version: 66.02
glider: 106
mission: 7
dive: 52
start: 9 26 107 17 24 33
data:
$ID,106
$MISSION,7
$DIVE,52
$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,-44143.969
$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,29
$R_STBD_OVSHOOT,37
$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
$GPS1,171905,4739.519,-12252.886,15,6.2,34,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-65.1
$GPS2,172326,4739.531,-12252.883,11,1.5,16,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.215,-0.098
$KALMAN_X,2481.8,50.3,64.9,-3444.4,72.1
$KALMAN_Y,2128.8,66.2,95.7,-2718.9,92.6
$MHEAD_RNG_PITCHd_Wd,227.2,416,-19.2,-9.524
$D_GRID,119
$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,-122.2,0.0,0.0,0,74,0.00,0.00,-49.75,0.000,2,0.000,0.000,463,1998,2723
$GC,77,-1.63,-122.2,2.0,-3.1,8,144,14.60,2.67,-44.30,0.000,4,0.211,0.080,2719,588,3719
$GC,393,-1.63,-122.2,23.6,-5.7,53,401,0.00,2.47,0.00,0.000,6,0.000,0.035,2719,1980,3720
$GC,590,-1.63,-122.2,36.0,-6.9,69,594,0.00,2.60,0.00,0.000,4,0.000,0.066,2719,592,3720
$GC,708,-1.63,-122.2,44.7,-7.3,77,715,0.00,2.47,0.00,0.000,6,0.000,0.035,2719,1988,3721
$GC,904,-1.63,-122.2,57.4,-6.5,93,905,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,1988,3721
$GC,1094,-1.63,-122.2,69.5,-6.5,108,1098,0.00,2.62,0.00,0.000,4,0.000,0.067,2719,590,3721
$GC,1139,-1.63,-122.2,72.7,-6.6,111,1143,0.00,2.47,0.00,0.000,6,0.000,0.037,2719,1996,3721
$GC,1341,-1.63,-122.2,85.0,-5.7,127,1345,0.00,2.65,0.00,0.000,4,0.000,0.067,2719,589,3721
$GC,1406,-1.63,-122.2,89.4,-6.6,132,1411,0.00,2.45,0.00,0.000,6,0.000,0.037,2719,1990,3721
$STATE,1594,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1594,begin apogee
$GC,1598,-0.38,0.0,100.5,6.2,147,1705,1.35,0.00,97.97,0.682,6,0.096,0.000,2991,1921,3217
$STATE,1706,end apogee,CONTROL_FINISHED_OK
$STATE,1706,begin climb
$GC,1707,1.63,122.2,101.7,0.0,156,1808,1.98,0.00,95.18,0.657,6,0.051,0.000,3437,1921,2719
$GC,1992,1.63,122.2,75.0,11.2,179,1996,0.00,2.65,0.00,0.000,4,0.000,0.073,3436,533,2717
$GC,2129,1.63,122.2,58.3,11.5,189,2137,0.00,2.53,0.00,0.000,6,0.000,0.036,3437,1932,2716
$GC,2325,1.63,122.2,36.0,11.1,205,2330,0.00,2.65,0.00,0.000,4,0.000,0.070,3437,536,2717
$GC,2404,1.63,122.2,26.9,10.9,211,2409,0.00,2.50,0.00,0.000,6,0.000,0.037,3437,1930,2716
$GC,2606,1.66,147.8,6.9,8.2,236,2632,0.00,2.60,19.38,0.642,4,0.000,0.058,3437,3333,2614
$STATE,2636,end climb,SURFACE_DEPTH_REACHED
$STATE,2636,begin surface coast
$FINISH,4.0,1.021124
$STATE,2650,end surface coast,CONTROL_FINISHED_OK
$STATE,2650,begin surface
$SM_CCo,2678,114.43,0.587,0,0,1586,400.08
$SM_GC,1.12,0.00,0.00,114.43,0.000,0.000,0.587,464,1991,1586,-12.03,0.00,400.08
$IRIDIUM_FIX,4722.92,-12249.11,260907,202010
$TT8_MAMPS,0.070564
$HUMID,2013
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.8,51.5
$24V_AH,23.8,10.313
$10V_AH,10.1,32.616
$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,32.075,35.925,212.525,114.425,0.000,40.427,25.676,101.834,0.500,4.150,3174.850,16.437,455.736,1485.122,438.701,463.952,240.482,33.328,709.053,0.000,436.364,0.000,5.484
$DEVICE_MAMPS,210.925,79.768,681.863,586.755,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,162.583,0.000,0.000,0.000,0.000,0.000,0.000,3179.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6443,243
$CFSIZE,260034560,255500288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260907,181145,4739.420,-12253.197,7,1.5,7,18.3