version: 66.02
glider: 106
mission: 7
dive: 157
start: 9 30 107 17 32 34
data:
$ID,106
$MISSION,7
$DIVE,157
$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,-46446.488
$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,44
$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
$GPS1,172633,4739.589,-12252.167,13,1.2,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-59.4
$GPS2,173126,4739.651,-12252.057,14,1.4,14,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.186,-0.145
$KALMAN_X,5145.6,251.1,43.7,-5264.8,145.6
$KALMAN_Y,8164.5,403.3,70.4,-8850.3,111.2
$MHEAD_RNG_PITCHd_Wd,213.7,549,-19.2,-9.524
$D_GRID,124
$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,-122.2,0.0,0.0,0,106,0.00,0.00,-79.12,0.000,2,0.000,0.000,461,1816,3297
$GC,108,-1.63,-122.2,2.2,-4.9,13,139,15.25,0.00,-13.07,0.000,6,0.224,0.000,2741,1817,3718
$GC,205,-1.63,-122.2,8.2,-6.1,28,211,0.00,2.67,0.00,0.000,4,0.000,0.072,2741,405,3721
$GC,231,-1.63,-122.2,9.8,-6.5,32,237,0.00,2.42,0.00,0.000,6,0.000,0.035,2741,1807,3721
$GC,303,-1.63,-122.2,13.0,-5.0,43,309,0.00,2.47,0.00,0.000,4,0.000,0.050,2741,3181,3721
$GC,421,-1.63,-122.2,19.3,-5.2,61,428,0.00,2.42,0.00,0.000,6,0.000,0.038,2741,1807,3721
$GC,491,-1.63,-122.2,22.8,-5.2,68,492,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,1807,3721
$GC,682,-1.63,-122.2,33.9,-5.4,83,686,0.00,2.67,0.00,0.000,4,0.000,0.074,2741,388,3721
$GC,808,-1.63,-122.2,41.2,-5.9,92,812,0.00,2.45,0.00,0.000,6,0.000,0.035,2741,1794,3721
$GC,1003,-1.63,-122.2,53.1,-6.4,107,1004,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,1799,3721
$GC,1193,-1.63,-122.2,65.0,-6.7,122,1198,0.00,2.50,0.00,0.000,4,0.000,0.050,2741,3192,3721
$GC,1292,-1.63,-122.2,72.0,-8.0,129,1296,0.00,2.45,0.00,0.000,6,0.000,0.038,2741,1800,3721
$GC,1487,-1.63,-122.2,84.3,-5.7,144,1488,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,1800,3721
$GC,1679,-1.63,-122.2,94.0,-5.3,159,1680,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,1800,3722
$STATE,1800,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1801,begin apogee
$GC,1806,-0.38,0.0,100.6,5.1,169,1912,1.38,0.00,98.18,0.680,6,0.107,0.000,3012,1726,3217
$STATE,1912,end apogee,CONTROL_FINISHED_OK
$STATE,1913,begin climb
$GC,1915,1.63,122.2,101.1,0.0,178,2015,1.98,0.00,95.38,0.651,6,0.058,0.000,3454,1726,2717
$GC,2200,1.63,122.2,70.8,12.8,201,2204,0.00,2.67,0.00,0.000,4,0.000,0.080,3454,334,2716
$GC,2233,1.63,122.2,66.6,13.2,203,2237,0.00,2.45,0.00,0.000,6,0.000,0.036,3454,1728,2715
$GC,2434,1.63,122.2,42.0,11.7,219,2436,0.00,0.00,0.00,0.000,6,0.000,0.000,3454,1728,2715
$GC,2625,1.63,122.2,20.0,12.1,234,2629,0.00,2.67,0.00,0.000,4,0.000,0.077,3454,338,2715
$GC,2697,1.63,122.2,11.2,12.1,244,2703,0.00,2.45,0.00,0.000,6,0.000,0.035,3454,1737,2715
$STATE,2747,end climb,SURFACE_DEPTH_REACHED
$STATE,2747,begin surface coast
$FINISH,0.3,1.021855
$STATE,2788,end surface coast,CONTROL_FINISHED_OK
$STATE,2788,begin surface
$SM_CCo,2813,119.05,0.581,0,0,1586,400.08
$SM_GC,0.84,0.00,0.00,119.05,0.000,0.000,0.581,462,1814,1586,-12.13,0.40,400.08
$IRIDIUM_FIX,4735.69,-11734.41,300907,202036
$TT8_MAMPS,0.06903
$HUMID,2013
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.7,51.8
$24V_AH,23.9,18.611
$10V_AH,10.1,39.811
$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,31.900,30.550,193.550,119.050,0.000,37.480,33.414,109.278,0.500,0.000,3341.000,14.962,488.377,1591.250,419.088,459.979,299.316,33.329,689.637,0.000,431.977,0.000,7.889
$DEVICE_MAMPS,223.964,79.768,680.329,581.386,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,173.198,0.000,0.000,0.000,0.000,0.000,0.000,3341.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6465,258
$CFSIZE,260034560,252260352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300907,182214,4739.598,-12252.199,8,1.2,13,18.3