version: 66.02
glider: 106
mission: 7
dive: 59
start: 9 26 107 23 36 16
data:
$ID,106
$MISSION,7
$DIVE,59
$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,-44331.852
$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,32
$R_STBD_OVSHOOT,35
$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
$GPS1,233033,4739.451,-12252.953,11,1.5,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-64.3
$GPS2,233509,4739.443,-12252.974,13,1.9,13,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.234,0.029
$KALMAN_X,2120.3,-33.4,-79.5,-2968.5,-57.9
$KALMAN_Y,1652.7,-20.9,-111.2,-2109.3,-36.4
$MHEAD_RNG_PITCHd_Wd,64.6,715,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,22,-1.63,-122.2,0.0,0.0,0,86,0.00,0.00,-61.70,0.000,2,0.000,0.000,463,2001,2992
$GC,89,-1.63,-122.2,2.2,-4.2,10,137,14.65,0.00,-28.15,0.000,6,0.212,0.000,2720,2001,3718
$GC,203,-1.63,-122.2,8.3,-7.6,28,209,0.00,2.65,0.00,0.000,4,0.000,0.067,2720,594,3719
$GC,400,-1.63,-122.2,21.2,-5.9,57,404,0.00,2.45,0.00,0.000,6,0.000,0.035,2721,1993,3720
$GC,602,-1.63,-122.2,32.4,-4.9,73,606,0.00,2.62,0.00,0.000,4,0.000,0.066,2720,594,3721
$GC,694,-1.63,-122.2,38.0,-6.4,80,698,0.00,2.45,0.00,0.000,6,0.000,0.035,2720,1989,3721
$GC,896,-1.63,-122.2,51.1,-6.7,96,900,0.00,2.55,0.00,0.000,4,0.000,0.056,2721,3397,3721
$GC,935,-1.63,-122.2,53.8,-6.7,99,939,0.00,2.50,0.00,0.000,6,0.000,0.040,2720,1989,3721
$GC,1137,-1.63,-122.2,65.6,-5.9,115,1141,0.00,2.62,0.00,0.000,4,0.000,0.071,2720,590,3721
$GC,1190,-1.63,-122.2,69.0,-6.5,119,1194,0.00,2.47,0.00,0.000,6,0.000,0.036,2720,1993,3721
$GC,1391,-1.63,-122.2,82.0,-6.4,135,1393,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1992,3721
$GC,1582,-1.63,-122.2,93.6,-6.2,150,1586,0.00,2.53,0.00,0.000,4,0.000,0.056,2720,3388,3721
$GC,1613,-1.63,-122.2,95.6,-6.7,152,1617,0.00,0.82,0.00,0.000,6,0.000,0.044,2720,2916,3722
$STATE,1687,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1687,begin apogee
$GC,1693,-0.38,0.0,100.8,6.7,158,1799,1.38,0.00,97.93,0.680,6,0.104,0.000,2991,1928,3216
$STATE,1799,end apogee,CONTROL_FINISHED_OK
$STATE,1800,begin climb
$GC,1801,1.63,122.2,101.6,0.0,167,1904,1.98,2.62,94.68,0.657,4,0.056,0.057,3435,3330,2718
$GC,1917,1.64,128.5,92.9,9.2,176,1931,0.00,2.53,4.57,0.700,6,0.000,0.041,3435,1923,2693
$GC,2119,1.64,128.5,69.6,11.4,192,2123,0.00,2.67,0.00,0.000,4,0.000,0.077,3435,526,2691
$GC,2150,1.64,128.5,65.7,12.0,194,2159,0.00,2.50,0.00,0.000,6,0.000,0.035,3435,1926,2691
$GC,2346,1.64,128.5,45.2,10.3,210,2351,0.00,2.67,0.00,0.000,4,0.000,0.071,3435,526,2691
$GC,2391,1.64,128.5,40.5,10.9,213,2399,0.00,2.50,0.00,0.000,6,0.000,0.035,3435,1926,2691
$GC,2590,1.64,128.5,17.7,11.6,230,2596,0.00,2.65,0.00,0.000,4,0.000,0.072,3435,531,2691
$STATE,2739,end climb,SURFACE_DEPTH_REACHED
$STATE,2739,begin surface coast
$FINISH,0.6,1.020240
$STATE,2819,end surface coast,CONTROL_FINISHED_OK
$STATE,2819,begin surface
$SM_CCo,2846,122.05,0.591,0,0,1586,400.08
$SM_GC,1.10,0.00,0.00,122.05,0.000,0.000,0.591,462,1993,1586,-12.04,0.11,400.08
$IRIDIUM_FIX,4722.92,-12253.53,270907,020243
$TT8_MAMPS,0.06903
$HUMID,2035
$INTERNAL_PRESSURE,8.42806
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.3,51.2
$24V_AH,23.8,10.857
$10V_AH,10.1,33.082
$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,31.575,46.225,197.175,122.050,0.000,37.647,32.627,112.456,0.500,20.760,3329.240,13.178,502.361,1590.963,433.449,483.676,264.715,33.328,725.636,0.000,459.928,0.000,5.483
$DEVICE_MAMPS,212.459,76.700,700.271,590.590,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,177.869,0.000,0.000,0.000,0.000,0.000,0.000,3350.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6458,265
$CFSIZE,260034560,255287296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270907,002647,4739.468,-12252.647,10,3.1,29,18.3