version: 66.02
glider: 106
mission: 7
dive: 86
start: 9 28 107 0 10 2
data:
$ID,106
$MISSION,7
$DIVE,86
$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,-44906.027
$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,29
$R_STBD_OVSHOOT,28
$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
$GPS1,235425,4739.518,-12252.419,24,1.4,41,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-62.0
$GPS2,000856,4739.483,-12252.499,14,2.0,31,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.235,0.026
$KALMAN_X,1934.5,-13.2,-35.7,-2253.0,-70.7
$KALMAN_Y,1437.9,-105.9,-95.9,-1754.5,-73.6
$MHEAD_RNG_PITCHd_Wd,258.1,878,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,23,-1.63,-122.2,0.0,0.0,0,87,0.00,0.00,-61.80,0.000,2,0.000,0.000,461,1804,2958
$GC,90,-1.63,-122.2,2.1,-3.8,10,145,14.93,2.80,-30.65,0.000,4,0.212,0.082,2739,409,3720
$GC,396,-1.63,-122.2,17.6,-5.1,57,403,0.00,2.55,0.00,0.000,6,0.000,0.035,2739,1809,3722
$GC,467,-1.63,-122.2,21.2,-5.1,66,471,0.00,2.67,0.00,0.000,4,0.000,0.070,2739,403,3722
$GC,723,-1.63,-122.2,35.3,-5.8,85,731,0.00,2.50,0.00,0.000,6,0.000,0.035,2739,1801,3723
$GC,919,-1.63,-122.2,46.9,-6.1,101,921,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,1803,3723
$GC,1109,-1.63,-122.2,57.8,-5.9,116,1110,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,1802,3723
$GC,1299,-1.63,-122.2,68.7,-5.5,131,1303,0.00,2.53,0.00,0.000,4,0.000,0.052,2739,3201,3723
$GC,1363,-1.63,-122.2,72.7,-6.5,135,1371,0.00,2.50,0.00,0.000,6,0.000,0.040,2740,1810,3723
$GC,1559,-1.63,-122.2,84.0,-5.9,151,1561,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1810,3723
$GC,1750,-1.63,-122.2,95.4,-5.9,166,1751,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1810,3723
$STATE,1835,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1835,begin apogee
$GC,1840,-0.38,0.0,100.7,6.2,173,1946,1.38,0.00,98.00,0.677,6,0.100,0.000,3014,1725,3216
$STATE,1947,end apogee,CONTROL_FINISHED_OK
$STATE,1947,begin climb
$GC,1949,1.63,122.2,102.3,0.0,182,2049,2.00,0.00,94.68,0.650,6,0.048,0.000,3458,1725,2718
$GC,2231,1.63,122.2,74.4,11.5,205,2236,0.00,2.67,0.00,0.000,4,0.000,0.083,3457,338,2716
$GC,2297,1.63,122.2,66.0,13.1,210,2302,0.00,2.47,0.00,0.000,6,0.000,0.038,3457,1739,2716
$GC,2499,1.63,122.2,41.5,11.9,226,2500,0.00,0.00,0.00,0.000,6,0.000,0.000,3458,1739,2716
$GC,2689,1.63,122.2,19.4,11.3,241,2696,0.00,2.70,0.00,0.000,4,0.000,0.079,3458,337,2716
$GC,2767,1.63,122.2,9.9,11.6,253,2774,0.00,2.47,0.00,0.000,6,0.000,0.036,3458,1732,2716
$STATE,2824,end climb,SURFACE_DEPTH_REACHED
$STATE,2824,begin surface coast
$FINISH,1.4,1.020475
$STATE,2905,end surface coast,CONTROL_FINISHED_OK
$STATE,2905,begin surface
$SM_CCo,2931,119.20,0.583,0,0,1586,400.08
$SM_GC,1.07,0.00,0.00,119.20,0.000,0.000,0.583,464,1806,1586,-12.13,0.20,400.08
$IRIDIUM_FIX,4719.74,-12251.79,280907,040441
$TT8_MAMPS,0.069797
$HUMID,2044
$INTERNAL_PRESSURE,8.42806
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.5,51.6
$24V_AH,23.9,13.069
$10V_AH,10.1,34.925
$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,32.525,26.125,192.675,119.200,0.000,117.537,164.734,333.590,0.500,0.000,4051.000,31.563,502.297,1790.431,430.219,505.040,721.707,33.332,702.562,0.000,459.044,0.000,5.485
$DEVICE_MAMPS,212.459,82.836,677.261,582.920,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,183.864,0.000,0.000,0.000,0.000,0.000,0.000,4051.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6446,274
$CFSIZE,260034560,254447616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280907,010156,4739.510,-12252.889,14,1.6,31,18.3