version: 66.02
glider: 106
mission: 7
dive: 145
start: 9 30 107 7 17 30
data:
$ID,106
$MISSION,7
$DIVE,145
$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,-46204.391
$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,22
$R_STBD_OVSHOOT,31
$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
$GPS1,071039,4739.738,-12252.947,10,1.5,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-56.2
$GPS2,071623,4739.818,-12252.860,11,4.5,30,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.137,-0.192
$KALMAN_X,3989.0,272.0,117.2,-5201.5,121.2
$KALMAN_Y,6143.5,505.5,211.9,-6763.3,148.0
$MHEAD_RNG_PITCHd_Wd,197.3,778,-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,-79.15,0.000,2,0.000,0.000,465,1797,3289
$GC,108,-1.63,-122.2,2.1,-4.3,13,145,14.55,0.00,-15.55,0.000,6,0.209,0.000,2739,1797,3718
$GC,211,-1.63,-122.2,5.8,-3.2,29,216,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,1797,3720
$GC,283,-1.63,-122.2,9.3,-5.5,40,289,0.00,2.65,0.00,0.000,4,0.000,0.073,2740,397,3720
$GC,341,-1.63,-122.2,12.6,-5.4,49,348,0.00,2.47,0.00,0.000,6,0.000,0.035,2740,1815,3720
$GC,414,-1.63,-122.2,16.7,-6.2,60,420,0.00,2.47,0.00,0.000,4,0.000,0.051,2740,3192,3721
$GC,485,-1.63,-122.2,21.0,-5.6,70,492,0.00,2.50,0.00,0.000,6,0.000,0.037,2740,1796,3721
$GC,681,-1.63,-122.2,32.0,-5.7,86,682,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,1796,3721
$GC,871,-1.63,-122.2,43.1,-5.6,101,872,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1796,3721
$GC,1059,-1.63,-122.2,54.5,-6.1,116,1064,0.00,2.62,0.00,0.000,4,0.000,0.073,2740,400,3720
$GC,1145,-1.63,-122.2,60.3,-7.2,122,1149,0.00,2.45,0.00,0.000,6,0.000,0.035,2740,1811,3721
$GC,1340,-1.63,-122.2,72.6,-6.4,137,1344,0.00,2.47,0.00,0.000,4,0.000,0.051,2739,3192,3721
$GC,1413,-1.63,-122.2,77.1,-6.5,142,1417,0.00,2.45,0.00,0.000,6,0.000,0.038,2740,1794,3721
$GC,1614,-1.63,-122.2,88.5,-5.2,158,1615,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1794,3721
$GC,1805,-1.63,-122.2,98.3,-5.4,173,1806,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,1794,3720
$STATE,1839,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1839,begin apogee
$GC,1845,-0.38,0.0,100.3,5.6,176,1950,1.38,0.00,98.03,0.685,6,0.102,0.000,3013,1732,3217
$STATE,1951,end apogee,CONTROL_FINISHED_OK
$STATE,1951,begin climb
$GC,1954,1.63,122.2,101.1,0.0,185,2059,2.03,0.00,95.50,0.654,6,0.052,0.000,3459,1731,2719
$GC,2247,1.63,122.2,69.9,12.0,209,2252,0.00,2.67,0.00,0.000,4,0.000,0.078,3459,333,2717
$GC,2280,1.63,122.2,65.8,13.4,211,2284,0.00,2.45,0.00,0.000,6,0.000,0.036,3459,1731,2716
$GC,2481,1.63,122.2,39.6,13.0,227,2486,0.00,2.67,0.00,0.000,4,0.000,0.076,3459,337,2716
$GC,2559,1.63,122.2,28.9,13.4,232,2567,0.00,2.47,0.00,0.000,6,0.000,0.034,3459,1736,2716
$GC,2761,1.63,122.2,5.5,12.0,257,2767,0.00,0.00,0.00,0.000,6,0.000,0.000,3459,1736,2716
$STATE,2772,end climb,SURFACE_DEPTH_REACHED
$STATE,2772,begin surface coast
$FINISH,0.3,1.014953
$STATE,2819,end surface coast,CONTROL_FINISHED_OK
$STATE,2819,begin surface
$SM_CCo,2845,119.45,0.582,0,0,1586,400.08
$SM_GC,0.76,0.00,0.00,119.45,0.000,0.000,0.582,461,1812,1586,-12.14,0.34,400.08
$IRIDIUM_FIX,4722.92,-12249.11,300907,101024
$TT8_MAMPS,0.070564
$HUMID,2016
$INTERNAL_PRESSURE,8.39876
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.6,51.7
$24V_AH,23.9,17.694
$10V_AH,10.1,39.039
$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,31.325,30.575,193.525,119.450,0.000,39.247,35.151,137.021,0.500,0.000,3422.000,31.857,493.252,1589.909,440.181,486.082,328.001,33.330,715.076,0.000,440.566,0.000,5.483
$DEVICE_MAMPS,208.624,85.137,684.931,582.153,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,178.435,0.000,0.000,0.000,0.000,0.000,0.000,3422.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6417,266
$CFSIZE,260034560,252616704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300907,080807,4739.725,-12253.040,38,1.4,38,18.3