version: 66.02
glider: 106
mission: 7
dive: 109
start: 9 28 107 21 26 59
data:
$ID,106
$MISSION,7
$DIVE,109
$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,-45367.605
$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,19
$R_STBD_OVSHOOT,31
$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
$GPS1,212033,4739.414,-12252.788,9,1.6,9,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-63.3
$GPS2,212551,4739.430,-12252.799,12,1.4,12,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.235,0.023
$KALMAN_X,2842.0,94.0,122.6,-3800.0,-75.5
$KALMAN_Y,1760.5,46.6,156.4,-2576.4,7.1
$MHEAD_RNG_PITCHd_Wd,66.1,500,-19.2,-9.524
$D_GRID,123
$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,-122.2,0.0,0.0,0,92,0.00,0.00,-67.43,0.000,2,0.000,0.000,462,1808,3064
$GC,95,-1.63,-122.2,2.1,-4.2,11,138,15.00,0.00,-23.65,0.000,6,0.219,0.000,2739,1809,3718
$GC,203,-1.63,-122.2,7.2,-6.1,28,210,0.00,2.53,0.00,0.000,4,0.000,0.050,2739,3208,3720
$GC,361,-1.63,-122.2,17.4,-5.7,52,368,0.00,2.50,0.00,0.000,6,0.000,0.038,2739,1796,3721
$GC,439,-1.63,-122.2,21.9,-6.3,62,440,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1796,3721
$GC,630,-1.63,-122.2,32.7,-5.7,77,632,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1796,3721
$GC,818,-1.63,-122.2,43.2,-5.7,92,823,0.00,2.55,0.00,0.000,4,0.000,0.049,2739,3209,3722
$GC,877,-1.63,-122.2,46.7,-6.0,96,881,0.00,2.50,0.00,0.000,6,0.000,0.038,2739,1799,3722
$GC,1079,-1.63,-122.2,57.4,-5.2,112,1080,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1798,3722
$GC,1269,-1.63,-122.2,66.9,-5.1,127,1273,0.00,2.53,0.00,0.000,4,0.000,0.049,2739,3200,3722
$GC,1328,-1.63,-122.2,70.5,-5.7,131,1332,0.00,2.47,0.00,0.000,6,0.000,0.038,2739,1800,3722
$GC,1523,-1.63,-122.2,81.5,-5.3,146,1524,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1800,3722
$GC,1713,-1.63,-122.2,92.9,-5.9,161,1717,0.00,2.53,0.00,0.000,4,0.000,0.049,2740,3199,3722
$GC,1747,-1.63,-122.2,95.0,-6.5,163,1751,0.00,2.47,0.00,0.000,6,0.000,0.038,2739,1799,3722
$STATE,1839,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1839,begin apogee
$GC,1844,-0.38,0.0,100.4,5.7,170,1950,1.38,0.00,97.80,0.682,6,0.104,0.000,3012,1726,3218
$STATE,1951,end apogee,CONTROL_FINISHED_OK
$STATE,1951,begin climb
$GC,1952,1.63,122.2,100.8,0.0,179,2053,2.03,0.00,95.47,0.652,6,0.054,0.000,3454,1726,2718
$GC,2235,1.63,122.2,71.8,12.8,202,2236,0.00,0.00,0.00,0.000,6,0.000,0.000,3455,1726,2716
$GC,2425,1.63,122.2,49.4,11.9,217,2427,0.00,0.00,0.00,0.000,6,0.000,0.000,3454,1726,2716
$GC,2615,1.63,122.2,26.9,12.0,232,2619,0.00,2.67,0.00,0.000,4,0.000,0.081,3454,333,2716
$GC,2679,1.63,122.2,18.6,12.8,237,2686,0.00,2.47,0.00,0.000,6,0.000,0.035,3454,1743,2716
$GC,2751,1.63,122.2,10.6,11.2,248,2758,0.00,2.70,0.00,0.000,4,0.000,0.077,3454,338,2716
$GC,2797,1.63,122.2,5.8,10.1,255,2804,0.00,2.45,0.00,0.000,6,0.000,0.036,3454,1737,2716
$STATE,2809,end climb,SURFACE_DEPTH_REACHED
$STATE,2809,begin surface coast
$FINISH,1.3,1.020744
$STATE,2863,end surface coast,CONTROL_FINISHED_OK
$STATE,2863,begin surface
$SM_CCo,2888,120.50,0.582,0,0,1586,400.08
$SM_GC,0.87,0.00,0.00,120.50,0.000,0.000,0.582,460,1811,1586,-12.14,0.31,400.08
$IRIDIUM_FIX,4722.92,-12251.79,290907,000056
$TT8_MAMPS,0.06903
$HUMID,2048
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.1,51.0
$24V_AH,23.9,14.942
$10V_AH,10.1,36.512
$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,31.825,30.600,193.275,120.500,0.000,38.674,35.244,137.626,0.500,20.020,3411.980,12.776,499.904,1658.436,428.992,456.845,313.309,33.324,695.920,0.000,430.610,0.000,5.483
$DEVICE_MAMPS,218.595,81.302,681.863,582.153,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,177.950,0.000,0.000,0.000,0.000,0.000,0.000,3432.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6458,265
$CFSIZE,260034560,253743104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280907,221807,4739.403,-12252.488,10,0.9,26,18.3