version: 66.02
glider: 106
mission: 7
dive: 135
start: 9 29 107 21 28 0
data:
$ID,106
$MISSION,7
$DIVE,135
$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,-45978.246
$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,29
$R_STBD_OVSHOOT,34
$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
$GPS1,212057,4739.522,-12252.996,10,1.9,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-58.3
$GPS2,212653,4739.595,-12252.939,12,9.0,31,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.173,-0.134
$KALMAN_X,2775.5,-10.9,132.4,-3815.3,35.2
$KALMAN_Y,3702.7,144.5,222.9,-4382.8,47.4
$MHEAD_RNG_PITCHd_Wd,213.9,405,-20.9,-9.524
$D_GRID,119
$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,-1.73,-103.9,0.0,0.0,0,92,0.00,0.00,-67.32,0.000,2,0.000,0.000,461,1809,3057
$GC,95,-1.75,-122.2,2.0,-3.8,11,139,14.40,2.72,-23.98,0.000,4,0.209,0.082,2714,403,3719
$GC,232,-1.75,-122.2,7.7,-5.5,32,238,0.00,2.45,0.00,0.000,6,0.000,0.035,2714,1805,3721
$GC,304,-1.75,-122.2,11.4,-5.6,43,310,0.00,2.50,0.00,0.000,4,0.000,0.051,2714,3194,3720
$GC,342,-1.75,-122.2,13.8,-6.3,49,349,0.00,2.47,0.00,0.000,6,0.000,0.037,2713,1795,3720
$GC,415,-1.75,-122.2,17.8,-5.7,60,420,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,1795,3721
$GC,493,-1.75,-122.2,22.5,-6.1,69,497,0.00,2.53,0.00,0.000,4,0.000,0.048,2714,3195,3720
$GC,605,-1.75,-122.2,29.8,-6.6,77,609,0.00,2.47,0.00,0.000,6,0.000,0.037,2714,1791,3721
$GC,800,-1.75,-122.2,42.0,-6.5,92,801,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,1791,3721
$GC,989,-1.75,-122.2,53.8,-6.2,107,993,0.00,2.53,0.00,0.000,4,0.000,0.049,2714,3191,3721
$GC,1040,-1.75,-122.2,57.2,-7.1,110,1048,0.00,2.47,0.00,0.000,6,0.000,0.036,2714,1804,3721
$GC,1237,-1.75,-122.2,69.8,-6.6,126,1241,0.00,2.65,0.00,0.000,4,0.000,0.074,2714,391,3721
$GC,1296,-1.75,-122.2,73.7,-6.2,130,1300,0.00,2.45,0.00,0.000,6,0.000,0.035,2714,1801,3721
$GC,1491,-1.75,-122.2,85.2,-6.1,145,1495,0.00,2.65,0.00,0.000,4,0.000,0.072,2714,398,3721
$GC,1623,-1.75,-122.2,94.1,-7.2,154,1629,0.00,2.42,0.00,0.000,6,0.000,0.034,2714,1801,3721
$STATE,1715,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1715,begin apogee
$GC,1720,-0.38,0.0,100.3,6.4,162,1826,1.50,0.00,98.00,0.683,6,0.106,0.000,3011,1720,3217
$STATE,1827,end apogee,CONTROL_FINISHED_OK
$STATE,1827,begin climb
$GC,1829,1.75,122.2,101.3,0.0,171,1934,2.10,2.67,94.68,0.660,4,0.051,0.076,3486,341,2718
$GC,1952,1.75,122.2,90.2,12.5,180,1960,0.00,2.47,0.00,0.000,6,0.000,0.035,3486,1728,2717
$GC,2148,1.75,122.2,64.4,13.7,196,2152,0.00,2.67,0.00,0.000,4,0.000,0.075,3486,339,2716
$GC,2272,1.75,122.2,46.7,14.2,205,2280,0.00,2.47,0.00,0.000,6,0.000,0.033,3486,1734,2716
$GC,2469,1.75,122.2,22.5,12.1,221,2470,0.00,0.00,0.00,0.000,6,0.000,0.000,3486,1734,2716
$STATE,2613,end climb,SURFACE_DEPTH_REACHED
$STATE,2613,begin surface coast
$FINISH,0.4,1.021690
$STATE,2652,end surface coast,CONTROL_FINISHED_OK
$STATE,2652,begin surface
$SM_CCo,2679,119.15,0.593,0,0,1586,400.08
$SM_GC,0.98,0.00,0.00,119.15,0.000,0.000,0.593,461,1806,1586,-12.14,0.17,400.08
$IRIDIUM_FIX,4722.92,-12253.53,300907,000024
$TT8_MAMPS,0.072098
$HUMID,2032
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.6,51.7
$24V_AH,23.8,16.920
$10V_AH,10.1,38.304
$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,31.550,40.875,192.675,119.150,0.000,40.668,38.453,141.712,0.500,0.000,3265.000,32.009,474.141,1448.237,428.432,497.424,334.981,33.324,714.374,0.000,451.300,0.000,5.486
$DEVICE_MAMPS,208.624,82.069,682.630,592.891,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,165.401,0.000,0.000,0.000,0.000,0.000,0.000,3265.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6440,247
$CFSIZE,260034560,252936192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290907,221538,4739.418,-12253.277,26,1.9,26,18.3