version: 66.02
glider: 106
mission: 7
dive: 29
start: 9 25 107 21 22 58
data:
$ID,106
$MISSION,7
$DIVE,29
$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,-43634.695
$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,22
$R_STBD_OVSHOOT,25
$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
$GPS1,211309,4739.552,-12253.192,9,1.7,9,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-64.7
$GPS2,212151,4739.517,-12253.206,14,1.4,14,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.234,0.034
$KALMAN_X,1542.8,137.5,17.7,-2950.9,-100.9
$KALMAN_Y,1804.4,35.3,-23.1,-2270.8,-108.1
$MHEAD_RNG_PITCHd_Wd,63.3,1008,-19.2,-9.524
$D_GRID,116
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,22,-1.63,-122.2,0.0,0.0,0,79,0.00,0.00,-55.40,0.000,2,0.000,0.000,461,1996,2856
$GC,81,-1.63,-122.2,2.2,-3.7,9,137,14.45,2.72,-34.97,0.000,4,0.203,0.078,2722,588,3718
$GC,236,-1.63,-122.2,10.2,-6.4,33,243,0.00,2.58,0.00,0.000,6,0.000,0.035,2722,1993,3720
$GC,308,-1.63,-122.2,14.6,-5.7,44,313,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1993,3720
$GC,379,-1.63,-122.2,18.9,-6.1,55,385,0.00,2.67,0.00,0.000,4,0.000,0.065,2722,578,3721
$GC,462,-1.63,-122.2,24.3,-6.6,63,470,0.00,2.53,0.00,0.000,6,0.000,0.035,2722,1989,3721
$GC,659,-1.63,-122.2,36.4,-6.3,79,660,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1990,3722
$GC,849,-1.63,-122.2,49.0,-6.4,94,853,0.00,2.58,0.00,0.000,4,0.000,0.058,2722,3396,3722
$GC,906,-1.63,-122.2,53.0,-7.2,98,914,0.00,2.55,0.00,0.000,6,0.000,0.041,2722,1984,3722
$GC,1102,-1.63,-122.2,66.1,-6.9,114,1107,0.00,2.67,0.00,0.000,4,0.000,0.071,2722,572,3722
$GC,1147,-1.63,-122.2,69.3,-7.6,117,1155,0.00,2.55,0.00,0.000,6,0.000,0.037,2722,1989,3722
$GC,1344,-1.63,-122.2,82.7,-7.1,133,1348,0.00,2.65,0.00,0.000,4,0.000,0.068,2722,590,3722
$GC,1401,-1.63,-122.2,87.1,-7.5,137,1409,0.00,2.50,0.00,0.000,6,0.000,0.036,2722,1986,3722
$STATE,1598,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1598,begin apogee
$GC,1602,-0.38,0.0,100.1,6.8,153,1708,1.38,0.00,98.25,0.677,6,0.099,0.000,2993,1919,3217
$STATE,1708,end apogee,CONTROL_FINISHED_OK
$STATE,1709,begin climb
$GC,1710,1.63,122.2,101.9,0.0,162,1813,1.95,2.65,94.75,0.653,4,0.051,0.058,3436,3330,2718
$GC,1831,1.63,122.2,93.9,9.6,171,1840,0.00,2.58,0.00,0.000,6,0.000,0.041,3435,1930,2718
$GC,2028,1.63,122.2,73.3,10.9,187,2032,0.00,2.70,0.00,0.000,4,0.000,0.077,3435,526,2717
$GC,2138,1.63,122.2,60.6,11.9,195,2147,0.00,2.55,0.00,0.000,6,0.000,0.037,3435,1932,2718
$GC,2336,1.63,122.2,39.4,11.2,211,2337,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,1932,2718
$GC,2525,1.63,122.2,19.5,10.3,226,2531,0.00,2.67,0.00,0.000,4,0.000,0.072,3435,530,2717
$GC,2656,1.64,134.2,6.8,8.9,246,2670,0.00,2.50,8.65,0.666,6,0.000,0.037,3435,1926,2671
$STATE,2687,end climb,SURFACE_DEPTH_REACHED
$STATE,2687,begin surface coast
$FINISH,1.1,1.019705
$STATE,2768,end surface coast,CONTROL_FINISHED_OK
$STATE,2768,begin surface
$SM_CCo,2792,114.28,0.586,0,0,1587,400.08
$SM_GC,1.11,0.00,0.00,114.28,0.000,0.000,0.586,461,1995,1587,-12.05,0.14,400.08
$IRIDIUM_FIX,4722.92,-12251.79,260907,010143
$TT8_MAMPS,0.070564
$HUMID,2034
$INTERNAL_PRESSURE,8.43782
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.3,51.0
$24V_AH,23.2,8.340
$10V_AH,10.1,31.118
$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,31.700,41.875,201.650,114.275,0.000,75.297,68.030,221.549,0.500,91.310,3455.690,14.899,490.823,1605.036,442.369,480.523,442.244,33.327,731.482,0.000,454.370,0.000,5.483
$DEVICE_MAMPS,203.255,78.234,677.261,585.988,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,175.911,0.000,0.000,0.000,0.000,0.000,0.000,3547.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6456,263
$CFSIZE,260034560,256212992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250907,221208,4739.467,-12252.849,11,1.4,11,18.3