version: 66.02
glider: 106
mission: 7
dive: 112
start: 9 29 107 0 4 12
data:
$ID,106
$MISSION,7
$DIVE,112
$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,-45426.938
$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,27
$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
$GPS1,235717,4739.567,-12253.217,11,2.4,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-62.1
$GPS2,000305,4739.569,-12253.229,11,2.4,30,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.234,-0.029
$KALMAN_X,2814.5,44.0,-23.2,-4116.6,-59.6
$KALMAN_Y,1833.1,73.7,36.7,-2304.6,-16.3
$MHEAD_RNG_PITCHd_Wd,78.8,1048,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-1.63,-122.2,0.0,0.0,0,93,0.00,0.00,-67.50,0.000,2,0.000,0.000,462,1805,3075
$GC,95,-1.63,-122.2,2.1,-4.5,11,144,14.73,2.67,-26.52,0.000,4,0.212,0.082,2739,399,3719
$GC,177,-1.63,-122.2,4.7,-7.6,24,183,0.00,2.45,0.00,0.000,6,0.000,0.035,2739,1801,3720
$GC,249,-1.63,-122.2,9.4,-6.0,35,255,0.00,2.53,0.00,0.000,4,0.000,0.051,2739,3205,3720
$GC,320,-1.63,-122.2,13.9,-6.4,46,327,0.00,2.47,0.00,0.000,6,0.000,0.038,2739,1803,3720
$GC,393,-1.63,-122.2,18.2,-6.0,57,399,0.00,2.65,0.00,0.000,4,0.000,0.072,2739,399,3721
$GC,477,-1.63,-122.2,23.8,-6.9,66,484,0.00,2.47,0.00,0.000,6,0.000,0.034,2739,1802,3721
$GC,673,-1.63,-122.2,34.2,-5.5,82,677,0.00,2.50,0.00,0.000,4,0.000,0.049,2739,3202,3721
$GC,745,-1.63,-122.2,38.4,-5.8,87,749,0.00,2.47,0.00,0.000,6,0.000,0.038,2739,1798,3722
$GC,947,-1.63,-122.2,49.9,-5.3,103,957,0.00,2.53,0.00,0.000,4,0.000,0.048,2739,3200,3722
$GC,995,-1.63,-122.2,52.6,-5.6,106,1002,0.00,2.50,0.00,0.000,6,0.000,0.038,2739,1800,3722
$GC,1191,-1.63,-122.2,63.4,-5.5,122,1196,0.00,2.53,0.00,0.000,4,0.000,0.049,2739,3202,3722
$GC,1242,-1.63,-122.2,66.2,-5.6,125,1250,0.00,2.50,0.00,0.000,6,0.000,0.038,2739,1802,3722
$GC,1439,-1.63,-122.2,76.8,-5.4,141,1440,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1802,3722
$GC,1631,-1.63,-122.2,87.0,-5.4,156,1632,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1802,3722
$GC,1819,-1.63,-122.2,97.1,-5.1,171,1823,0.00,2.50,0.00,0.000,4,0.000,0.049,2739,3194,3722
$STATE,1867,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1868,begin apogee
$GC,1875,-0.38,0.0,100.1,5.9,174,1978,1.35,0.00,97.95,0.675,6,0.106,0.000,3009,1735,3217
$STATE,1979,end apogee,CONTROL_FINISHED_OK
$STATE,1979,begin climb
$GC,1980,1.63,122.2,101.1,0.0,183,2086,2.05,2.62,95.22,0.650,4,0.055,0.051,3457,3126,2718
$GC,2139,1.63,122.2,86.9,12.9,196,2143,0.00,2.50,0.00,0.000,6,0.000,0.041,3455,1739,2717
$GC,2340,1.63,122.2,62.3,11.8,212,2345,0.00,2.72,0.00,0.000,4,0.000,0.081,3455,328,2717
$GC,2398,1.63,122.2,54.9,12.3,216,2406,0.00,2.50,0.00,0.000,6,0.000,0.035,3455,1735,2716
$GC,2595,1.63,122.2,32.3,10.7,232,2599,0.00,2.55,0.00,0.000,4,0.000,0.051,3455,3130,2716
$GC,2626,1.63,122.2,28.9,10.6,234,2634,0.00,2.53,0.00,0.000,6,0.000,0.040,3455,1734,2716
$GC,2827,1.63,122.2,6.3,11.3,257,2834,0.00,2.70,0.00,0.000,4,0.000,0.083,3455,329,2716
$STATE,2844,end climb,SURFACE_DEPTH_REACHED
$STATE,2844,begin surface coast
$FINISH,3.1,1.021807
$STATE,2859,end surface coast,CONTROL_FINISHED_OK
$STATE,2859,begin surface
$SM_CCo,2887,119.90,0.582,0,0,1586,400.08
$SM_GC,0.93,0.00,0.00,119.90,0.000,0.000,0.582,463,1815,1586,-12.13,0.42,400.08
$IRIDIUM_FIX,4719.74,-12247.38,290907,030311
$TT8_MAMPS,0.069797
$HUMID,2029
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,19.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.3,51.3
$24V_AH,23.9,15.172
$10V_AH,10.1,36.708
$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,32.275,56.175,193.175,119.900,0.000,38.574,43.763,141.007,0.500,0.000,3483.000,31.062,495.645,1600.622,460.044,501.622,328.441,33.329,753.815,0.000,455.022,0.000,5.500
$DEVICE_MAMPS,211.692,82.836,674.960,582.153,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,175.315,0.000,0.000,0.000,0.000,0.000,0.000,3483.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6450,262
$CFSIZE,260034560,253652992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290907,005503,4739.503,-12252.895,11,1.5,11,18.3