version: 66.02
glider: 106
mission: 7
dive: 125
start: 9 29 107 12 15 58
data:
$ID,106
$MISSION,7
$DIVE,125
$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,-45697.949
$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,27
$R_STBD_OVSHOOT,35
$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
$GPS1,120627,4739.493,-12252.988,14,1.9,14,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-63.4
$GPS2,121451,4739.480,-12252.962,15,2.0,15,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.149,0.072
$KALMAN_X,2539.4,-72.7,-98.4,-3313.9,-97.0
$KALMAN_Y,2657.9,149.7,-18.4,-3312.7,-121.9
$MHEAD_RNG_PITCHd_Wd,277.4,301,-27.8,-9.524
$D_GRID,117
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-2.21,-58.7,0.0,0.0,0,87,0.00,0.00,-61.22,0.000,2,0.000,0.000,464,1801,2956
$GC,90,-2.27,-110.3,2.0,-3.9,10,138,13.88,0.00,-27.92,0.000,6,0.215,0.000,2598,1802,3669
$GC,204,-2.29,-120.2,7.4,-8.4,28,210,0.00,0.00,-0.88,0.000,6,0.000,0.000,2598,1802,3710
$GC,276,-2.29,-122.2,13.2,-8.6,39,282,0.00,2.65,0.00,0.000,4,0.000,0.072,2598,397,3711
$GC,369,-2.29,-122.2,20.4,-8.1,53,373,0.00,2.45,0.00,0.000,6,0.000,0.035,2597,1807,3712
$GC,564,-2.29,-122.2,36.0,-8.5,68,568,0.00,2.47,0.00,0.000,4,0.000,0.048,2598,3189,3713
$GC,596,-2.29,-122.2,38.8,-8.5,70,600,0.00,2.45,0.00,0.000,6,0.000,0.037,2598,1801,3713
$GC,798,-2.29,-122.2,56.9,-9.3,86,799,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,1801,3713
$GC,990,-2.29,-122.2,74.4,-9.5,101,991,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,1801,3713
$GC,1178,-2.29,-122.2,91.5,-8.2,116,1179,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,1800,3715
$STATE,1275,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1276,begin apogee
$GC,1281,-0.38,0.0,100.3,8.8,124,1387,2.15,0.00,96.40,0.673,6,0.119,0.000,3012,1728,3218
$STATE,1387,end apogee,CONTROL_FINISHED_OK
$STATE,1387,begin climb
$GC,1389,2.29,122.2,102.3,0.0,133,1490,2.60,0.00,95.05,0.647,6,0.047,0.000,3619,1728,2719
$GC,1675,2.29,122.2,59.5,17.7,156,1679,0.00,2.65,0.00,0.000,4,0.000,0.079,3618,340,2716
$GC,1760,2.29,122.2,43.4,19.2,162,1764,0.00,2.42,0.00,0.000,6,0.000,0.035,3619,1728,2716
$GC,1958,2.29,122.2,9.4,17.3,182,1964,0.00,0.00,0.00,0.000,6,0.000,0.000,3619,1731,2716
$STATE,1989,end climb,SURFACE_DEPTH_REACHED
$STATE,1989,begin surface coast
$FINISH,0.8,1.020558
$STATE,2023,end surface coast,CONTROL_FINISHED_OK
$STATE,2023,begin surface
$SM_CCo,2050,123.00,0.574,0,0,1586,400.08
$SM_GC,1.09,0.00,0.00,123.00,0.000,0.000,0.574,464,1800,1586,-12.13,0.00,400.08
$IRIDIUM_FIX,4722.92,-12223.37,290907,161617
$TT8_MAMPS,0.071331
$HUMID,2016
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.1,52.2
$24V_AH,23.9,16.162
$10V_AH,10.1,37.602
$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,33.000,15.325,191.450,123.000,0.000,79.356,126.096,126.860,0.500,0.000,2786.000,15.081,366.634,1153.213,406.814,349.685,429.403,33.321,622.976,0.000,323.722,0.000,5.487
$DEVICE_MAMPS,214.760,79.001,673.426,574.483,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,128.133,0.000,0.000,0.000,0.000,0.000,0.000,2786.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6472,192
$CFSIZE,260034560,253259776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290907,125325,4739.544,-12253.276,31,1.8,41,18.3