version: 66.02
glider: 106
mission: 7
dive: 88
start: 9 28 107 1 52 39
data:
$ID,106
$MISSION,7
$DIVE,88
$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,-44943.246
$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,19
$R_STBD_OVSHOOT,32
$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
$GPS1,014607,4739.544,-12253.177,13,1.1,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-64.2
$GPS2,015132,4739.528,-12253.173,12,1.3,17,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.231,-0.048
$KALMAN_X,1972.4,-31.9,-81.9,-3069.4,-12.1
$KALMAN_Y,1530.4,-119.3,-119.5,-1727.1,46.4
$MHEAD_RNG_PITCHd_Wd,83.5,969,-19.2,-9.524
$D_GRID,116
$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,-122.2,0.0,0.0,0,80,0.00,0.00,-55.42,0.000,2,0.000,0.000,464,1805,2813
$GC,83,-1.63,-122.2,2.0,-3.4,9,138,15.02,2.70,-32.03,0.000,4,0.219,0.083,2742,387,3720
$GC,389,-1.63,-122.2,19.7,-5.2,56,395,0.00,2.47,0.00,0.000,6,0.000,0.035,2742,1805,3722
$GC,458,-1.63,-122.2,24.0,-5.9,62,462,0.00,2.67,0.00,0.000,4,0.000,0.071,2743,391,3722
$GC,482,-1.63,-122.2,25.6,-6.3,63,490,0.00,2.50,0.00,0.000,6,0.000,0.035,2742,1802,3722
$GC,679,-1.63,-122.2,37.2,-5.5,79,683,0.00,2.50,0.00,0.000,4,0.000,0.051,2742,3198,3723
$GC,717,-1.63,-122.2,39.3,-5.8,81,725,0.00,2.50,0.00,0.000,6,0.000,0.039,2742,1800,3723
$GC,918,-1.63,-122.2,50.5,-5.8,97,919,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1799,3723
$GC,1103,-1.63,-122.2,60.9,-5.1,112,1107,0.00,2.53,0.00,0.000,4,0.000,0.051,2742,3195,3723
$GC,1188,-1.63,-122.2,65.3,-4.8,118,1192,0.00,2.47,0.00,0.000,6,0.000,0.040,2742,1797,3723
$GC,1384,-1.63,-122.2,75.3,-5.4,133,1385,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1797,3723
$GC,1574,-1.63,-122.2,85.4,-5.5,148,1575,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1797,3722
$GC,1763,-1.63,-122.2,95.7,-5.7,163,1767,0.00,2.53,0.00,0.000,4,0.000,0.050,2742,3197,3724
$GC,1840,-1.63,-122.2,100.0,-5.6,168,1848,0.00,2.50,0.00,0.000,6,0.000,0.039,2742,1801,3723
$STATE,1858,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1858,begin apogee
$GC,1863,-0.38,0.0,100.8,5.2,170,1969,1.38,0.00,98.07,0.680,6,0.104,0.000,3015,1728,3216
$STATE,1970,end apogee,CONTROL_FINISHED_OK
$STATE,1970,begin climb
$GC,1972,1.63,122.2,101.5,0.0,179,2078,2.00,2.65,94.68,0.651,4,0.051,0.053,3456,3126,2719
$GC,2096,1.63,122.2,91.2,11.1,189,2105,0.00,2.53,0.00,0.000,6,0.000,0.041,3457,1745,2718
$GC,2293,1.63,122.2,67.2,12.7,205,2294,0.00,0.00,0.00,0.000,6,0.000,0.000,3457,1745,2717
$GC,2483,1.63,122.2,43.9,12.0,220,2488,0.00,2.72,0.00,0.000,4,0.000,0.084,3456,331,2717
$GC,2534,1.63,122.2,37.1,12.8,223,2542,0.00,2.47,0.00,0.000,6,0.000,0.035,3456,1728,2717
$GC,2732,1.63,122.2,14.3,12.9,242,2737,0.00,0.00,0.00,0.000,6,0.000,0.000,3456,1731,2717
$GC,2803,1.63,122.2,6.4,11.3,253,2810,0.00,2.70,0.00,0.000,4,0.000,0.078,3457,326,2716
$STATE,2820,end climb,SURFACE_DEPTH_REACHED
$STATE,2820,begin surface coast
$FINISH,2.5,1.020379
$STATE,2861,end surface coast,CONTROL_FINISHED_OK
$STATE,2861,begin surface
$SM_CCo,2890,119.55,0.581,0,0,1586,400.08
$SM_GC,1.06,0.00,0.00,119.55,0.000,0.000,0.581,461,1812,1586,-12.13,0.34,400.08
$IRIDIUM_FIX,4722.92,-12253.53,280907,050545
$TT8_MAMPS,0.070564
$HUMID,2029
$INTERNAL_PRESSURE,8.42806
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.5,51.4
$24V_AH,23.8,13.235
$10V_AH,10.1,35.053
$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,32.650,41.225,192.750,119.550,0.000,37.548,44.058,137.809,0.500,20.020,3439.980,18.617,490.319,1641.222,443.231,476.980,314.236,33.327,722.497,0.000,443.659,0.000,5.484
$DEVICE_MAMPS,219.362,83.603,679.562,581.386,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,175.507,0.000,0.000,0.000,0.000,0.000,0.000,3460.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6449,262
$CFSIZE,260034560,254386176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280907,024333,4739.582,-12252.705,12,1.5,12,18.3