version: 66.02
glider: 106
mission: 7
dive: 49
start: 9 26 107 14 51 23
data:
$ID,106
$MISSION,7
$DIVE,49
$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,-44098.199
$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,30
$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
$GPS1,144529,4739.519,-12252.697,14,2.5,33,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-65.2
$GPS2,145017,4739.520,-12252.698,13,2.7,32,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.150,-0.089
$KALMAN_X,2256.3,27.7,-59.2,-2843.4,54.9
$KALMAN_Y,1858.2,-0.5,-50.9,-2257.5,90.8
$MHEAD_RNG_PITCHd_Wd,102.4,383,-26.3,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-2.10,-65.7,0.0,0.0,0,73,0.00,0.00,-49.80,0.000,2,0.000,0.000,464,2002,2727
$GC,76,-2.17,-122.2,2.1,-3.7,8,137,14.15,2.70,-37.53,0.000,4,0.219,0.078,2604,594,3720
$GC,387,-2.17,-122.2,27.6,-8.6,50,392,0.00,2.47,0.00,0.000,6,0.000,0.037,2604,1998,3721
$GC,590,-2.17,-122.2,45.2,-9.0,66,594,0.00,2.65,0.00,0.000,4,0.000,0.066,2604,588,3722
$GC,651,-2.17,-122.2,50.5,-9.1,70,655,0.00,2.47,0.00,0.000,6,0.000,0.037,2604,1996,3722
$GC,846,-2.17,-122.2,67.7,-8.7,85,847,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1995,3722
$GC,1036,-2.17,-122.2,85.3,-9.5,100,1040,0.00,2.62,0.00,0.000,4,0.000,0.067,2604,596,3722
$GC,1086,-2.17,-122.2,90.5,-10.2,103,1094,0.00,2.47,0.00,0.000,6,0.000,0.037,2604,1987,3722
$STATE,1193,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1193,begin apogee
$GC,1197,-0.38,0.0,100.3,9.0,112,1304,1.98,0.00,98.25,0.676,6,0.112,0.000,2990,1924,3217
$STATE,1305,end apogee,CONTROL_FINISHED_OK
$STATE,1305,begin climb
$GC,1306,2.17,122.2,101.9,0.0,121,1411,2.50,2.72,95.22,0.653,4,0.049,0.072,3557,544,2718
$GC,1429,2.17,122.2,89.3,14.3,130,1437,0.00,2.53,0.00,0.000,6,0.000,0.037,3557,1938,2717
$GC,1625,2.17,122.2,59.8,15.6,146,1630,0.00,2.65,0.00,0.000,4,0.000,0.070,3557,545,2716
$GC,1696,2.17,122.2,48.0,16.6,151,1704,0.00,2.47,0.00,0.000,6,0.000,0.036,3557,1926,2717
$GC,1893,2.17,122.2,18.7,15.1,167,1900,0.00,2.65,0.00,0.000,4,0.000,0.071,3557,537,2717
$STATE,2003,end climb,SURFACE_DEPTH_REACHED
$STATE,2003,begin surface coast
$FINISH,0.9,1.020355
$STATE,2057,end surface coast,CONTROL_FINISHED_OK
$STATE,2057,begin surface
$SM_CCo,2085,123.68,0.585,0,0,1587,400.08
$SM_GC,1.21,0.00,0.00,123.68,0.000,0.000,0.585,464,1995,1587,-12.03,0.14,400.08
$IRIDIUM_FIX,4722.92,-12251.79,260907,171737
$TT8_MAMPS,0.06903
$HUMID,2013
$INTERNAL_PRESSURE,8.42806
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.5,51.7
$24V_AH,23.8,10.087
$10V_AH,10.1,32.414
$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,33.225,31.150,193.475,123.675,0.000,40.755,32.607,104.442,0.500,0.000,2627.000,33.743,365.085,1106.616,427.973,382.004,244.701,33.327,649.223,0.000,340.436,0.000,5.486
$DEVICE_MAMPS,219.362,79.768,675.727,585.221,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,128.010,0.000,0.000,0.000,0.000,0.000,0.000,2627.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6472,192
$CFSIZE,260034560,255598592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260907,152925,4739.504,-12252.336,31,1.4,41,18.3