version: 66.02
glider: 106
mission: 7
dive: 108
start: 9 28 107 20 31 41
data:
$ID,106
$MISSION,7
$DIVE,108
$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,-45354.203
$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,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
$GPS1,202507,4739.483,-12253.080,17,1.6,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-62.9
$GPS2,203033,4739.516,-12253.095,14,1.5,14,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.231,-0.047
$KALMAN_X,2915.3,104.5,140.5,-4269.7,-19.0
$KALMAN_Y,1800.1,42.0,161.1,-2460.5,49.6
$MHEAD_RNG_PITCHd_Wd,83.2,869,-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,23,-1.63,-122.2,0.0,0.0,0,98,0.00,0.00,-73.43,0.000,2,0.000,0.000,462,1811,3194
$GC,101,-1.63,-122.2,2.2,-4.1,12,144,14.88,2.55,-18.62,0.000,4,0.216,0.062,2739,3194,3719
$GC,210,-1.63,-122.2,7.2,-6.0,29,216,0.00,2.47,0.00,0.000,6,0.000,0.039,2741,1797,3720
$GC,282,-1.63,-122.2,11.3,-5.7,40,288,0.00,2.53,0.00,0.000,4,0.000,0.049,2740,3195,3721
$GC,340,-1.63,-122.2,15.2,-6.7,49,347,0.00,2.47,0.00,0.000,6,0.000,0.038,2740,1797,3721
$GC,412,-1.63,-122.2,19.5,-6.0,60,419,0.00,2.65,0.00,0.000,4,0.000,0.074,2740,397,3721
$GC,443,-1.63,-122.2,21.6,-6.7,63,451,0.00,2.47,0.00,0.000,6,0.000,0.034,2740,1802,3721
$GC,640,-1.63,-122.2,33.0,-5.9,79,644,0.00,2.67,0.00,0.000,4,0.000,0.071,2740,395,3721
$GC,679,-1.63,-122.2,35.6,-6.7,82,683,0.00,2.45,0.00,0.000,6,0.000,0.035,2740,1800,3722
$GC,881,-1.63,-122.2,48.8,-6.7,98,885,0.00,2.50,0.00,0.000,4,0.000,0.050,2740,3198,3722
$GC,933,-1.63,-122.2,52.2,-6.7,101,941,0.00,2.50,0.00,0.000,6,0.000,0.038,2740,1797,3722
$GC,1129,-1.63,-122.2,64.0,-6.2,117,1131,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,1798,3722
$GC,1320,-1.63,-122.2,74.8,-5.7,132,1321,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,1797,3722
$GC,1509,-1.63,-122.2,86.0,-5.7,147,1513,0.00,2.53,0.00,0.000,4,0.000,0.049,2740,3199,3722
$GC,1674,-1.63,-122.2,95.8,-6.1,159,1678,0.00,2.47,0.00,0.000,6,0.000,0.038,2740,1797,3722
$STATE,1753,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1753,begin apogee
$GC,1758,-0.38,0.0,100.4,5.4,165,1864,1.38,0.00,98.40,0.679,6,0.105,0.000,3012,1724,3218
$STATE,1865,end apogee,CONTROL_FINISHED_OK
$STATE,1865,begin climb
$GC,1867,1.63,122.2,101.2,0.0,174,1973,2.03,0.00,95.62,0.652,6,0.054,0.000,3455,1723,2718
$GC,2161,1.63,122.2,71.1,11.7,198,2165,0.00,2.58,0.00,0.000,4,0.000,0.052,3455,3127,2716
$GC,2192,1.63,122.2,67.1,12.9,200,2200,0.00,2.53,0.00,0.000,6,0.000,0.040,3455,1741,2716
$GC,2389,1.63,122.2,43.7,11.9,216,2393,0.00,2.72,0.00,0.000,4,0.000,0.084,3455,333,2716
$GC,2428,1.63,122.2,38.7,12.4,219,2432,0.00,2.45,0.00,0.000,6,0.000,0.036,3455,1727,2715
$GC,2625,1.63,122.2,15.3,12.4,237,2630,0.00,0.00,0.00,0.000,6,0.000,0.000,3455,1730,2715
$GC,2696,1.65,136.9,8.1,8.8,248,2715,0.00,2.78,10.68,0.657,4,0.000,0.078,3455,328,2660
$STATE,2732,end climb,SURFACE_DEPTH_REACHED
$STATE,2733,begin surface coast
$FINISH,3.1,1.021704
$STATE,2747,end surface coast,CONTROL_FINISHED_OK
$STATE,2748,begin surface
$SM_CCo,2776,114.05,0.581,0,0,1586,400.08
$SM_GC,0.94,0.00,0.00,114.05,0.000,0.000,0.581,462,1807,1586,-12.13,0.23,400.08
$IRIDIUM_FIX,4722.92,-12157.61,280907,232309
$TT8_MAMPS,0.06903
$HUMID,2038
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.0,51.0
$24V_AH,23.8,14.862
$10V_AH,10.1,36.442
$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,32.575,46.100,204.700,114.050,0.000,40.946,36.475,139.265,0.500,19.160,3327.840,14.590,481.113,1526.099,459.122,461.271,318.199,33.322,737.387,0.000,433.782,0.000,5.482
$DEVICE_MAMPS,215.527,84.370,678.795,580.619,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,171.209,0.000,0.000,0.000,0.000,0.000,0.000,3347.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6444,256
$CFSIZE,260034560,253775872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280907,212033,4739.414,-12252.788,9,1.6,9,18.3