,-122.2,88.0,-5.8,183,2003,0.00,2.45,0.00,0.000,6,0.000,0.037,2741,1792,3722
$STATE,2116,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2116,begin apogee
$GC,2122,-0.38,0.0,94.1,5.0,192,2227,1.38,0.00,98.47,0.676,6,0.105,0.000,3013,1732,3217
$STATE,2228,end apogee,CONTROL_FINISHED_OK
$STATE,2228,begin climb
$GC,2230,1.63,122.2,94.6,0.0,201,2335,2.03,0.00,95.65,0.650,6,0.054,0.000,3456,1732,2718
$GC,2524,1.63,122.2,62.2,13.0,225,2528,0.00,2.67,0.00,0.000,4,0.000,0.080,3456,341,2716
$GC,2562,1.63,122.2,56.7,14.2,227,2569,0.00,2.47,0.00,0.000,6,0.000,0.035,3456,1732,2715
$GC,2758,1.63,122.2,31.2,13.0,243,2759,0.00,0.00,0.00,0.000,6,0.000,0.000,3456,1733,2715
$GC,2952,1.63,122.2,6.0,11.9,266,2959,0.00,2.67,0.00,0.000,4,0.000,0.077,3456,341,2715
$STATE,2963,end climb,SURFACE_DEPTH_REACHED
$STATE,2963,begin surface coast
$FINISH,0.1,1.010505
$STATE,3010,end surface coast,CONTROL_FINISHED_OK
$STATE,3010,begin surface
$SM_CCo,3040,119.07,0.580,0,0,1586,400.08
$SM_GC,0.77,0.00,0.00,119.07,0.000,0.000,0.580,462,1812,1586,-12.14,0.34,400.08
$IRIDIUM_FIX,4722.92,-12256.21,011007,010144
$TT8_MAMPS,0.069797
$HUMID,2021
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,19.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.2,51.6
$24V_AH,23.9,18.987
$10V_AH,10.1,40.142
$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,31.750,35.850,194.125,119.075,0.000,38.051,33.893,141.890,0.500,0.000,3602.000,15.106,514.120,1744.468,442.284,480.693,339.345,33.330,720.786,0.000,451.565,0.000,5.485
$DEVICE_MAMPS,211.692,85.904,675.727,579.852,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,184.540,0.000,0.000,0.000,0.000,0.000,0.000,3602.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6426,275
$CFSIZE,260034560,252108800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300907,224808,4739.487,-12252.830,31,1.3,31,18.3