version: 66.02
glider: 106
mission: 7
dive: 153
start: 9 30 107 14 23 10
data:
$ID,106
$MISSION,7
$DIVE,153
$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,-46354.262
$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,19
$R_STBD_OVSHOOT,44
$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
$GPS1,141638,4739.480,-12252.848,30,1.0,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-55.7
$GPS2,142202,4739.535,-12252.785,10,1.1,15,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.224,-0.073
$KALMAN_X,4442.3,240.7,-7.5,-5402.6,-39.5
$KALMAN_Y,7400.3,463.6,11.2,-8298.3,32.0
$MHEAD_RNG_PITCHd_Wd,233.6,535,-19.2,-9.524
$D_GRID,121
$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,-122.2,0.0,0.0,0,106,0.00,0.00,-79.10,0.000,2,0.000,0.000,462,1820,3263
$GC,108,-1.63,-122.2,2.0,-4.3,13,146,14.62,2.72,-16.67,0.000,4,0.209,0.084,2742,390,3717
$GC,167,-1.63,-122.2,4.1,-5.5,22,173,0.00,2.47,0.00,0.000,6,0.000,0.035,2742,1805,3719
$GC,239,-1.63,-122.2,8.9,-6.9,33,244,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1810,3720
$GC,310,-1.63,-122.2,12.5,-5.2,44,316,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1810,3721
$GC,383,-1.63,-122.2,16.5,-5.7,55,388,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1809,3719
$GC,461,-1.63,-122.2,20.8,-5.7,66,462,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1809,3720
$GC,651,-1.63,-122.2,31.8,-5.8,81,652,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1810,3720
$GC,840,-1.63,-122.2,43.8,-6.3,96,845,0.00,2.67,0.00,0.000,4,0.000,0.073,2743,395,3720
$GC,878,-1.63,-122.2,46.8,-7.6,98,885,0.00,2.47,0.00,0.000,6,0.000,0.035,2742,1802,3720
$GC,1075,-1.63,-122.2,58.9,-6.0,114,1076,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,1804,3720
$GC,1265,-1.63,-122.2,69.7,-5.8,129,1270,0.00,2.67,0.00,0.000,4,0.000,0.072,2743,392,3720
$GC,1391,-1.63,-122.2,77.8,-6.7,138,1396,0.00,2.45,0.00,0.000,6,0.000,0.035,2743,1802,3720
$GC,1587,-1.63,-122.2,90.5,-6.5,153,1591,0.00,2.67,0.00,0.000,4,0.000,0.072,2742,387,3720
$GC,1632,-1.63,-122.2,93.5,-6.8,156,1636,0.00,2.45,0.00,0.000,6,0.000,0.035,2743,1801,3720
$STATE,1750,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1750,begin apogee
$GC,1755,-0.38,0.0,100.4,5.6,165,1861,1.35,0.00,97.47,0.681,6,0.097,0.000,3015,1718,3218
$STATE,1862,end apogee,CONTROL_FINISHED_OK
$STATE,1862,begin climb
$GC,1864,1.63,122.2,101.5,0.0,174,1970,2.00,2.70,95.55,0.656,4,0.049,0.078,3458,341,2718
$GC,2014,1.63,122.2,87.8,12.6,186,2022,0.00,2.47,0.00,0.000,6,0.000,0.035,3458,1727,2717
$GC,2211,1.63,122.2,65.1,11.5,202,2215,0.00,2.67,0.00,0.000,4,0.000,0.077,3458,340,2716
$GC,2257,1.63,122.2,59.4,12.9,205,2261,0.00,2.45,0.00,0.000,6,0.000,0.035,3458,1736,2716
$GC,2459,1.63,122.2,36.1,11.8,221,2460,0.00,0.00,0.00,0.000,6,0.000,0.000,3458,1737,2715
$GC,2650,1.63,122.2,13.1,11.9,240,2657,0.00,2.67,0.00,0.000,4,0.000,0.077,3458,343,2716
$STATE,2720,end climb,SURFACE_DEPTH_REACHED
$STATE,2720,begin surface coast
$FINISH,0.1,1.015905
$STATE,2761,end surface coast,CONTROL_FINISHED_OK
$STATE,2761,begin surface
$SM_CCo,2789,119.12,0.582,0,0,1586,400.08
$SM_GC,0.82,0.00,0.00,119.12,0.000,0.000,0.582,458,1814,1586,-12.15,0.40,400.08
$IRIDIUM_FIX,4722.92,-12251.79,300907,171749
$TT8_MAMPS,0.06903
$HUMID,2030
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.4,51.4
$24V_AH,23.9,18.300
$10V_AH,10.1,39.571
$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,31.325,36.325,193.025,119.125,0.000,40.585,41.603,125.913,0.500,0.000,3363.000,15.459,481.909,1548.997,440.739,463.259,328.184,33.334,714.355,0.000,433.571,0.000,5.484
$DEVICE_MAMPS,209.391,83.603,681.096,582.153,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,172.228,0.000,0.000,0.000,0.000,0.000,0.000,3363.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6469,257
$CFSIZE,260034560,252375040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300907,151227,4739.466,-12253.153,14,1.2,14,18.3