version: 66.02
glider: 106
mission: 7
dive: 141
start: 9 30 107 3 21 22
data:
$ID,106
$MISSION,7
$DIVE,141
$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,-46108.668
$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,24
$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
$GPS1,031439,4739.621,-12253.088,10,1.3,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-56.6
$GPS2,032014,4739.704,-12253.007,10,1.7,15,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.116,-0.206
$KALMAN_X,3206.5,120.8,-5.3,-4327.6,64.9
$KALMAN_Y,4826.7,294.6,63.9,-5300.3,112.1
$MHEAD_RNG_PITCHd_Wd,191.1,502,-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,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,-79.30,0.000,2,0.000,0.000,459,1808,3295
$GC,108,-1.63,-122.2,2.2,-4.7,13,146,14.52,2.55,-14.30,0.000,4,0.207,0.061,2740,3194,3719
$GC,200,-1.63,-122.2,6.8,-3.9,27,206,0.00,2.47,0.00,0.000,6,0.000,0.037,2740,1794,3721
$GC,271,-1.63,-122.2,10.2,-6.2,38,278,0.00,2.53,0.00,0.000,4,0.000,0.047,2740,3195,3721
$GC,317,-1.63,-122.2,13.4,-7.0,45,323,0.00,2.47,0.00,0.000,6,0.000,0.036,2740,1794,3721
$GC,389,-1.63,-122.2,18.3,-7.0,56,395,0.00,2.65,0.00,0.000,4,0.000,0.073,2740,391,3721
$GC,454,-1.63,-122.2,22.4,-5.9,64,459,0.00,2.45,0.00,0.000,6,0.000,0.034,2740,1804,3721
$GC,650,-1.63,-122.2,31.3,-4.1,79,651,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,1804,3721
$GC,840,-1.63,-122.2,39.2,-4.1,94,844,0.00,2.67,0.00,0.000,4,0.000,0.071,2740,390,3722
$GC,866,-1.63,-122.2,40.3,-4.0,95,872,0.00,2.45,0.00,0.000,6,0.000,0.033,2741,1805,3721
$GC,1061,-1.63,-122.2,48.2,-4.2,111,1065,0.00,2.47,0.00,0.000,4,0.000,0.050,2740,3189,3722
$GC,1094,-1.63,-122.2,49.8,-5.1,113,1103,0.00,2.45,0.00,0.000,6,0.000,0.037,2740,1796,3721
$GC,1299,-1.63,-122.2,58.8,-4.3,129,1303,0.00,2.53,0.00,0.000,4,0.000,0.048,2741,3200,3721
$GC,1345,-1.63,-122.2,61.0,-5.1,132,1349,0.00,2.45,0.00,0.000,6,0.000,0.036,2741,1801,3721
$GC,1540,-1.63,-122.2,69.9,-5.5,147,1541,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,1801,3721
$GC,1732,-1.63,-122.2,79.1,-5.0,162,1736,0.00,2.50,0.00,0.000,4,0.000,0.049,2741,3192,3721
$GC,1764,-1.63,-122.2,81.0,-5.8,164,1769,0.00,2.45,0.00,0.000,6,0.000,0.036,2740,1794,3721
$GC,1960,-1.63,-122.2,92.0,-5.8,179,1961,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,1794,3721
$STATE,2084,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2084,begin apogee
$GC,2089,-0.38,0.0,100.1,6.5,189,2195,1.38,0.00,98.38,0.685,6,0.104,0.000,3014,1731,3217
$STATE,2196,end apogee,CONTROL_FINISHED_OK
$STATE,2196,begin climb
$GC,2198,1.63,122.2,101.1,0.0,198,2304,1.95,2.72,95.10,0.656,4,0.055,0.077,3457,331,2718
$GC,2342,1.63,122.2,87.9,14.4,209,2347,0.00,2.47,0.00,0.000,6,0.000,0.034,3457,1737,2717
$GC,2544,1.63,122.2,62.3,12.7,225,2546,0.00,0.00,0.00,0.000,6,0.000,0.000,3457,1740,2716
$GC,2735,1.63,122.2,38.5,12.4,240,2736,0.00,0.00,0.00,0.000,6,0.000,0.000,3457,1739,2716
$GC,2924,1.63,122.2,15.9,11.6,257,2930,0.00,0.00,0.00,0.000,6,0.000,0.000,3457,1740,2715
$GC,2996,1.63,122.2,7.5,11.3,268,3003,0.00,2.67,0.00,0.000,4,0.000,0.076,3457,341,2716
$STATE,3020,end climb,SURFACE_DEPTH_REACHED
$STATE,3020,begin surface coast
$FINISH,0.3,1.022113
$STATE,3061,end surface coast,CONTROL_FINISHED_OK
$STATE,3062,begin surface
$SM_CCo,3089,119.30,0.581,0,0,1587,400.08
$SM_GC,0.82,0.00,0.00,119.30,0.000,0.000,0.581,460,1811,1587,-12.14,0.31,400.08
$IRIDIUM_FIX,4722.92,-12251.79,300907,060629
$TT8_MAMPS,0.069797
$HUMID,2022
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.1,51.1
$24V_AH,23.9,17.389
$10V_AH,10.1,38.750
$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,31.100,45.675,193.475,119.300,0.000,41.116,51.712,128.307,0.500,0.000,3653.000,15.231,527.646,1776.488,432.880,495.314,340.658,33.328,734.571,0.000,465.088,0.000,5.504
$DEVICE_MAMPS,207.090,84.370,684.931,581.386,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,186.630,0.000,0.000,0.000,0.000,0.000,0.000,3653.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6443,278
$CFSIZE,260034560,252739584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300907,041607,4739.637,-12253.090,39,1.2,43,18.3