version: 66.02
glider: 106
mission: 7
dive: 33
start: 9 26 107 0 53 59
data:
$ID,106
$MISSION,7
$DIVE,33
$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,-43717.172
$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,1930
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,16
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,32
$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
$GPS1,004757,4739.541,-12253.159,13,1.8,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-64.6
$GPS2,005251,4739.538,-12253.175,16,1.8,16,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.230,-0.054
$KALMAN_X,1638.8,40.5,-109.1,-2784.2,4.4
$KALMAN_Y,1785.5,-58.4,-171.3,-1974.8,48.4
$MHEAD_RNG_PITCHd_Wd,84.9,973,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-1.63,-122.2,0.0,0.0,0,73,0.00,0.00,-49.80,0.000,2,0.000,0.000,460,2002,2732
$GC,75,-1.63,-122.2,2.1,-3.5,8,137,14.57,2.55,-38.67,0.000,4,0.209,0.068,2723,3388,3717
$GC,155,-1.63,-122.2,4.6,-7.8,21,162,0.00,2.50,0.00,0.000,6,0.000,0.039,2723,1992,3718
$GC,227,-1.63,-122.2,9.3,-6.8,32,234,0.00,2.65,0.00,0.000,4,0.000,0.070,2723,585,3719
$GC,404,-1.63,-122.2,20.4,-6.4,58,412,0.00,2.50,0.00,0.000,6,0.000,0.035,2723,1986,3720
$GC,601,-1.63,-122.2,32.4,-6.3,74,602,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1986,3720
$GC,790,-1.63,-122.2,44.9,-6.3,89,795,0.00,2.65,0.00,0.000,4,0.000,0.068,2723,581,3721
$GC,841,-1.63,-122.2,48.4,-6.9,92,849,0.00,2.53,0.00,0.000,6,0.000,0.036,2723,1994,3721
$GC,1037,-1.63,-122.2,61.1,-6.7,108,1038,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1994,3721
$GC,1227,-1.63,-122.2,74.0,-7.0,123,1228,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1994,3721
$GC,1417,-1.63,-122.2,86.9,-6.7,138,1421,0.00,2.55,0.00,0.000,4,0.000,0.058,2723,3399,3721
$GC,1454,-1.63,-122.2,89.6,-7.3,140,1462,0.00,2.53,0.00,0.000,6,0.000,0.040,2723,1986,3721
$STATE,1624,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1624,begin apogee
$GC,1628,-0.38,0.0,100.2,6.3,154,1734,1.35,0.00,97.60,0.680,6,0.099,0.000,2993,1923,3218
$STATE,1735,end apogee,CONTROL_FINISHED_OK
$STATE,1735,begin climb
$GC,1737,1.63,122.2,101.5,0.0,163,1841,1.98,2.70,94.75,0.653,4,0.053,0.074,3438,537,2718
$GC,1879,1.63,122.2,89.5,12.1,174,1884,0.00,2.53,0.00,0.000,6,0.000,0.037,3438,1931,2718
$GC,2081,1.63,122.2,65.6,11.4,190,2083,0.00,0.00,0.00,0.000,6,0.000,0.000,3438,1932,2717
$GC,2271,1.63,122.2,44.8,10.7,205,2275,0.00,2.67,0.00,0.000,4,0.000,0.072,3438,533,2716
$GC,2329,1.63,122.2,37.7,11.7,209,2334,0.00,2.50,0.00,0.000,6,0.000,0.037,3438,1926,2716
$GC,2526,1.63,122.2,17.3,11.1,226,2533,0.00,2.67,0.00,0.000,4,0.000,0.072,3438,528,2716
$GC,2571,1.63,122.2,12.3,10.9,233,2578,0.00,2.53,0.00,0.000,6,0.000,0.038,3438,1932,2716
$GC,2643,1.63,123.7,5.2,9.4,244,2650,0.00,2.67,0.00,0.000,4,0.000,0.072,3438,531,2716
$STATE,2654,end climb,SURFACE_DEPTH_REACHED
$STATE,2654,begin surface coast
$FINISH,0.7,1.020077
$STATE,2715,end surface coast,CONTROL_FINISHED_OK
$STATE,2716,begin surface
$SM_CCo,2741,120.32,0.589,0,0,1587,400.08
$SM_GC,1.14,0.00,0.00,120.32,0.000,0.000,0.589,459,1993,1587,-12.06,0.08,400.08
$IRIDIUM_FIX,4719.74,-12342.29,260907,040411
$TT8_MAMPS,0.071331
$HUMID,2035
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.4,51.2
$24V_AH,23.8,8.704
$10V_AH,10.1,31.379
$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,31.550,41.450,192.350,120.325,0.000,37.998,32.696,132.850,0.500,0.000,3267.000,16.324,476.042,1549.245,433.916,454.679,275.109,33.331,708.105,0.000,428.154,0.000,5.484
$DEVICE_MAMPS,209.391,80.535,679.562,589.056,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,170.814,0.000,0.000,0.000,0.000,0.000,0.000,3267.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6443,255
$CFSIZE,260034560,256081920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260907,014247,4739.513,-12252.729,14,2.4,33,18.3