version: 66.02
glider: 106
mission: 7
dive: 121
start: 9 29 107 8 28 5
data:
$ID,106
$MISSION,7
$DIVE,121
$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,-45639.922
$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,20
$R_STBD_OVSHOOT,38
$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
$GPS1,081744,4739.406,-12253.008,8,1.4,13,18.3
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-61.8
$GPS2,082657,4739.453,-12253.045,15,1.4,15,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.236,0.004
$KALMAN_X,2963.1,25.1,80.9,-4116.0,-61.5
$KALMAN_Y,2879.1,252.0,145.9,-3849.8,5.5
$MHEAD_RNG_PITCHd_Wd,70.7,803,-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,-122.2,0.0,0.0,0,80,0.00,0.00,-55.35,0.000,2,0.000,0.000,464,1808,2833
$GC,83,-1.63,-122.2,2.1,-3.9,9,138,14.98,2.67,-33.08,0.000,4,0.218,0.081,2741,394,3719
$GC,244,-1.63,-122.2,9.5,-3.7,34,250,0.00,2.45,0.00,0.000,6,0.000,0.035,2740,1805,3720
$GC,316,-1.63,-122.2,12.8,-4.6,45,321,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,1805,3721
$GC,387,-1.63,-122.2,16.0,-4.9,56,393,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,1805,3720
$GC,459,-1.63,-122.2,19.3,-4.5,67,465,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,1805,3721
$GC,529,-1.63,-122.2,22.6,-4.6,74,530,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1805,3721
$GC,719,-1.63,-122.2,32.7,-5.8,89,724,0.00,2.47,0.00,0.000,4,0.000,0.050,2741,3189,3722
$GC,770,-1.63,-122.2,35.8,-6.3,92,778,0.00,2.47,0.00,0.000,6,0.000,0.037,2740,1799,3722
$GC,967,-1.63,-122.2,46.9,-5.5,108,971,0.00,2.53,0.00,0.000,4,0.000,0.049,2741,3199,3722
$GC,1005,-1.63,-122.2,49.1,-6.0,110,1012,0.00,2.50,0.00,0.000,6,0.000,0.038,2741,1798,3722
$GC,1201,-1.63,-122.2,61.3,-6.1,126,1205,0.00,2.62,0.00,0.000,4,0.000,0.073,2741,400,3722
$GC,1221,-1.63,-122.2,62.6,-6.7,127,1225,0.00,2.42,0.00,0.000,6,0.000,0.035,2741,1800,3722
$GC,1416,-1.63,-122.2,75.0,-6.5,142,1420,0.00,2.50,0.00,0.000,4,0.000,0.051,2741,3195,3722
$GC,1501,-1.63,-122.2,80.5,-6.0,148,1506,0.00,2.47,0.00,0.000,6,0.000,0.039,2741,1791,3722
$GC,1697,-1.63,-122.2,92.1,-5.6,163,1701,0.00,2.53,0.00,0.000,4,0.000,0.049,2741,3195,3722
$GC,1748,-1.63,-122.2,95.3,-6.1,166,1755,0.00,2.50,0.00,0.000,6,0.000,0.038,2741,1797,3722
$STATE,1841,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1841,begin apogee
$GC,1846,-0.38,0.0,100.7,5.9,174,1952,1.38,0.00,98.20,0.680,6,0.106,0.000,3013,1725,3216
$STATE,1953,end apogee,CONTROL_FINISHED_OK
$STATE,1953,begin climb
$GC,1955,1.63,122.2,101.7,0.0,183,2055,2.03,0.00,95.12,0.650,6,0.054,0.000,3456,1725,2718
$GC,2238,1.63,122.2,73.1,11.2,206,2239,0.00,0.00,0.00,0.000,6,0.000,0.000,3456,1725,2717
$GC,2428,1.63,122.2,51.0,11.9,221,2429,0.00,0.00,0.00,0.000,6,0.000,0.000,3456,1725,2716
$GC,2618,1.63,122.2,28.9,11.9,236,2619,0.00,0.00,0.00,0.000,6,0.000,0.000,3456,1725,2716
$GC,2811,1.63,122.2,7.2,10.4,259,2817,0.00,2.55,0.00,0.000,4,0.000,0.051,3456,3123,2716
$STATE,2841,end climb,SURFACE_DEPTH_REACHED
$STATE,2841,begin surface coast
$FINISH,2.7,1.020632
$STATE,2869,end surface coast,CONTROL_FINISHED_OK
$STATE,2869,begin surface
$SM_CCo,2898,123.45,0.587,0,0,1586,400.08
$SM_GC,0.98,0.00,0.00,123.45,0.000,0.000,0.587,462,1802,1586,-12.14,0.06,400.08
$IRIDIUM_FIX,4719.74,-12301.57,290907,121239
$TT8_MAMPS,0.070564
$HUMID,2040
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,19.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.3,51.2
$24V_AH,23.9,15.860
$10V_AH,10.1,37.335
$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,32.675,35.225,193.325,123.450,0.000,79.325,84.044,210.952,0.500,0.000,3682.000,15.244,500.516,1699.747,445.972,467.774,491.313,33.332,719.980,0.000,440.155,0.000,6.523
$DEVICE_MAMPS,217.828,81.302,679.562,586.755,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,179.669,0.000,0.000,0.000,0.000,0.000,0.000,3682.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6437,268
$CFSIZE,260034560,253370368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290907,091914,4739.432,-12252.776,10,2.0,14,18.3