version: 66.02
glider: 106
mission: 7
dive: 92
start: 9 28 107 5 39 33
data:
$ID,106
$MISSION,7
$DIVE,92
$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,-45024.43
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,460
$PITCH_MAX,3783
$C_PITCH,3100
$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,1800
$C_ROLL_CLIMB,1735
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,16
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,34
$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
$GPS1,053303,4739.571,-12252.664,11,1.4,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-64.0
$GPS2,053826,4739.564,-12252.658,17,1.4,34,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.220,-0.085
$KALMAN_X,2465.3,29.1,40.5,-3106.3,114.3
$KALMAN_Y,1921.4,-15.5,82.6,-2358.3,86.8
$MHEAD_RNG_PITCHd_Wd,230.6,702,-19.2,-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,22,-1.63,-122.2,0.0,0.0,0,85,0.00,0.00,-61.53,0.000,2,0.000,0.000,464,1811,2956
$GC,88,-1.63,-122.2,2.2,-4.6,10,137,15.02,2.70,-25.15,0.000,4,0.219,0.084,2741,410,3720
$GC,388,-1.63,-122.2,20.4,-5.3,56,392,0.00,2.45,0.00,0.000,6,0.000,0.034,2741,1804,3722
$GC,590,-1.63,-122.2,30.5,-5.4,72,594,0.00,2.65,0.00,0.000,4,0.000,0.071,2741,404,3723
$GC,848,-1.63,-122.2,46.9,-7.0,91,852,0.00,2.42,0.00,0.000,6,0.000,0.035,2741,1799,3724
$GC,1049,-1.63,-122.2,59.6,-6.2,107,1051,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,1800,3724
$GC,1240,-1.63,-122.2,71.7,-6.4,122,1241,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,1800,3723
$GC,1429,-1.63,-122.2,82.5,-5.4,137,1430,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,1800,3724
$GC,1618,-1.63,-122.2,92.4,-5.4,152,1622,0.00,2.62,0.00,0.000,4,0.000,0.072,2741,404,3723
$GC,1703,-1.63,-122.2,97.1,-4.9,158,1707,0.00,2.45,0.00,0.000,6,0.000,0.037,2741,1810,3723
$STATE,1770,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1770,begin apogee
$GC,1775,-0.38,0.0,100.5,4.9,163,1881,1.35,0.00,98.43,0.678,6,0.093,0.000,3015,1729,3216
$STATE,1882,end apogee,CONTROL_FINISHED_OK
$STATE,1882,begin climb
$GC,1884,1.63,122.2,100.2,0.0,172,1984,1.95,0.00,94.50,0.650,6,0.049,0.000,3462,1729,2719
$GC,2170,1.63,122.2,68.7,12.2,195,2174,0.00,2.65,0.00,0.000,4,0.000,0.078,3462,342,2718
$GC,2260,1.63,122.2,56.4,13.5,201,2268,0.00,2.47,0.00,0.000,6,0.000,0.035,3462,1732,2717
$GC,2457,1.63,122.2,32.9,11.7,217,2461,0.00,2.67,0.00,0.000,4,0.000,0.077,3462,342,2717
$GC,2509,1.63,122.2,26.3,12.9,221,2513,0.00,2.47,0.00,0.000,6,0.000,0.036,3462,1733,2717
$GC,2712,1.70,183.5,5.1,6.3,247,2719,0.00,0.00,5.45,0.681,2,0.000,0.000,3462,1737,2688
$STATE,2720,end climb,SURFACE_DEPTH_REACHED
$STATE,2720,begin surface coast
$FINISH,0.6,1.020413
$STATE,2817,end surface coast,CONTROL_FINISHED_OK
$STATE,2817,begin surface
$SM_CCo,2843,122.95,0.585,0,0,1586,400.08
$SM_GC,0.96,0.00,0.00,122.95,0.000,0.000,0.585,462,1804,1586,-12.13,0.08,400.08
$IRIDIUM_FIX,4722.92,-12251.79,280907,080808
$TT8_MAMPS,0.072098
$HUMID,2056
$INTERNAL_PRESSURE,8.43782
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.7,51.7
$24V_AH,23.8,13.565
$10V_AH,10.1,35.334
$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,31.875,25.825,198.375,122.950,0.000,40.001,30.023,124.576,0.500,20.040,3374.960,34.629,493.096,1608.896,412.061,516.266,287.908,33.325,694.078,0.000,469.200,0.000,5.484
$DEVICE_MAMPS,219.362,83.603,681.096,585.221,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,176.749,0.000,0.000,0.000,0.000,0.000,0.000,3395.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6450,263
$CFSIZE,260034560,254267392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280907,063005,4739.493,-12252.835,13,3.2,32,18.3