version: 66.02
glider: 106
mission: 7
dive: 142
start: 9 30 107 4 23 6
data:
$ID,106
$MISSION,7
$DIVE,142
$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,-46142.719
$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,28
$R_STBD_OVSHOOT,36
$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
$GPS1,041607,4739.637,-12253.090,39,1.2,43,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-58.0
$GPS2,042159,4739.718,-12253.007,13,3.3,32,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.114,-0.206
$KALMAN_X,3368.6,154.1,11.5,-4540.4,81.7
$KALMAN_Y,5151.5,343.7,89.6,-5673.1,130.5
$MHEAD_RNG_PITCHd_Wd,190.7,526,-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,-122.2,0.0,0.0,0,105,0.00,0.00,-79.18,0.000,2,0.000,0.000,460,1812,3287
$GC,108,-1.63,-122.2,2.1,-3.9,13,146,14.43,2.53,-14.75,0.000,4,0.204,0.062,2743,3201,3718
$GC,200,-1.63,-122.2,5.6,-3.3,27,206,0.00,2.47,0.00,0.000,6,0.000,0.036,2743,1795,3720
$GC,271,-1.63,-122.2,9.5,-6.0,38,277,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,1795,3721
$GC,344,-1.63,-122.2,13.9,-6.3,49,350,0.00,2.65,0.00,0.000,4,0.000,0.073,2743,394,3721
$GC,442,-1.63,-122.2,20.8,-7.5,63,448,0.00,2.45,0.00,0.000,6,0.000,0.035,2743,1804,3721
$GC,637,-1.63,-122.2,33.1,-6.0,79,641,0.00,2.50,0.00,0.000,4,0.000,0.050,2743,3198,3721
$GC,690,-1.63,-122.2,36.3,-6.1,83,694,0.00,2.47,0.00,0.000,6,0.000,0.037,2743,1794,3721
$GC,892,-1.63,-122.2,48.4,-5.9,99,896,0.00,2.62,0.00,0.000,4,0.000,0.072,2743,400,3721
$GC,969,-1.63,-122.2,53.4,-6.5,104,976,0.00,2.45,0.00,0.000,6,0.000,0.034,2743,1795,3721
$GC,1165,-1.63,-122.2,64.3,-5.3,120,1169,0.00,2.50,0.00,0.000,4,0.000,0.049,2743,3193,3721
$GC,1229,-1.63,-122.2,68.3,-6.1,124,1237,0.00,2.50,0.00,0.000,6,0.000,0.037,2743,1794,3721
$GC,1426,-1.63,-122.2,78.9,-5.5,140,1430,0.00,2.53,0.00,0.000,4,0.000,0.048,2743,3195,3721
$GC,1464,-1.63,-122.2,81.0,-5.9,142,1471,0.00,2.47,0.00,0.000,6,0.000,0.036,2743,1802,3721
$GC,1661,-1.63,-122.2,91.5,-5.6,158,1665,0.00,2.50,0.00,0.000,4,0.000,0.048,2743,3192,3721
$GC,1693,-1.63,-122.2,93.2,-5.7,160,1697,0.00,2.45,0.00,0.000,6,0.000,0.036,2743,1795,3721
$STATE,1823,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1823,begin apogee
$GC,1829,-0.38,0.0,100.7,5.7,170,1934,1.35,0.00,98.12,0.683,6,0.103,0.000,3012,1732,3217
$STATE,1935,end apogee,CONTROL_FINISHED_OK
$STATE,1935,begin climb
$GC,1937,1.63,122.2,101.4,0.0,179,2043,2.03,0.00,95.75,0.653,6,0.055,0.000,3453,1732,2718
$GC,2231,1.63,122.2,70.8,11.4,203,2232,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,1732,2717
$GC,2421,1.63,122.2,49.5,11.3,218,2423,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,1732,2716
$GC,2611,1.63,122.2,28.5,11.0,233,2615,0.00,2.67,0.00,0.000,4,0.000,0.080,3452,335,2716
$GC,2682,1.63,122.2,19.8,12.2,238,2689,0.00,2.45,0.00,0.000,6,0.000,0.033,3453,1740,2716
$GC,2755,1.63,122.2,11.6,11.8,249,2761,0.00,2.50,0.00,0.000,4,0.000,0.051,3453,3129,2716
$GC,2793,1.63,122.2,7.0,12.6,255,2800,0.00,2.47,0.00,0.000,6,0.000,0.039,3452,1745,2716
$STATE,2810,end climb,SURFACE_DEPTH_REACHED
$STATE,2810,begin surface coast
$FINISH,0.5,1.022294
$STATE,2851,end surface coast,CONTROL_FINISHED_OK
$STATE,2851,begin surface
$SM_CCo,2877,119.50,0.583,0,0,1586,400.08
$SM_GC,0.74,0.00,0.00,119.50,0.000,0.000,0.583,463,1804,1586,-12.13,0.11,400.08
$IRIDIUM_FIX,4722.92,-12256.21,300907,070741
$TT8_MAMPS,0.070564
$HUMID,2029
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.5,51.4
$24V_AH,23.9,17.463
$10V_AH,10.1,38.823
$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,31.050,45.400,193.875,119.500,0.000,37.057,36.024,145.761,0.500,0.000,3494.000,33.423,496.732,1596.939,454.167,495.310,334.658,33.329,737.889,0.000,446.104,0.000,5.484
$DEVICE_MAMPS,204.022,84.370,683.397,582.920,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,176.759,0.000,0.000,0.000,0.000,0.000,0.000,3494.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6444,264
$CFSIZE,260034560,252710912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300907,051405,4739.653,-12253.080,8,2.2,27,18.3