version: 66.02
glider: 106
mission: 7
dive: 140
start: 9 30 107 2 23 14
data:
$ID,106
$MISSION,7
$DIVE,140
$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,-46092.809
$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,30
$R_STBD_OVSHOOT,39
$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
$GPS1,021317,4739.609,-12253.020,14,2.1,33,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-56.4
$GPS2,022207,4739.701,-12252.903,15,1.4,31,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.148,-0.184
$KALMAN_X,3067.7,96.2,0.6,-4041.8,32.0
$KALMAN_Y,4528.8,256.9,64.5,-4970.4,62.4
$MHEAD_RNG_PITCHd_Wd,200.6,572,-19.2,-9.524
$D_GRID,120
$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,-79.20,0.000,2,0.000,0.000,460,1806,3281
$GC,107,-1.63,-122.2,2.1,-4.3,13,145,14.65,2.67,-15.30,0.000,4,0.210,0.084,2742,402,3719
$GC,165,-1.63,-122.2,4.5,-5.7,22,171,0.00,2.45,0.00,0.000,6,0.000,0.035,2742,1817,3720
$GC,237,-1.63,-122.2,7.9,-3.9,33,243,0.00,2.45,0.00,0.000,4,0.000,0.049,2742,3182,3721
$GC,269,-1.63,-122.2,9.4,-4.1,38,276,0.00,2.42,0.00,0.000,6,0.000,0.036,2742,1805,3721
$GC,341,-1.63,-122.2,13.8,-7.1,49,347,0.00,2.65,0.00,0.000,4,0.000,0.074,2742,401,3721
$GC,360,-1.63,-122.2,15.2,-7.0,52,367,0.00,2.42,0.00,0.000,6,0.000,0.035,2742,1793,3721
$GC,432,-1.63,-122.2,19.8,-5.9,63,439,0.00,2.50,0.00,0.000,4,0.000,0.048,2742,3188,3721
$GC,463,-1.63,-122.2,21.6,-5.5,66,471,0.00,2.47,0.00,0.000,6,0.000,0.035,2742,1802,3721
$GC,660,-1.63,-122.2,32.6,-5.3,82,664,0.00,2.65,0.00,0.000,4,0.000,0.073,2742,396,3721
$GC,706,-1.63,-122.2,35.2,-5.8,85,710,0.00,2.45,0.00,0.000,6,0.000,0.035,2742,1807,3721
$GC,901,-1.63,-122.2,46.3,-5.7,100,902,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1806,3721
$GC,1090,-1.63,-122.2,56.8,-5.8,115,1095,0.00,2.47,0.00,0.000,4,0.000,0.049,2742,3191,3721
$GC,1136,-1.63,-122.2,59.6,-6.2,118,1140,0.00,2.45,0.00,0.000,6,0.000,0.036,2742,1797,3721
$GC,1331,-1.63,-122.2,70.3,-5.7,133,1333,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1797,3722
$GC,1522,-1.63,-122.2,80.3,-5.0,148,1523,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1797,3721
$GC,1713,-1.63,-122.2,89.3,-4.8,163,1714,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1797,3721
$GC,1901,-1.63,-122.2,97.9,-4.5,178,1905,0.00,2.62,0.00,0.000,4,0.000,0.074,2743,398,3721
$STATE,1944,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1944,begin apogee
$GC,1951,-0.38,0.0,100.4,5.5,181,2055,1.33,0.00,98.05,0.683,6,0.103,0.000,3011,1749,3218
$STATE,2056,end apogee,CONTROL_FINISHED_OK
$STATE,2056,begin climb
$GC,2058,1.63,122.2,101.0,0.0,190,2164,2.03,2.80,95.50,0.654,4,0.052,0.077,3455,330,2718
$GC,2230,1.63,122.2,82.8,14.0,204,2234,0.00,2.47,0.00,0.000,6,0.000,0.035,3456,1733,2717
$GC,2432,1.63,122.2,56.8,12.8,220,2433,0.00,0.00,0.00,0.000,6,0.000,0.000,3456,1734,2717
$GC,2622,1.63,122.2,32.9,12.2,235,2627,0.00,2.70,0.00,0.000,4,0.000,0.076,3456,330,2716
$GC,2667,1.63,122.2,26.9,13.1,238,2671,0.00,2.47,0.00,0.000,6,0.000,0.035,3456,1746,2716
$STATE,2848,end climb,SURFACE_DEPTH_REACHED
$STATE,2848,begin surface coast
$FINISH,0.3,1.010767
$STATE,2897,end surface coast,CONTROL_FINISHED_OK
$STATE,2897,begin surface
$SM_CCo,2921,119.47,0.581,0,0,1586,400.08
$SM_GC,1.02,0.00,0.00,119.47,0.000,0.000,0.581,459,1808,1586,-12.15,0.23,400.08
$IRIDIUM_FIX,4719.74,-12254.47,300907,060609
$TT8_MAMPS,0.072865
$HUMID,2027
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.6,51.5
$24V_AH,23.9,17.314
$10V_AH,10.1,38.676
$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,31.225,45.600,193.550,119.475,0.000,78.576,67.691,187.175,0.500,0.000,3705.000,31.948,507.200,1703.963,440.486,491.927,456.635,33.329,722.964,0.000,446.268,0.000,5.482
$DEVICE_MAMPS,210.158,84.370,683.397,581.386,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,179.712,0.000,0.000,0.000,0.000,0.000,0.000,3705.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6418,268
$CFSIZE,260034560,252772352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300907,031439,4739.621,-12253.088,10,1.3,10,18.3