version: 66.02
glider: 106
mission: 7
dive: 42
start: 9 26 107 8 40 3
data:
$ID,106
$MISSION,7
$DIVE,42
$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,-43927.949
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,460
$PITCH_MAX,3783
$C_PITCH,3080
$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,1990
$C_ROLL_CLIMB,1930
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,16
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,26
$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
$GPS1,083405,4739.483,-12252.424,10,3.8,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-64.8
$GPS2,083856,4739.465,-12252.425,11,1.2,16,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.230,0.053
$KALMAN_X,2126.2,65.3,95.7,-2563.6,-55.4
$KALMAN_Y,1672.2,-19.3,86.4,-2289.9,-109.2
$MHEAD_RNG_PITCHd_Wd,264.6,970,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,22,-1.63,-122.2,0.0,0.0,0,74,0.00,0.00,-49.83,0.000,2,0.000,0.000,464,1993,2733
$GC,76,-1.63,-122.2,2.2,-3.5,8,137,14.75,2.62,-36.12,0.000,4,0.214,0.068,2721,3393,3718
$GC,216,-1.63,-122.2,9.6,-6.2,30,223,0.00,2.47,0.00,0.000,6,0.000,0.040,2721,1993,3719
$GC,288,-1.63,-122.2,14.2,-6.4,41,295,0.00,2.65,0.00,0.000,4,0.000,0.068,2721,584,3720
$GC,333,-1.63,-122.2,17.5,-8.1,48,340,0.00,2.47,0.00,0.000,6,0.000,0.035,2721,1994,3720
$GC,404,-1.63,-122.2,21.5,-5.6,57,408,0.00,2.55,0.00,0.000,4,0.000,0.055,2721,3396,3720
$GC,456,-1.63,-122.2,24.7,-6.5,61,461,0.00,2.50,0.00,0.000,6,0.000,0.040,2721,1985,3720
$GC,658,-1.63,-122.2,37.8,-6.9,77,662,0.00,2.62,0.00,0.000,4,0.000,0.070,2721,590,3721
$GC,783,-1.63,-122.2,46.3,-7.0,86,790,0.00,2.47,0.00,0.000,6,0.000,0.035,2721,1984,3722
$GC,979,-1.63,-122.2,59.2,-6.9,102,983,0.00,2.62,0.00,0.000,4,0.000,0.067,2721,590,3722
$GC,1010,-1.63,-122.2,61.4,-7.6,104,1018,0.00,2.50,0.00,0.000,6,0.000,0.035,2721,1991,3722
$GC,1206,-1.63,-122.2,74.4,-6.4,120,1208,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,1991,3722
$GC,1396,-1.63,-122.2,86.4,-6.2,135,1401,0.00,2.65,0.00,0.000,4,0.000,0.068,2721,586,3722
$GC,1500,-1.63,-122.2,93.7,-7.0,142,1508,0.00,2.50,0.00,0.000,6,0.000,0.036,2721,1990,3722
$STATE,1606,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1606,begin apogee
$GC,1611,-0.38,0.0,100.7,6.6,151,1717,1.38,0.00,97.78,0.680,6,0.104,0.000,2993,1920,3218
$STATE,1718,end apogee,CONTROL_FINISHED_OK
$STATE,1718,begin climb
$GC,1720,1.63,122.2,101.5,0.0,160,1826,2.03,2.67,94.93,0.656,4,0.052,0.058,3438,3326,2719
$GC,1852,1.63,122.2,90.5,11.4,171,1857,0.00,2.53,0.00,0.000,6,0.000,0.042,3438,1944,2718
$GC,2054,1.63,122.2,68.5,10.8,187,2059,0.00,2.75,0.00,0.000,4,0.000,0.075,3438,529,2717
$GC,2146,1.63,122.2,58.1,11.4,194,2151,0.00,2.53,0.00,0.000,6,0.000,0.037,3438,1934,2717
$GC,2348,1.63,122.2,37.3,10.2,210,2353,0.00,2.70,0.00,0.000,4,0.000,0.071,3438,524,2717
$GC,2447,1.63,122.2,26.6,11.2,217,2454,0.00,2.50,0.00,0.000,6,0.000,0.037,3438,1934,2716
$GC,2649,1.66,151.4,6.3,8.0,243,2669,0.00,0.00,17.77,0.640,2,0.000,0.000,3439,1934,2619
$STATE,2669,end climb,SURFACE_DEPTH_REACHED
$STATE,2669,begin surface coast
$FINISH,1.6,1.020206
$STATE,2728,end surface coast,CONTROL_FINISHED_OK
$STATE,2728,begin surface
$SM_CCo,2753,109.28,0.587,0,0,1586,400.08
$SM_GC,1.10,0.00,0.00,109.28,0.000,0.000,0.587,460,1995,1586,-12.05,0.14,400.08
$IRIDIUM_FIX,4722.92,-12253.53,260907,111142
$TT8_MAMPS,0.06903
$HUMID,2034
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.8,51.6
$24V_AH,23.8,9.533
$10V_AH,10.1,31.964
$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,32.200,46.525,210.475,109.275,0.000,37.539,41.427,119.849,0.500,33.220,3261.780,16.289,485.884,1495.480,441.380,488.426,273.719,33.328,734.648,0.000,461.211,0.000,5.482
$DEVICE_MAMPS,213.993,88.972,679.562,586.755,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,170.604,0.000,0.000,0.000,0.000,0.000,0.000,3295.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6442,255
$CFSIZE,260034560,255791104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260907,092827,4739.488,-12252.900,10,1.8,10,18.3