version: 66.02
glider: 106
mission: 7
dive: 91
start: 9 28 107 4 42 58
data:
$ID,106
$MISSION,7
$DIVE,91
$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,-44989.168
$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,33
$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
$GPS1,042937,4739.521,-12252.427,31,1.2,31,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-63.1
$GPS2,044150,4739.505,-12252.487,11,1.2,16,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.226,-0.067
$KALMAN_X,2311.4,-1.2,-10.0,-2658.3,102.0
$KALMAN_Y,1805.3,-60.2,19.2,-2241.3,110.9
$MHEAD_RNG_PITCHd_Wd,235.2,895,-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,23,-1.63,-122.2,0.0,0.0,0,86,0.00,0.00,-61.50,0.000,2,0.000,0.000,463,1808,2958
$GC,89,-1.63,-122.2,2.2,-4.7,10,138,14.95,2.72,-25.77,0.000,4,0.218,0.084,2742,381,3720
$GC,177,-1.63,-122.2,6.9,-6.9,24,184,0.00,2.50,0.00,0.000,6,0.000,0.035,2742,1814,3721
$GC,249,-1.63,-122.2,10.8,-5.8,35,256,0.00,2.47,0.00,0.000,4,0.000,0.049,2742,3195,3720
$GC,506,-1.63,-122.2,26.1,-5.5,66,513,0.00,2.47,0.00,0.000,6,0.000,0.038,2742,1794,3722
$GC,702,-1.63,-122.2,36.0,-4.8,82,706,0.00,2.53,0.00,0.000,4,0.000,0.048,2742,3201,3722
$GC,959,-1.63,-122.2,50.6,-5.6,101,967,0.00,2.50,0.00,0.000,6,0.000,0.039,2742,1804,3723
$GC,1155,-1.63,-122.2,61.9,-5.9,117,1156,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1804,3723
$GC,1346,-1.63,-122.2,72.7,-5.6,132,1350,0.00,2.53,0.00,0.000,4,0.000,0.051,2742,3204,3723
$GC,1383,-1.63,-122.2,74.9,-5.9,134,1391,0.00,2.53,0.00,0.000,6,0.000,0.038,2742,1794,3724
$GC,1579,-1.63,-122.2,86.4,-5.8,150,1584,0.00,2.65,0.00,0.000,4,0.000,0.075,2742,390,3723
$GC,1664,-1.63,-122.2,92.0,-6.6,156,1671,0.00,2.47,0.00,0.000,6,0.000,0.035,2742,1796,3723
$STATE,1795,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1795,begin apogee
$GC,1800,-0.38,0.0,100.0,6.0,167,1906,1.35,0.00,98.25,0.680,6,0.097,0.000,3014,1726,3217
$STATE,1907,end apogee,CONTROL_FINISHED_OK
$STATE,1907,begin climb
$GC,1909,1.63,122.2,100.9,0.0,176,2013,1.95,2.70,94.55,0.651,4,0.052,0.078,3456,343,2718
$GC,2110,1.63,122.2,79.8,12.9,191,2118,0.00,2.47,0.00,0.000,6,0.000,0.036,3456,1727,2717
$GC,2307,1.63,122.2,56.4,12.2,207,2308,0.00,0.00,0.00,0.000,6,0.000,0.000,3456,1726,2716
$GC,2499,1.63,122.2,34.2,12.0,222,2503,0.00,2.67,0.00,0.000,4,0.000,0.078,3456,337,2716
$GC,2537,1.63,122.2,29.3,12.2,224,2544,0.00,2.45,0.00,0.000,6,0.000,0.036,3456,1737,2716
$GC,2738,1.63,122.2,6.4,9.6,249,2743,0.00,0.00,0.00,0.000,6,0.000,0.000,3456,1739,2716
$STATE,2754,end climb,SURFACE_DEPTH_REACHED
$STATE,2754,begin surface coast
$FINISH,2.5,1.020421
$STATE,2816,end surface coast,CONTROL_FINISHED_OK
$STATE,2816,begin surface
$SM_CCo,2841,119.55,0.584,0,0,1586,400.08
$SM_GC,1.09,0.00,0.00,119.55,0.000,0.000,0.584,464,1811,1586,-12.13,0.31,400.08
$IRIDIUM_FIX,4719.74,-12251.79,280907,080809
$TT8_MAMPS,0.06903
$HUMID,2029
$INTERNAL_PRESSURE,8.43782
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.2,51.3
$24V_AH,23.9,13.485
$10V_AH,10.1,35.264
$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,32.425,35.900,192.800,119.550,0.000,118.946,113.433,261.184,0.500,20.020,3804.980,16.038,493.272,1687.964,429.893,514.279,599.614,33.327,723.804,0.000,480.457,0.000,5.484
$DEVICE_MAMPS,217.828,84.370,679.562,584.454,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,174.748,0.000,0.000,0.000,0.000,0.000,0.000,3825.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6437,261
$CFSIZE,260034560,254291968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280907,053303,4739.571,-12252.664,11,1.4,11,18.3