version: 66.02
glider: 106
mission: 7
dive: 158
start: 9 30 107 18 28 53
data:
$ID,106
$MISSION,7
$DIVE,158
$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,-46457.5
$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,36
$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
$GPS1,182214,4739.598,-12252.199,8,1.2,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-57.1
$GPS2,182745,4739.648,-12252.093,10,1.8,10,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.186,-0.146
$KALMAN_X,5418.3,258.5,87.7,-5630.5,190.5
$KALMAN_Y,8417.2,388.8,111.8,-9131.9,131.7
$MHEAD_RNG_PITCHd_Wd,213.6,512,-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,-122.2,0.0,0.0,0,105,0.00,0.00,-79.07,0.000,2,0.000,0.000,462,1814,3279
$GC,108,-1.63,-122.2,2.1,-5.0,13,146,15.15,2.70,-14.70,0.000,4,0.222,0.084,2739,404,3719
$GC,166,-1.63,-122.2,5.4,-7.1,22,173,0.00,2.45,0.00,0.000,6,0.000,0.035,2739,1812,3720
$GC,238,-1.63,-122.2,9.7,-5.2,33,245,0.00,2.47,0.00,0.000,4,0.000,0.049,2739,3189,3720
$GC,264,-1.63,-122.2,10.6,-3.9,37,270,0.00,2.45,0.00,0.000,6,0.000,0.037,2739,1801,3721
$GC,336,-1.63,-122.2,14.4,-5.4,48,342,0.00,2.65,0.00,0.000,4,0.000,0.073,2739,395,3721
$GC,415,-1.63,-122.2,19.0,-6.1,60,421,0.00,2.45,0.00,0.000,6,0.000,0.035,2739,1800,3721
$GC,484,-1.63,-122.2,22.8,-5.3,67,489,0.00,2.67,0.00,0.000,4,0.000,0.071,2739,393,3721
$GC,575,-1.63,-122.2,28.2,-6.4,73,582,0.00,2.47,0.00,0.000,6,0.000,0.034,2739,1799,3721
$GC,772,-1.63,-122.2,39.9,-6.3,89,776,0.00,2.50,0.00,0.000,4,0.000,0.049,2739,3192,3721
$GC,857,-1.63,-122.2,45.6,-6.8,95,861,0.00,2.47,0.00,0.000,6,0.000,0.038,2739,1793,3721
$GC,1052,-1.63,-122.2,56.5,-5.6,110,1057,0.00,2.53,0.00,0.000,4,0.000,0.048,2739,3192,3721
$GC,1092,-1.63,-122.2,58.8,-6.1,112,1098,0.00,2.45,0.00,0.000,6,0.000,0.037,2739,1798,3721
$GC,1287,-1.63,-122.2,69.4,-4.8,128,1288,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1799,3721
$GC,1477,-1.63,-122.2,79.9,-5.1,143,1479,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1799,3721
$GC,1667,-1.63,-122.2,90.5,-5.6,158,1668,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1799,3721
$STATE,1841,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1841,begin apogee
$GC,1847,-0.38,0.0,100.4,5.7,172,1951,1.40,0.00,98.40,0.683,6,0.111,0.000,3012,1725,3217
$STATE,1952,end apogee,CONTROL_FINISHED_OK
$STATE,1952,begin climb
$GC,1954,1.63,122.2,100.9,0.0,181,2060,1.98,2.78,95.43,0.653,4,0.057,0.079,3453,334,2717
$GC,2099,1.63,122.2,87.4,12.9,192,2103,0.00,2.47,0.00,0.000,6,0.000,0.035,3453,1734,2716
$GC,2301,1.63,122.2,62.8,12.2,208,2302,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,1734,2715
$GC,2492,1.63,122.2,40.6,11.8,223,2493,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,1734,2715
$GC,2681,1.63,122.2,18.7,11.3,238,2687,0.00,2.67,0.00,0.000,4,0.000,0.077,3453,339,2715
$GC,2739,1.63,122.2,11.5,11.9,247,2746,0.00,2.45,0.00,0.000,6,0.000,0.034,3453,1743,2715
$STATE,2796,end climb,SURFACE_DEPTH_REACHED
$STATE,2796,begin surface coast
$FINISH,0.1,1.021818
$STATE,2839,end surface coast,CONTROL_FINISHED_OK
$STATE,2839,begin surface
$SM_CCo,2866,118.95,0.579,0,0,1586,400.08
$SM_GC,0.70,0.00,0.00,118.95,0.000,0.000,0.579,462,1806,1586,-12.13,0.17,400.08
$IRIDIUM_FIX,4722.92,-12249.11,300907,212128
$TT8_MAMPS,0.06903
$HUMID,2011
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.3,51.3
$24V_AH,23.9,18.685
$10V_AH,10.1,39.881
$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,31.875,40.850,193.825,118.950,0.000,40.291,35.217,142.745,0.500,0.000,3429.000,10.381,494.202,1611.879,428.747,467.968,342.275,33.335,714.017,0.000,443.368,0.000,5.483
$DEVICE_MAMPS,222.430,84.370,682.630,579.085,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,175.543,0.000,0.000,0.000,0.000,0.000,0.000,3429.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6452,262
$CFSIZE,260034560,252231680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300907,191926,4739.565,-12252.274,10,1.9,15,18.3