version: 66.02
glider: 106
mission: 7
dive: 56
start: 9 26 107 21 1 45
data:
$ID,106
$MISSION,7
$DIVE,56
$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,-44252.695
$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,22
$R_STBD_OVSHOOT,25
$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
$GPS1,205557,4739.420,-12252.474,9,2.0,15,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-64.5
$GPS2,210038,4739.418,-12252.495,10,1.4,15,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.215,0.097
$KALMAN_X,2212.9,31.3,65.1,-2672.0,-110.7
$KALMAN_Y,1677.7,48.9,51.5,-2414.4,-146.3
$MHEAD_RNG_PITCHd_Wd,275.9,887,-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,-122.2,0.0,0.0,0,74,0.00,0.00,-49.72,0.000,2,0.000,0.000,462,1998,2730
$GC,77,-1.63,-122.2,2.1,-3.5,8,143,14.55,2.60,-42.12,0.000,4,0.209,0.067,2723,3393,3718
$GC,393,-1.63,-122.2,21.5,-5.9,55,401,0.00,2.50,0.00,0.000,6,0.000,0.038,2723,1991,3720
$GC,589,-1.63,-122.2,32.9,-6.5,71,594,0.00,2.55,0.00,0.000,4,0.000,0.054,2723,3393,3721
$GC,667,-1.63,-122.2,38.1,-6.4,76,675,0.00,2.50,0.00,0.000,6,0.000,0.038,2723,1992,3722
$GC,866,-1.63,-122.2,50.7,-6.7,92,871,0.00,2.65,0.00,0.000,4,0.000,0.071,2723,583,3722
$GC,925,-1.63,-122.2,54.9,-6.7,96,929,0.00,2.50,0.00,0.000,6,0.000,0.037,2723,2001,3722
$GC,1127,-1.63,-122.2,68.8,-7.2,112,1128,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2001,3722
$GC,1317,-1.63,-122.2,81.8,-6.7,127,1321,0.00,2.67,0.00,0.000,4,0.000,0.068,2723,581,3722
$GC,1349,-1.63,-122.2,84.1,-6.8,129,1353,0.00,2.47,0.00,0.000,6,0.000,0.037,2723,1991,3722
$GC,1550,-1.63,-122.2,97.0,-6.2,145,1555,0.00,2.65,0.00,0.000,4,0.000,0.068,2723,584,3722
$STATE,1593,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1593,begin apogee
$GC,1600,-0.38,0.0,100.0,6.8,148,1703,1.33,0.00,98.07,0.676,6,0.101,0.000,2989,1938,3218
$STATE,1704,end apogee,CONTROL_FINISHED_OK
$STATE,1704,begin climb
$GC,1706,1.63,122.2,101.0,0.0,157,1812,2.05,2.78,95.22,0.654,4,0.053,0.074,3438,534,2719
$GC,1838,1.63,122.2,90.0,11.3,168,1843,0.00,2.53,0.00,0.000,6,0.000,0.038,3440,1930,2717
$GC,2040,1.63,122.2,67.9,10.8,184,2045,0.00,2.70,0.00,0.000,4,0.000,0.073,3437,534,2716
$GC,2106,1.63,122.2,60.5,11.5,189,2110,0.00,2.50,0.00,0.000,6,0.000,0.037,3437,1930,2716
$GC,2308,1.63,122.2,38.9,10.6,205,2312,0.00,2.67,0.00,0.000,4,0.000,0.072,3437,527,2716
$GC,2405,1.63,122.2,27.7,11.0,212,2413,0.00,2.50,0.00,0.000,6,0.000,0.036,3438,1930,2716
$GC,2607,1.63,122.2,7.4,10.8,237,2614,0.00,2.67,0.00,0.000,4,0.000,0.072,3437,526,2716
$STATE,2638,end climb,SURFACE_DEPTH_REACHED
$STATE,2638,begin surface coast
$FINISH,2.1,1.020926
$STATE,2672,end surface coast,CONTROL_FINISHED_OK
$STATE,2673,begin surface
$SM_CCo,2700,120.32,0.588,0,0,1586,400.08
$SM_GC,1.26,0.00,0.00,120.32,0.000,0.000,0.588,460,1996,1586,-12.05,0.17,400.08
$IRIDIUM_FIX,4722.92,-12249.11,270907,000042
$TT8_MAMPS,0.06903
$HUMID,2017
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.7,51.5
$24V_AH,23.8,10.617
$10V_AH,10.1,32.886
$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,31.925,46.525,193.300,120.325,0.000,40.771,31.910,113.187,0.500,16.600,3185.400,15.746,468.875,1500.045,434.338,464.401,263.962,33.332,711.051,0.000,440.148,0.000,5.483
$DEVICE_MAMPS,209.391,73.632,675.727,588.289,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,165.514,0.000,0.000,0.000,0.000,0.000,0.000,3202.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6435,247
$CFSIZE,260034560,255381504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260907,214947,4739.519,-12252.915,9,2.6,28,18.3