version: 66.02
glider: 106
mission: 7
dive: 72
start: 9 27 107 11 24 58
data:
$ID,106
$MISSION,7
$DIVE,72
$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,-44575.961
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,460
$PITCH_MAX,3783
$C_PITCH,3080
$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,1990
$C_ROLL_CLIMB,1930
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,16
$R_PORT_OVSHOOT,31
$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
$GPS1,111907,4739.514,-12252.902,11,1.8,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-63.9
$GPS2,112351,4739.510,-12252.908,12,1.7,12,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.165,-0.007
$KALMAN_X,1969.6,-36.7,-36.4,-2776.5,-75.9
$KALMAN_Y,1928.4,16.0,-75.7,-2337.3,-67.1
$MHEAD_RNG_PITCHd_Wd,249.4,375,-27.8,-9.524
$D_GRID,118
$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,22,-2.21,-58.7,0.0,0.0,0,86,0.00,0.00,-61.67,0.000,2,0.000,0.000,461,1998,2951
$GC,89,-2.27,-111.4,2.0,-3.8,10,138,13.85,2.70,-29.45,0.000,4,0.216,0.076,2582,591,3674
$GC,389,-2.28,-118.4,27.0,-8.8,50,394,0.00,2.45,-0.32,0.000,6,0.000,0.035,2582,1989,3704
$GC,591,-2.29,-121.0,44.7,-9.2,66,596,0.00,2.60,0.00,0.000,4,0.000,0.064,2582,593,3705
$GC,800,-2.29,-121.0,64.9,-9.6,81,808,0.00,2.47,0.00,0.000,6,0.000,0.035,2581,1989,3706
$GC,997,-2.29,-122.2,83.4,-9.1,97,1002,0.00,2.62,-0.12,0.000,4,0.000,0.077,2582,588,3727
$GC,1083,-2.29,-122.2,91.4,-8.9,103,1087,0.00,2.45,0.00,0.000,6,0.000,0.035,2582,1992,3727
$STATE,1182,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1182,begin apogee
$GC,1186,-0.38,0.0,100.2,8.6,111,1293,2.12,0.00,99.22,0.673,6,0.118,0.000,2993,1917,3216
$STATE,1294,end apogee,CONTROL_FINISHED_OK
$STATE,1294,begin climb
$GC,1296,2.29,122.2,101.2,0.0,120,1396,2.62,0.00,94.75,0.647,6,0.050,0.000,3590,1918,2719
$GC,1581,2.29,122.2,59.0,16.9,143,1585,0.00,2.62,0.00,0.000,4,0.000,0.071,3590,536,2718
$GC,1725,2.29,122.2,33.2,17.6,154,1730,0.00,2.47,0.00,0.000,6,0.000,0.035,3590,1926,2718
$STATE,1905,end climb,SURFACE_DEPTH_REACHED
$STATE,1905,begin surface coast
$FINISH,0.7,1.020100
$STATE,1940,end surface coast,CONTROL_FINISHED_OK
$STATE,1940,begin surface
$SM_CCo,1965,119.22,0.576,0,0,1586,400.08
$SM_GC,1.05,0.00,0.00,119.22,0.000,0.000,0.576,460,1998,1586,-12.05,0.23,400.08
$IRIDIUM_FIX,4722.92,-12256.21,270907,141423
$TT8_MAMPS,0.069797
$HUMID,2032
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.2,51.5
$24V_AH,23.8,11.872
$10V_AH,10.1,33.949
$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,32.800,20.625,193.975,119.225,0.000,40.445,35.958,113.240,0.500,0.000,2492.000,12.863,350.671,1012.830,404.132,369.637,261.018,33.324,622.836,0.000,348.394,0.000,5.482
$DEVICE_MAMPS,216.294,76.700,672.659,576.017,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,120.099,0.000,0.000,0.000,0.000,0.000,0.000,2492.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3310,180
$CFSIZE,260034560,254910464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270907,120027,4739.445,-12253.200,12,1.6,12,18.3