version: 66.02
glider: 106
mission: 7
dive: 139
start: 9 30 107 1 23 36
data:
$ID,106
$MISSION,7
$DIVE,139
$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,-46060.23
$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,23
$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
$GPS1,011653,4739.607,-12252.793,12,4.7,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-56.3
$GPS2,012229,4739.668,-12252.718,16,3.4,35,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.197,-0.131
$KALMAN_X,2921.4,72.4,21.8,-3660.3,-4.6
$KALMAN_Y,4252.4,228.6,88.5,-4749.1,19.5
$MHEAD_RNG_PITCHd_Wd,218.1,710,-19.2,-9.524
$D_GRID,121
$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,-122.2,0.0,0.0,0,105,0.00,0.00,-79.22,0.000,2,0.000,0.000,462,1805,3307
$GC,107,-1.63,-122.2,2.3,-5.1,13,144,14.65,2.72,-13.70,0.000,4,0.210,0.085,2741,400,3719
$GC,178,-1.63,-122.2,6.0,-6.5,24,184,0.00,2.45,0.00,0.000,6,0.000,0.035,2741,1809,3721
$GC,250,-1.63,-122.2,9.2,-5.3,35,256,0.00,2.47,0.00,0.000,4,0.000,0.049,2741,3189,3721
$GC,395,-1.63,-122.2,17.5,-6.2,57,401,0.00,2.47,0.00,0.000,6,0.000,0.038,2742,1794,3721
$GC,465,-1.63,-122.2,21.7,-5.8,66,470,0.00,2.65,0.00,0.000,4,0.000,0.074,2742,396,3721
$GC,490,-1.63,-122.2,23.1,-5.8,67,497,0.00,2.47,0.00,0.000,6,0.000,0.035,2741,1802,3721
$GC,686,-1.63,-122.2,34.2,-5.6,83,691,0.00,2.67,0.00,0.000,4,0.000,0.072,2741,394,3721
$GC,760,-1.63,-122.2,38.7,-6.7,88,765,0.00,2.45,0.00,0.000,6,0.000,0.035,2742,1804,3721
$GC,958,-1.63,-122.2,50.5,-5.7,103,962,0.00,2.50,0.00,0.000,4,0.000,0.050,2741,3202,3722
$GC,1035,-1.63,-122.2,55.5,-6.3,108,1043,0.00,2.50,0.00,0.000,6,0.000,0.037,2741,1801,3721
$GC,1232,-1.63,-122.2,67.2,-6.2,124,1236,0.00,2.50,0.00,0.000,4,0.000,0.048,2741,3199,3721
$GC,1276,-1.63,-122.2,70.0,-5.9,127,1284,0.00,2.50,0.00,0.000,6,0.000,0.036,2742,1797,3721
$GC,1473,-1.63,-122.2,81.6,-6.1,143,1477,0.00,2.62,0.00,0.000,4,0.000,0.074,2742,398,3721
$GC,1511,-1.63,-122.2,84.2,-6.6,145,1518,0.00,2.45,0.00,0.000,6,0.000,0.035,2742,1799,3721
$GC,1707,-1.63,-122.2,96.5,-5.9,161,1708,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,1799,3721
$STATE,1768,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1768,begin apogee
$GC,1773,-0.38,0.0,100.0,5.5,166,1879,1.35,0.00,98.32,0.682,6,0.100,0.000,3012,1728,3217
$STATE,1880,end apogee,CONTROL_FINISHED_OK
$STATE,1880,begin climb
$GC,1882,1.63,122.2,100.6,0.0,175,1983,1.98,0.00,95.28,0.653,6,0.053,0.000,3458,1728,2719
$GC,2168,1.63,122.2,70.9,11.5,198,2173,0.00,2.67,0.00,0.000,4,0.000,0.079,3459,337,2717
$GC,2232,1.63,122.2,62.7,12.9,202,2240,0.00,2.47,0.00,0.000,6,0.000,0.035,3459,1733,2717
$GC,2429,1.63,122.2,39.6,11.8,218,2430,0.00,0.00,0.00,0.000,6,0.000,0.000,3458,1733,2717
$GC,2620,1.63,122.2,17.3,11.8,234,2626,0.00,2.67,0.00,0.000,4,0.000,0.077,3459,340,2717
$GC,2665,1.63,122.2,11.2,13.6,241,2671,0.00,2.45,0.00,0.000,6,0.000,0.035,3459,1740,2716
$STATE,2722,end climb,SURFACE_DEPTH_REACHED
$STATE,2722,begin surface coast
$FINISH,0.3,1.022054
$STATE,2769,end surface coast,CONTROL_FINISHED_OK
$STATE,2769,begin surface
$SM_CCo,2794,119.40,0.582,0,0,1586,400.08
$SM_GC,0.81,0.00,0.00,119.40,0.000,0.000,0.582,460,1805,1586,-12.15,0.17,400.08
$IRIDIUM_FIX,4722.92,-12249.11,300907,040444
$TT8_MAMPS,0.06903
$HUMID,2026
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.5,51.5
$24V_AH,23.9,17.233
$10V_AH,10.1,38.599
$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,31.275,45.925,193.600,119.400,0.000,32.775,43.330,119.888,0.500,0.000,3383.000,36.546,484.211,1544.083,442.480,493.934,314.193,33.325,726.991,0.000,441.502,0.000,5.484
$DEVICE_MAMPS,210.158,85.137,681.863,582.153,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,171.979,0.000,0.000,0.000,0.000,0.000,0.000,3383.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6460,257
$CFSIZE,260034560,252809216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300907,021317,4739.609,-12253.020,14,2.1,33,18.3