version: 66.02
glider: 106
mission: 7
dive: 163
start: 9 30 107 22 54 35
data:
$ID,106
$MISSION,7
$DIVE,163
$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,-46555.402
$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,29
$R_STBD_OVSHOOT,46
$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
$GPS1,224808,4739.487,-12252.830,31,1.3,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-57.4
$GPS2,225327,4739.522,-12252.811,15,1.4,15,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.223,-0.052
$KALMAN_X,6070.8,311.6,165.7,-7303.6,-23.0
$KALMAN_Y,9291.9,335.9,162.0,-10236.5,8.5
$MHEAD_RNG_PITCHd_Wd,238.6,499,-19.9,-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,-1.67,-114.1,0.0,0.0,0,111,0.00,0.00,-84.95,0.000,2,0.000,0.000,462,1812,3381
$GC,114,-1.68,-122.2,2.1,-5.1,14,146,14.75,2.75,-10.80,0.000,4,0.215,0.084,2727,401,3719
$GC,252,-1.68,-122.2,11.2,-5.8,35,258,0.00,2.42,0.00,0.000,6,0.000,0.035,2727,1793,3721
$GC,324,-1.68,-122.2,15.6,-6.3,46,330,0.00,2.53,0.00,0.000,4,0.000,0.051,2727,3195,3721
$GC,389,-1.68,-122.2,20.0,-6.9,56,396,0.00,2.45,0.00,0.000,6,0.000,0.037,2727,1805,3722
$GC,458,-1.68,-122.2,24.4,-6.6,62,463,0.00,2.65,0.00,0.000,4,0.000,0.074,2727,394,3721
$GC,536,-1.68,-122.2,29.9,-6.7,67,543,0.00,2.47,0.00,0.000,6,0.000,0.034,2728,1798,3721
$GC,732,-1.68,-122.2,41.9,-5.7,83,736,0.00,2.50,0.00,0.000,4,0.000,0.049,2727,3192,3722
$GC,772,-1.68,-122.2,44.0,-5.9,86,776,0.00,2.45,0.00,0.000,6,0.000,0.037,2727,1800,3721
$GC,967,-1.68,-122.2,54.7,-5.7,101,968,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1799,3722
$GC,1158,-1.68,-122.2,65.4,-5.6,116,1159,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1799,3721
$GC,1347,-1.68,-122.2,76.5,-6.4,131,1348,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1799,3721
$GC,1538,-1.68,-122.2,88.7,-6.3,146,1542,0.00,2.50,0.00,0.000,4,0.000,0.048,2727,3191,3721
$GC,1583,-1.68,-122.2,91.6,-5.7,149,1587,0.00,2.45,0.00,0.000,6,0.000,0.037,2728,1797,3722
$STATE,1752,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1753,begin apogee
$GC,1758,-0.38,0.0,100.6,4.9,162,1863,1.45,0.00,98.72,0.680,6,0.107,0.000,3013,1723,3217
$STATE,1863,end apogee,CONTROL_FINISHED_OK
$STATE,1864,begin climb
$GC,1866,1.68,122.2,100.8,0.0,171,1971,2.08,0.00,96.40,0.653,6,0.054,0.000,3466,1723,2717
$GC,2159,1.68,122.2,68.1,12.8,195,2164,0.00,2.65,0.00,0.000,4,0.000,0.080,3466,340,2716
$GC,2210,1.68,122.2,60.8,14.4,198,2218,0.00,2.47,0.00,0.000,6,0.000,0.035,3466,1728,2715
$GC,2407,1.68,122.2,35.1,12.9,214,2411,0.00,2.55,0.00,0.000,4,0.000,0.052,3466,3138,2715
$GC,2438,1.68,122.2,31.0,12.8,216,2446,0.00,2.50,0.00,0.000,6,0.000,0.036,3466,1743,2715
$GC,2639,1.68,122.2,7.8,12.3,239,2645,0.00,2.72,0.00,0.000,4,0.000,0.084,3466,335,2715
$STATE,2663,end climb,SURFACE_DEPTH_REACHED
$STATE,2663,begin surface coast
$FINISH,0.2,1.021982
$STATE,2703,end surface coast,CONTROL_FINISHED_OK
$STATE,2705,begin surface
$SM_CCo,2732,119.07,0.579,0,0,1586,400.08
$SM_GC,0.78,0.00,0.00,119.07,0.000,0.000,0.579,459,1825,1586,-12.15,0.71,400.08
$IRIDIUM_FIX,4719.74,-12251.79,011007,010137
$TT8_MAMPS,0.070564
$HUMID,2004
$INTERNAL_PRESSURE,8.39876
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.5,51.7
$24V_AH,23.9,19.060
$10V_AH,10.1,40.210
$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,31.625,40.825,195.125,119.075,0.000,39.584,32.427,129.200,0.500,0.000,3303.000,15.090,468.048,1529.036,442.666,439.422,320.758,33.334,704.710,0.000,412.200,0.000,5.486
$DEVICE_MAMPS,214.760,84.370,680.329,579.085,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,166.763,0.000,0.000,0.000,0.000,0.000,0.000,3303.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6442,249
$CFSIZE,260034560,252080128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300907,234307,4739.458,-12253.267,11,1.2,27,18.3