version: 66.02
glider: 106
mission: 7
dive: 136
start: 9 29 107 22 25 41
data:
$ID,106
$MISSION,7
$DIVE,136
$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,-45996.125
$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,30
$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
$GPS1,221538,4739.418,-12253.277,26,1.9,26,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-57.0
$GPS2,222433,4739.484,-12253.217,17,1.9,17,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.236,-0.014
$KALMAN_X,2775.5,14.3,127.5,-4181.6,-10.9
$KALMAN_Y,3775.8,158.4,209.4,-4659.6,15.6
$MHEAD_RNG_PITCHd_Wd,75.2,1017,-19.2,-9.524
$D_GRID,117
$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,-122.2,0.0,0.0,0,99,0.00,0.00,-73.25,0.000,2,0.000,0.000,461,1806,3179
$GC,102,-1.63,-122.2,2.1,-4.1,12,145,14.55,2.55,-18.77,0.000,4,0.208,0.061,2742,3195,3719
$GC,376,-1.63,-122.2,16.8,-6.4,54,383,0.00,2.45,0.00,0.000,6,0.000,0.038,2742,1806,3721
$GC,448,-1.63,-122.2,21.0,-5.8,64,452,0.00,2.67,0.00,0.000,4,0.000,0.074,2742,389,3721
$GC,486,-1.63,-122.2,23.4,-6.5,66,493,0.00,2.50,0.00,0.000,6,0.000,0.035,2742,1808,3721
$GC,682,-1.63,-122.2,34.3,-5.4,82,683,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1808,3721
$GC,875,-1.63,-122.2,44.9,-6.0,97,879,0.00,2.47,0.00,0.000,4,0.000,0.051,2742,3194,3721
$GC,907,-1.63,-122.2,47.4,-7.3,99,911,0.00,2.47,0.00,0.000,6,0.000,0.038,2742,1791,3721
$GC,1102,-1.63,-122.2,59.8,-6.5,114,1103,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1790,3721
$GC,1292,-1.63,-122.2,70.8,-5.6,129,1297,0.00,2.53,0.00,0.000,4,0.000,0.049,2741,3195,3721
$GC,1419,-1.63,-122.2,78.3,-5.8,138,1423,0.00,2.47,0.00,0.000,6,0.000,0.038,2742,1793,3721
$GC,1614,-1.63,-122.2,88.2,-5.3,153,1615,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1793,3721
$GC,1804,-1.63,-122.2,98.2,-5.6,168,1805,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1793,3721
$STATE,1838,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1839,begin apogee
$GC,1844,-0.38,0.0,100.2,5.6,171,1950,1.38,0.00,97.97,0.685,6,0.105,0.000,3015,1731,3218
$STATE,1951,end apogee,CONTROL_FINISHED_OK
$STATE,1951,begin climb
$GC,1953,1.63,122.2,100.9,0.0,180,2059,2.03,2.72,95.15,0.656,4,0.055,0.078,3455,339,2718
$GC,2086,1.63,122.2,89.6,12.1,191,2090,0.00,2.45,0.00,0.000,6,0.000,0.035,3455,1730,2718
$GC,2288,1.63,122.2,65.2,11.9,207,2292,0.00,2.53,0.00,0.000,4,0.000,0.051,3455,3133,2717
$GC,2327,1.63,122.2,60.3,12.0,210,2331,0.00,2.50,0.00,0.000,6,0.000,0.040,3456,1739,2716
$GC,2529,1.63,122.2,36.5,11.3,226,2533,0.00,2.70,0.00,0.000,4,0.000,0.081,3456,332,2716
$GC,2567,1.63,122.2,32.0,11.7,228,2574,0.00,2.47,0.00,0.000,6,0.000,0.035,3455,1731,2716
$GC,2768,1.63,122.2,9.5,11.4,251,2774,0.00,2.70,0.00,0.000,4,0.000,0.076,3455,326,2716
$GC,2793,1.63,122.2,6.2,13.5,255,2800,0.00,2.47,0.00,0.000,6,0.000,0.035,3455,1744,2716
$STATE,2804,end climb,SURFACE_DEPTH_REACHED
$STATE,2804,begin surface coast
$FINISH,1.9,1.021435
$STATE,2851,end surface coast,CONTROL_FINISHED_OK
$STATE,2852,begin surface
$SM_CCo,2878,119.65,0.585,0,0,1586,400.08
$SM_GC,0.90,0.00,0.00,119.65,0.000,0.000,0.585,462,1809,1586,-12.13,0.25,400.08
$IRIDIUM_FIX,4719.74,-12254.47,300907,020234
$TT8_MAMPS,0.069797
$HUMID,2021
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.8,52.0
$24V_AH,23.9,17.002
$10V_AH,10.1,38.380
$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,32.125,40.850,193.125,119.650,0.000,76.043,73.518,202.881,0.500,0.000,3660.000,17.249,497.898,1678.054,430.585,481.938,474.973,33.357,716.447,0.000,450.736,0.000,5.487
$DEVICE_MAMPS,207.857,85.904,684.931,585.221,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,177.133,0.000,0.000,0.000,0.000,0.000,0.000,3660.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6435,264
$CFSIZE,260034560,252899328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290907,231655,4739.430,-12252.892,25,1.8,42,18.3