version: 66.02
glider: 106
mission: 7
dive: 111
start: 9 28 107 23 19 47
data:
$ID,106
$MISSION,7
$DIVE,111
$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,-45395.246
$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,20
$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
$GPS1,231321,4739.479,-12252.972,11,1.8,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-63.0
$GPS2,231839,4739.485,-12252.984,14,1.8,14,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.161,0.037
$KALMAN_X,2753.8,49.9,20.9,-3798.4,-87.7
$KALMAN_Y,1730.2,68.1,94.5,-2407.1,-75.5
$MHEAD_RNG_PITCHd_Wd,264.7,274,-27.8,-9.524
$D_GRID,116
$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,23,-2.21,-58.7,0.0,0.0,0,86,0.00,0.00,-61.30,0.000,2,0.000,0.000,460,1812,2933
$GC,89,-2.27,-108.7,2.0,-4.1,10,138,14.10,2.50,-27.25,0.000,4,0.219,0.061,2600,3194,3664
$GC,389,-2.29,-122.2,23.8,-7.3,52,394,0.00,2.47,-0.68,0.000,6,0.000,0.037,2600,1797,3721
$GC,584,-2.29,-122.2,39.6,-7.9,67,588,0.00,2.53,0.00,0.000,4,0.000,0.048,2600,3199,3722
$GC,840,-2.29,-122.2,61.7,-8.7,86,848,0.00,2.50,0.00,0.000,6,0.000,0.038,2600,1802,3724
$GC,1037,-2.29,-122.2,79.0,-8.6,102,1038,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1802,3723
$GC,1227,-2.29,-122.2,94.1,-8.2,117,1228,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1801,3723
$STATE,1299,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1300,begin apogee
$GC,1304,-0.38,0.0,100.7,8.9,123,1411,2.12,0.00,98.70,0.671,6,0.117,0.000,3011,1728,3217
$STATE,1412,end apogee,CONTROL_FINISHED_OK
$STATE,1412,begin climb
$GC,1414,2.29,122.2,101.9,0.0,132,1515,2.62,0.00,95.22,0.647,6,0.049,0.000,3615,1728,2719
$GC,1699,2.29,122.2,58.5,17.8,155,1704,0.00,2.67,0.00,0.000,4,0.000,0.080,3614,334,2717
$GC,1864,2.29,122.2,28.1,17.9,167,1868,0.00,2.45,0.00,0.000,6,0.000,0.035,3615,1730,2716
$STATE,2005,end climb,SURFACE_DEPTH_REACHED
$STATE,2005,begin surface coast
$FINISH,0.4,1.020709
$STATE,2040,end surface coast,CONTROL_FINISHED_OK
$STATE,2040,begin surface
$SM_CCo,2067,119.10,0.571,0,0,1586,400.08
$SM_GC,0.83,0.00,0.00,119.10,0.000,0.000,0.571,461,1805,1586,-12.14,0.14,400.08
$IRIDIUM_FIX,4719.74,-12251.79,290907,020200
$TT8_MAMPS,0.071331
$HUMID,2032
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.1,51.4
$24V_AH,23.8,15.097
$10V_AH,10.1,36.636
$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,33.175,15.350,193.925,119.100,0.000,37.810,48.715,123.796,0.500,13.940,2600.060,14.058,363.751,1089.513,397.772,385.463,297.298,33.323,621.493,0.000,358.579,0.000,6.392
$DEVICE_MAMPS,219.362,79.768,671.125,570.648,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,126.928,0.000,0.000,0.000,0.000,0.000,0.000,2614.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6465,190
$CFSIZE,260034560,253698048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280907,235717,4739.567,-12253.217,11,2.4,30,18.3