version: 66.02
glider: 106
mission: 7
dive: 36
start: 9 26 107 3 36 22
data:
$ID,106
$MISSION,7
$DIVE,36
$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,-43798.234
$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,23
$R_STBD_OVSHOOT,27
$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
$GPS1,032357,4739.485,-12252.528,14,1.1,14,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-63.1
$GPS2,033515,4739.476,-12252.479,14,1.3,14,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.234,-0.031
$KALMAN_X,2020.7,32.0,-1.5,-2399.2,110.0
$KALMAN_Y,1839.7,-56.7,-20.6,-2294.8,58.8
$MHEAD_RNG_PITCHd_Wd,244.2,902,-19.2,-9.524
$D_GRID,124
$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,22,-1.63,-122.2,0.0,0.0,0,80,0.00,0.00,-56.30,0.000,2,0.000,0.000,464,1986,2884
$GC,82,-1.63,-122.2,2.1,-3.9,9,138,14.50,2.65,-32.47,0.000,4,0.207,0.080,2722,588,3719
$GC,176,-1.63,-122.2,6.5,-8.7,24,183,0.00,2.50,0.00,0.000,6,0.000,0.035,2723,1989,3720
$GC,248,-1.63,-122.2,11.2,-6.4,35,255,0.00,2.55,0.00,0.000,4,0.000,0.054,2722,3391,3721
$GC,366,-1.63,-122.2,18.6,-6.9,53,373,0.00,2.50,0.00,0.000,6,0.000,0.039,2723,1987,3721
$GC,443,-1.63,-122.2,23.6,-6.8,61,444,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1987,3722
$GC,634,-1.63,-122.2,35.4,-6.8,76,638,0.00,2.65,0.00,0.000,4,0.000,0.070,2723,583,3723
$GC,684,-1.63,-122.2,39.1,-6.7,79,692,0.00,2.53,0.00,0.000,6,0.000,0.035,2723,1989,3723
$GC,881,-1.63,-122.2,51.4,-6.2,95,885,0.00,2.65,0.00,0.000,4,0.000,0.068,2723,591,3723
$GC,966,-1.63,-122.2,57.3,-6.6,101,971,0.00,2.47,0.00,0.000,6,0.000,0.036,2723,1991,3723
$GC,1168,-1.63,-122.2,70.3,-6.4,117,1169,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1991,3723
$GC,1358,-1.63,-122.2,82.3,-6.2,132,1362,0.00,2.65,0.00,0.000,4,0.000,0.069,2723,592,3723
$GC,1416,-1.63,-122.2,86.0,-6.5,136,1421,0.00,2.50,0.00,0.000,6,0.000,0.036,2723,2000,3723
$GC,1620,-1.63,-122.2,99.6,-7.0,152,1624,0.00,2.67,0.00,0.000,4,0.000,0.068,2723,587,3723
$STATE,1629,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1629,begin apogee
$GC,1634,-0.38,0.0,100.5,6.6,152,1737,1.33,0.00,97.80,0.680,6,0.102,0.000,2988,1934,3218
$STATE,1738,end apogee,CONTROL_FINISHED_OK
$STATE,1738,begin climb
$GC,1740,1.63,122.2,101.6,0.0,161,1844,2.00,2.62,94.75,0.655,4,0.053,0.058,3436,3337,2718
$GC,1869,1.63,122.2,92.1,10.4,171,1874,0.00,2.58,0.00,0.000,6,0.000,0.042,3436,1931,2718
$GC,2071,1.63,122.2,70.7,11.0,187,2076,0.00,2.72,0.00,0.000,4,0.000,0.077,3436,527,2717
$GC,2256,1.63,122.2,48.5,12.0,201,2260,0.00,2.53,0.00,0.000,6,0.000,0.037,3436,1930,2717
$GC,2458,1.63,122.2,26.4,11.1,217,2462,0.00,2.70,0.00,0.000,4,0.000,0.072,3436,533,2717
$GC,2583,1.63,122.2,12.3,10.7,231,2590,0.00,2.53,0.00,0.000,6,0.000,0.036,3436,1933,2716
$GC,2655,1.66,151.6,5.8,8.0,242,2675,0.00,0.00,17.98,0.641,2,0.000,0.000,3436,1933,2620
$STATE,2675,end climb,SURFACE_DEPTH_REACHED
$STATE,2675,begin surface coast
$FINISH,0.7,1.019889
$STATE,2766,end surface coast,CONTROL_FINISHED_OK
$STATE,2766,begin surface
$SM_CCo,2791,111.65,0.590,0,0,1586,400.08
$SM_GC,1.09,0.00,0.00,111.65,0.000,0.000,0.590,462,1999,1586,-12.04,0.25,400.08
$IRIDIUM_FIX,4722.92,-12253.53,260907,070736
$TT8_MAMPS,0.072098
$HUMID,2041
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.6,51.6
$24V_AH,23.8,9.021
$10V_AH,10.1,31.584
$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,31.425,46.525,210.525,111.650,0.000,116.916,146.550,197.609,0.500,99.630,3596.370,14.206,495.696,1650.345,429.428,494.940,540.436,33.332,726.448,0.000,467.976,0.000,5.483
$DEVICE_MAMPS,207.090,79.768,680.329,589.823,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,173.457,0.000,0.000,0.000,0.000,0.000,0.000,3696.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6456,259
$CFSIZE,260034560,255975424
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260907,042601,4739.497,-12252.636,41,1.0,44,18.3