version: 66.02
glider: 106
mission: 7
dive: 35
start: 9 26 107 2 34 44
data:
$ID,106
$MISSION,7
$DIVE,35
$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,-43783.398
$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,27
$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
$GPS1,022823,4739.433,-12252.330,12,2.3,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-64.3
$GPS2,023337,4739.422,-12252.279,28,1.0,32,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.235,-0.018
$KALMAN_X,1854.8,24.4,-53.0,-1924.5,84.7
$KALMAN_Y,1791.5,-69.9,-85.9,-2264.5,67.7
$MHEAD_RNG_PITCHd_Wd,247.2,1154,-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,20,-1.63,-122.2,0.0,0.0,0,78,0.00,0.00,-55.90,0.000,2,0.000,0.000,464,1995,2872
$GC,81,-1.63,-122.2,2.1,-3.5,9,136,14.55,2.58,-33.33,0.000,4,0.209,0.069,2722,3396,3717
$GC,188,-1.63,-122.2,6.7,-7.5,26,195,0.00,2.50,0.00,0.000,6,0.000,0.041,2722,1989,3719
$GC,260,-1.63,-122.2,10.8,-4.4,37,266,0.00,2.58,0.00,0.000,4,0.000,0.054,2722,3398,3719
$GC,345,-1.63,-122.2,15.0,-6.0,50,352,0.00,2.50,0.00,0.000,6,0.000,0.040,2722,1989,3719
$GC,417,-1.63,-122.2,19.5,-5.7,61,423,0.00,2.62,0.00,0.000,4,0.000,0.070,2722,593,3720
$GC,487,-1.63,-122.2,24.0,-6.1,67,495,0.00,2.50,0.00,0.000,6,0.000,0.035,2722,1994,3720
$GC,684,-1.63,-122.2,36.8,-6.8,83,688,0.00,2.75,0.00,0.000,4,0.000,0.067,2722,587,3721
$GC,723,-1.63,-122.2,39.7,-7.6,86,727,0.00,2.50,0.00,0.000,6,0.000,0.036,2722,1997,3721
$GC,925,-1.63,-122.2,52.9,-6.4,102,929,0.00,2.72,0.00,0.000,4,0.000,0.069,2722,593,3721
$GC,990,-1.63,-122.2,57.3,-7.2,107,995,0.00,2.47,0.00,0.000,6,0.000,0.037,2722,1991,3721
$GC,1192,-1.63,-122.2,70.0,-6.4,123,1194,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1991,3721
$GC,1382,-1.63,-122.2,82.9,-6.6,138,1387,0.00,2.67,0.00,0.000,4,0.000,0.070,2722,588,3721
$GC,1441,-1.63,-122.2,87.0,-6.7,142,1445,0.00,2.50,0.00,0.000,6,0.000,0.037,2722,1995,3721
$STATE,1628,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1629,begin apogee
$GC,1632,-0.38,0.0,100.5,7.3,157,1734,1.35,0.00,97.90,0.680,6,0.097,0.000,2991,1928,3219
$STATE,1735,end apogee,CONTROL_FINISHED_OK
$STATE,1735,begin climb
$GC,1737,1.63,122.2,102.5,0.0,165,1841,2.00,2.65,95.12,0.657,4,0.051,0.058,3442,3336,2718
$GC,1852,1.63,122.2,94.4,10.4,174,1857,0.00,2.58,0.00,0.000,6,0.000,0.042,3441,1932,2718
$GC,2054,1.63,122.2,71.8,10.9,190,2059,0.00,2.72,0.00,0.000,4,0.000,0.077,3442,525,2718
$GC,2179,1.63,122.2,57.4,11.7,199,2187,0.00,2.53,0.00,0.000,6,0.000,0.037,3442,1927,2717
$GC,2375,1.63,122.2,36.2,10.2,215,2379,0.00,2.72,0.00,0.000,4,0.000,0.074,3442,510,2717
$GC,2467,1.63,122.2,26.1,10.9,222,2472,0.00,2.55,0.00,0.000,6,0.000,0.038,3442,1929,2717
$GC,2670,1.65,140.2,6.9,8.6,248,2689,0.00,2.60,13.75,0.653,4,0.000,0.057,3442,3334,2645
$STATE,2693,end climb,SURFACE_DEPTH_REACHED
$STATE,2694,begin surface coast
$FINISH,0.7,1.020163
$STATE,2767,end surface coast,CONTROL_FINISHED_OK
$STATE,2767,begin surface
$SM_CCo,2794,112.95,0.588,0,0,1586,400.08
$SM_GC,1.25,0.00,0.00,112.95,0.000,0.000,0.588,464,1986,1586,-12.03,-0.11,400.08
$IRIDIUM_FIX,4722.92,-12256.21,260907,050531
$TT8_MAMPS,0.069797
$HUMID,2039
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.5,51.3
$24V_AH,23.2,8.906
$10V_AH,10.1,31.507
$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,31.575,51.825,206.775,112.950,0.000,37.813,40.437,127.540,0.500,87.151,3276.849,32.251,499.925,1526.495,434.202,514.056,278.371,33.331,731.732,0.000,469.675,0.000,6.076
$DEVICE_MAMPS,209.391,77.467,680.329,588.289,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,176.291,0.000,0.000,0.000,0.000,0.000,0.000,3364.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6433,263
$CFSIZE,260034560,256016384
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260907,032357,4739.485,-12252.528,14,1.1,14,18.3