version: 66.02
glider: 106
mission: 7
dive: 159
start: 9 30 107 19 26 12
data:
$ID,106
$MISSION,7
$DIVE,159
$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,-46490.66
$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,27
$R_STBD_OVSHOOT,37
$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
$GPS1,191926,4739.565,-12252.274,10,1.9,15,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-59.1
$GPS2,192505,4739.611,-12252.159,12,2.6,31,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.185,-0.147
$KALMAN_X,5619.4,289.9,149.4,-6006.2,134.1
$KALMAN_Y,8601.0,386.7,155.7,-9424.8,82.8
$MHEAD_RNG_PITCHd_Wd,213.3,404,-19.2,-9.524
$D_GRID,124
$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,-79.07,0.000,2,0.000,0.000,462,1806,3282
$GC,108,-1.63,-122.2,2.0,-4.2,13,146,14.98,2.53,-15.10,0.000,4,0.219,0.061,2739,3196,3717
$GC,159,-1.63,-122.2,4.0,-4.3,21,165,0.00,2.47,0.00,0.000,6,0.000,0.037,2739,1794,3718
$GC,231,-1.63,-122.2,7.7,-4.3,32,236,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1794,3719
$GC,302,-1.63,-122.2,11.4,-5.3,43,309,0.00,2.53,0.00,0.000,4,0.000,0.048,2739,3193,3720
$GC,348,-1.63,-122.2,14.1,-7.0,50,354,0.00,2.47,0.00,0.000,6,0.000,0.037,2739,1794,3720
$GC,420,-1.63,-122.2,18.6,-6.3,61,426,0.00,2.65,0.00,0.000,4,0.000,0.074,2739,394,3720
$GC,527,-1.63,-122.2,25.8,-7.2,71,531,0.00,2.45,0.00,0.000,6,0.000,0.034,2739,1802,3720
$GC,722,-1.63,-122.2,38.2,-5.9,86,723,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1802,3719
$GC,913,-1.63,-122.2,49.8,-5.8,101,922,0.00,2.50,0.00,0.000,4,0.000,0.050,2739,3200,3720
$GC,970,-1.63,-122.2,53.3,-6.2,105,974,0.00,2.47,0.00,0.000,6,0.000,0.037,2739,1797,3720
$GC,1165,-1.63,-122.2,64.2,-5.3,120,1169,0.00,2.53,0.00,0.000,4,0.000,0.048,2739,3201,3720
$GC,1237,-1.63,-122.2,68.1,-5.4,125,1241,0.00,2.47,0.00,0.000,6,0.000,0.037,2739,1795,3720
$GC,1439,-1.63,-122.2,78.5,-5.4,141,1440,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1795,3720
$GC,1630,-1.63,-122.2,89.0,-5.4,156,1634,0.00,2.53,0.00,0.000,4,0.000,0.048,2739,3200,3720
$GC,1688,-1.63,-122.2,92.8,-6.1,160,1693,0.00,2.47,0.00,0.000,6,0.000,0.037,2741,1792,3720
$STATE,1818,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1818,begin apogee
$GC,1824,-0.38,0.0,100.2,5.1,170,1930,1.40,0.00,98.43,0.681,6,0.109,0.000,3015,1730,3217
$STATE,1930,end apogee,CONTROL_FINISHED_OK
$STATE,1931,begin climb
$GC,1933,1.63,122.2,100.0,0.0,179,2038,2.03,0.00,95.85,0.653,6,0.056,0.000,3455,1730,2717
$GC,2226,1.63,122.2,68.1,12.4,203,2228,0.00,0.00,0.00,0.000,6,0.000,0.000,3456,1731,2715
$GC,2417,1.63,122.2,46.1,11.6,218,2421,0.00,2.67,0.00,0.000,4,0.000,0.080,3456,334,2715
$GC,2449,1.63,122.2,42.2,12.4,220,2453,0.00,2.45,0.00,0.000,6,0.000,0.035,3456,1730,2716
$GC,2644,1.63,122.2,22.0,9.7,235,2648,0.00,2.67,0.00,0.000,4,0.000,0.076,3456,336,2715
$GC,2683,1.63,122.2,18.0,10.4,238,2690,0.00,2.45,0.00,0.000,6,0.000,0.035,3457,1737,2715
$GC,2755,1.63,122.2,10.9,9.6,249,2762,0.00,2.53,0.00,0.000,4,0.000,0.051,3456,3135,2715
$GC,2781,1.63,122.2,8.5,10.0,253,2787,0.00,2.47,0.00,0.000,6,0.000,0.039,3455,1743,2715
$STATE,2818,end climb,SURFACE_DEPTH_REACHED
$STATE,2818,begin surface coast
$FINISH,0.2,1.005634
$STATE,2879,end surface coast,CONTROL_FINISHED_OK
$STATE,2879,begin surface
$SM_CCo,2905,118.95,0.583,0,0,1586,400.08
$SM_GC,0.82,0.00,0.00,118.95,0.000,0.000,0.583,463,1804,1586,-12.13,0.11,400.08
$IRIDIUM_FIX,4722.92,-12251.79,300907,222210
$TT8_MAMPS,0.06903
$HUMID,2006
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.2,51.4
$24V_AH,23.9,18.759
$10V_AH,10.1,39.953
$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,31.850,45.525,194.275,118.950,0.000,38.623,29.827,135.752,0.500,0.000,3478.000,32.532,507.914,1609.447,449.213,497.498,328.168,33.329,738.597,0.000,450.636,0.000,5.500
$DEVICE_MAMPS,218.595,86.671,681.096,582.920,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,179.633,0.000,0.000,0.000,0.000,0.000,0.000,3478.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6423,268
$CFSIZE,260034560,252194816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300907,201721,4739.516,-12252.397,11,1.4,11,18.3