version: 66.02
glider: 106
mission: 7
dive: 105
start: 9 28 107 17 52 36
data:
$ID,106
$MISSION,7
$DIVE,105
$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,-45306.805
$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,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
$GPS1,174553,4739.468,-12252.620,8,4.3,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-62.6
$GPS2,175129,4739.490,-12252.573,12,4.0,31,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.105,-0.127
$KALMAN_X,2889.7,87.2,49.5,-3490.5,94.9
$KALMAN_Y,1611.2,-19.5,21.7,-2117.2,103.5
$MHEAD_RNG_PITCHd_Wd,122.2,218,-27.8,-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,-2.21,-58.7,0.0,0.0,0,92,0.00,0.00,-67.43,0.000,2,0.000,0.000,463,1804,3079
$GC,95,-2.26,-98.4,2.4,-5.2,11,133,14.05,2.53,-17.30,0.000,4,0.218,0.061,2603,3197,3619
$GC,383,-2.29,-120.6,21.2,-7.1,54,390,0.00,2.50,-1.25,0.000,6,0.000,0.038,2603,1797,3715
$GC,579,-2.29,-122.2,36.5,-8.2,69,583,0.00,2.53,0.00,0.000,4,0.000,0.048,2603,3198,3718
$GC,749,-2.29,-122.2,51.5,-9.2,81,756,0.00,2.50,0.00,0.000,6,0.000,0.038,2603,1802,3718
$GC,945,-2.29,-122.2,68.9,-8.5,97,949,0.00,2.65,0.00,0.000,4,0.000,0.074,2603,398,3720
$GC,983,-2.29,-122.2,72.4,-9.1,99,991,0.00,2.50,0.00,0.000,6,0.000,0.035,2603,1802,3719
$GC,1180,-2.29,-122.2,90.0,-9.1,115,1184,0.00,2.65,0.00,0.000,4,0.000,0.072,2603,397,3719
$GC,1205,-2.29,-122.2,92.5,-9.6,117,1209,0.00,2.47,0.00,0.000,6,0.000,0.035,2603,1802,3719
$STATE,1292,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1292,begin apogee
$GC,1297,-0.38,0.0,100.6,8.9,124,1403,2.12,0.00,97.65,0.670,6,0.117,0.000,3014,1722,3217
$STATE,1404,end apogee,CONTROL_FINISHED_OK
$STATE,1404,begin climb
$GC,1406,2.29,122.2,101.7,0.0,133,1507,2.60,0.00,94.57,0.646,6,0.048,0.000,3615,1722,2718
$GC,1691,2.29,122.2,58.5,17.2,156,1696,0.00,2.65,0.00,0.000,4,0.000,0.078,3614,339,2717
$GC,1795,2.29,122.2,39.3,17.9,163,1803,0.00,2.47,0.00,0.000,6,0.000,0.035,3614,1731,2717
$GC,1995,2.29,122.2,6.3,15.1,185,2002,0.00,2.70,0.00,0.000,4,0.000,0.078,3614,333,2716
$STATE,2006,end climb,SURFACE_DEPTH_REACHED
$STATE,2006,begin surface coast
$FINISH,1.8,1.020662
$STATE,2027,end surface coast,CONTROL_FINISHED_OK
$STATE,2027,begin surface
$SM_CCo,2056,123.70,0.574,0,0,1586,400.08
$SM_GC,0.99,0.00,0.00,123.70,0.000,0.000,0.574,460,1823,1586,-12.14,0.65,400.08
$IRIDIUM_FIX,4722.92,-12254.47,280907,202052
$TT8_MAMPS,0.069797
$HUMID,2038
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.4,51.8
$24V_AH,23.8,14.621
$10V_AH,10.1,36.230
$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,33.400,30.950,192.225,123.700,0.000,40.929,36.591,132.285,0.500,13.930,2621.070,32.367,368.264,1067.907,415.459,395.009,299.589,33.325,644.891,0.000,351.026,0.000,5.485
$DEVICE_MAMPS,217.828,78.234,670.358,573.716,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,126.758,0.000,0.000,0.000,0.000,0.000,0.000,2635.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6438,190
$CFSIZE,260034560,253882368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280907,183008,4739.367,-12252.349,38,1.0,38,18.3