version: 66.02
glider: 106
mission: 7
dive: 23
start: 9 25 107 16 20 53
data:
$ID,106
$MISSION,7
$DIVE,23
$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,-43492.93
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,460
$PITCH_MAX,3783
$C_PITCH,3080
$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,1990
$C_ROLL_CLIMB,1930
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,16
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,390
$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
$GPS1,161423,4739.077,-12251.833,15,3.1,34,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-65.1
$GPS2,161947,4739.096,-12251.778,10,2.8,29,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.230,0.053
$KALMAN_X,1718.5,155.5,75.5,-1422.8,155.0
$KALMAN_Y,2241.1,88.3,102.8,-3667.7,180.9
$MHEAD_RNG_PITCHd_Wd,264.6,1038,-19.2,-9.524
$D_GRID,125
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-1.63,-122.2,0.0,0.0,0,72,0.00,0.00,-49.45,0.000,2,0.000,0.000,460,1995,2719
$GC,74,-1.63,-122.2,2.0,-3.2,8,141,14.20,2.70,-42.65,0.000,4,0.199,0.080,2722,591,3719
$GC,246,-1.63,-122.2,9.6,-6.8,35,253,0.00,2.47,0.00,0.000,6,0.000,0.038,2722,1991,3720
$GC,318,-1.63,-122.2,14.3,-6.2,46,325,0.00,2.58,0.00,0.000,4,0.000,0.057,2722,3399,3720
$GC,396,-1.63,-122.2,19.0,-5.6,58,403,0.00,2.50,0.00,0.000,6,0.000,0.041,2722,1987,3720
$GC,466,-1.63,-122.2,23.5,-6.6,65,470,0.00,2.65,0.00,0.000,4,0.000,0.070,2722,584,3721
$GC,511,-1.63,-122.2,26.7,-6.8,68,518,0.00,2.50,0.00,0.000,6,0.000,0.037,2722,1987,3721
$GC,707,-1.63,-122.2,39.0,-6.0,84,708,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1987,3722
$GC,901,-1.63,-122.2,50.5,-5.9,99,905,0.00,2.65,0.00,0.000,4,0.000,0.068,2723,591,3722
$GC,940,-1.63,-122.2,53.3,-6.3,101,946,0.00,2.47,0.00,0.000,6,0.000,0.038,2722,1995,3722
$GC,1135,-1.63,-122.2,65.7,-6.4,117,1136,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1995,3722
$GC,1325,-1.63,-122.2,77.7,-6.4,132,1326,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1995,3722
$GC,1514,-1.63,-122.2,89.6,-6.1,147,1515,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1995,3722
$STATE,1689,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1689,begin apogee
$GC,1693,-0.38,0.0,100.4,6.0,161,1800,1.35,0.00,98.43,0.680,6,0.096,0.000,2990,1928,3217
$STATE,1800,end apogee,CONTROL_FINISHED_OK
$STATE,1801,begin climb
$GC,1802,1.63,122.2,101.3,0.0,170,1907,1.98,2.70,95.45,0.657,4,0.050,0.059,3440,3332,2718
$GC,1945,1.63,122.2,88.9,11.4,181,1950,0.00,2.55,0.00,0.000,6,0.000,0.044,3440,1931,2717
$GC,2147,1.63,122.2,66.9,10.0,197,2152,0.00,2.72,0.00,0.000,4,0.000,0.078,3440,521,2717
$GC,2213,1.63,122.2,59.6,11.2,202,2217,0.00,2.50,0.00,0.000,6,0.000,0.038,3440,1922,2718
$GC,2416,1.63,122.2,37.9,10.9,218,2421,0.00,2.67,0.00,0.000,4,0.000,0.074,3440,530,2716
$GC,2506,1.63,122.2,27.4,10.8,224,2515,0.00,2.53,0.00,0.000,6,0.000,0.036,3440,1937,2717
$GC,2708,1.65,137.1,7.9,8.7,249,2728,0.00,2.62,11.18,0.665,4,0.000,0.058,3440,3333,2657
$STATE,2738,end climb,SURFACE_DEPTH_REACHED
$STATE,2738,begin surface coast
$FINISH,0.8,1.020397
$STATE,2792,end surface coast,CONTROL_FINISHED_OK
$STATE,2792,begin surface
$SM_CCo,2818,114.35,0.591,0,0,1586,400.08
$SM_GC,1.18,0.00,0.00,114.35,0.000,0.000,0.591,463,1980,1586,-12.04,-0.25,400.08
$IRIDIUM_FIX,4722.92,-12249.11,250907,191958
$TT8_MAMPS,0.06903
$HUMID,2018
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.5,51.3
$24V_AH,23.1,7.753
$10V_AH,10.1,30.739
$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,31.225,41.400,205.050,114.350,0.000,38.586,30.817,146.869,0.500,87.180,3306.820,30.407,490.368,1584.459,439.336,487.594,284.488,33.331,725.253,0.000,447.826,0.000,6.020
$DEVICE_MAMPS,199.420,79.768,680.329,591.357,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,175.425,0.000,0.000,0.000,0.000,0.000,0.000,3394.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6430,262
$CFSIZE,260034560,256413696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,250907,171033,4739.209,-12252.052,15,2.0,15,18.3