version: 66.02
glider: 106
mission: 7
dive: 6
start: 9 25 107 2 1 11
data:
$ID,106
$MISSION,7
$DIVE,6
$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,-43158.809
$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,1980
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,400
$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
$GPS1,015305,4739.078,-12251.863,11,3.3,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-65.7
$GPS2,020005,4739.139,-12251.788,16,2.8,35,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H1
$TGT_LATLONG,4739.000,-12252.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.175,-0.159
$KALMAN_X,216.1,25.5,-50.4,320.8,139.1
$KALMAN_Y,446.4,160.3,30.8,-1796.5,111.2
$MHEAD_RNG_PITCHd_Wd,209.4,369,-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,-122.2,0.0,0.0,0,66,0.00,0.00,-44.00,0.000,2,0.000,0.000,460,2019,2593
$GC,68,-1.63,-122.2,2.1,-3.3,7,135,14.45,2.72,-43.83,0.000,4,0.203,0.081,2722,598,3720
$GC,167,-1.63,-122.2,4.6,-3.8,23,174,0.00,2.50,0.00,0.000,6,0.000,0.038,2722,1987,3722
$GC,239,-1.63,-122.2,8.0,-4.7,34,246,0.00,2.58,0.00,0.000,4,0.000,0.058,2722,3393,3722
$GC,338,-1.63,-122.2,13.7,-6.0,49,345,0.00,2.50,0.00,0.000,6,0.000,0.043,2722,1995,3724
$GC,410,-1.63,-122.2,18.1,-6.3,60,415,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1995,3724
$GC,479,-1.63,-122.2,22.6,-6.5,68,483,0.00,2.58,0.00,0.000,4,0.000,0.058,2722,3388,3724
$GC,505,-1.63,-122.2,24.4,-7.2,70,509,0.00,2.50,0.00,0.000,6,0.000,0.043,2722,1988,3726
$GC,707,-1.63,-122.2,38.8,-7.4,86,711,0.00,2.67,0.00,0.000,4,0.000,0.074,2722,584,3729
$GC,751,-1.63,-122.2,42.4,-7.6,89,760,0.00,2.53,0.00,0.000,6,0.000,0.041,2722,1984,3727
$GC,948,-1.63,-122.2,56.1,-6.6,105,949,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1984,3730
$GC,1138,-1.63,-122.2,69.6,-7.2,120,1142,0.00,2.67,0.00,0.000,4,0.000,0.072,2722,584,3730
$GC,1162,-1.63,-122.2,71.5,-7.8,121,1170,0.00,2.53,0.00,0.000,6,0.000,0.041,2721,1986,3729
$GC,1358,-1.63,-122.2,85.6,-6.9,137,1360,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1987,3730
$GC,1548,-1.63,-122.2,98.9,-7.0,152,1553,0.00,2.65,0.00,0.000,4,0.000,0.073,2722,588,3728
$STATE,1566,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1566,begin apogee
$GC,1572,-0.38,0.0,100.2,6.7,153,1677,1.35,0.00,98.57,0.689,6,0.097,0.000,2991,1979,3217
$STATE,1678,end apogee,CONTROL_FINISHED_OK
$STATE,1678,begin climb
$GC,1679,1.63,122.2,101.7,0.0,162,1783,2.00,2.65,94.93,0.660,4,0.054,0.064,3440,3380,2717
$GC,1800,1.63,122.2,93.0,10.2,171,1809,0.00,2.58,0.00,0.000,6,0.000,0.046,3441,1986,2716
$GC,1997,1.63,122.2,73.0,10.1,187,2001,0.00,2.75,0.00,0.000,4,0.000,0.077,3440,575,2715
$GC,2089,1.63,122.2,63.1,10.8,194,2094,0.00,2.50,0.00,0.000,6,0.000,0.042,3440,1976,2716
$GC,2291,1.63,122.2,42.9,9.8,210,2296,0.00,2.72,0.00,0.000,4,0.000,0.073,3440,573,2715
$GC,2375,1.63,122.2,33.7,10.7,216,2383,0.00,2.55,0.00,0.000,6,0.000,0.041,3440,1981,2715
$GC,2574,1.63,122.2,14.1,10.0,236,2581,0.00,2.72,0.00,0.000,4,0.000,0.072,3440,573,2715
$GC,2606,1.63,122.2,10.8,10.5,241,2613,0.00,2.53,0.00,0.000,6,0.000,0.040,3440,1976,2715
$STATE,2670,end climb,SURFACE_DEPTH_REACHED
$STATE,2670,begin surface coast
$FINISH,1.9,1.019280
$STATE,2744,end surface coast,CONTROL_FINISHED_OK
$STATE,2744,begin surface
$SM_CCo,2768,121.78,0.600,0,0,1586,400.08
$SM_GC,1.20,0.00,0.00,121.78,0.000,0.000,0.600,462,1983,1586,-12.04,-0.23,400.08
$IRIDIUM_FIX,4722.92,-12251.79,250907,050531
$TT8_MAMPS,0.071331
$HUMID,2038
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.2,51.6
$24V_AH,23.7,6.317
$10V_AH,10.1,29.664
$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,31.750,51.925,193.500,121.775,0.000,41.019,35.244,236.770,0.500,0.000,3439.000,36.829,495.450,1519.889,449.501,497.431,377.990,33.321,742.254,0.000,451.288,0.000,5.485
$DEVICE_MAMPS,203.255,81.302,688.766,599.794,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,175.459,0.000,0.000,0.000,0.000,0.000,0.000,3439.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6459,262
$CFSIZE,260034560,256933888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,250907,025002,4739.074,-12251.948,9,1.5,9,18.3