version: 66.02
glider: 106
mission: 7
dive: 87
start: 9 28 107 1 8 39
data:
$ID,106
$MISSION,7
$DIVE,87
$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,-44924
$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,24
$R_STBD_OVSHOOT,30
$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
$GPS1,010156,4739.510,-12252.889,14,1.6,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-64.5
$GPS2,010732,4739.501,-12252.907,12,1.6,17,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.163,-0.027
$KALMAN_X,1944.4,-21.7,-65.9,-2736.6,-40.6
$KALMAN_Y,1455.3,-121.7,-127.5,-1689.9,-8.9
$MHEAD_RNG_PITCHd_Wd,242.2,373,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-2.21,-58.7,0.0,0.0,0,87,0.00,0.00,-61.58,0.000,2,0.000,0.000,464,1806,2951
$GC,90,-2.27,-104.6,2.2,-4.5,10,133,14.30,2.53,-22.08,0.000,4,0.225,0.061,2600,3201,3646
$GC,383,-2.29,-122.2,23.8,-7.2,51,391,0.00,2.50,-0.88,0.000,6,0.000,0.038,2600,1803,3721
$GC,579,-2.29,-122.2,41.7,-9.6,67,583,0.00,2.53,0.00,0.000,4,0.000,0.049,2600,3204,3722
$GC,698,-2.29,-122.2,53.3,-9.7,76,702,0.00,2.50,0.00,0.000,6,0.000,0.040,2600,1799,3723
$GC,893,-2.29,-122.2,71.1,-9.1,91,894,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1798,3724
$GC,1083,-2.29,-122.2,87.8,-8.5,106,1084,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1799,3723
$STATE,1231,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1232,begin apogee
$GC,1236,-0.38,0.0,100.1,8.1,118,1343,2.12,0.00,98.22,0.670,6,0.116,0.000,3012,1726,3217
$STATE,1344,end apogee,CONTROL_FINISHED_OK
$STATE,1344,begin climb
$GC,1345,2.29,122.2,101.3,0.0,127,1450,2.65,2.62,94.43,0.645,4,0.048,0.052,3610,3135,2719
$GC,1467,2.29,122.2,86.7,17.2,136,1475,0.00,2.58,0.00,0.000,6,0.000,0.041,3610,1738,2718
$GC,1664,2.29,122.2,53.0,17.0,152,1668,0.00,2.72,0.00,0.000,4,0.000,0.083,3610,331,2717
$GC,1761,2.29,122.2,35.3,17.8,159,1769,0.00,2.50,0.00,0.000,6,0.000,0.036,3610,1733,2717
$GC,1962,2.29,122.2,6.1,12.0,182,1968,0.00,0.00,0.00,0.000,6,0.000,0.000,3610,1736,2717
$STATE,1979,end climb,SURFACE_DEPTH_REACHED
$STATE,1979,begin surface coast
$FINISH,2.0,1.020361
$STATE,2041,end surface coast,CONTROL_FINISHED_OK
$STATE,2041,begin surface
$SM_CCo,2067,118.75,0.574,0,0,1586,400.08
$SM_GC,1.09,0.00,0.00,118.75,0.000,0.000,0.574,464,1805,1586,-12.13,0.14,400.08
$IRIDIUM_FIX,4722.92,-12249.11,280907,040448
$TT8_MAMPS,0.071331
$HUMID,2043
$INTERNAL_PRESSURE,8.44759
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.1,51.3
$24V_AH,23.4,13.155
$10V_AH,10.1,34.982
$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,34.275,20.700,192.650,118.750,0.000,40.759,31.702,152.760,0.500,47.130,2604.870,17.345,368.822,1091.262,405.216,376.393,309.900,33.328,628.858,0.000,346.229,0.000,5.483
$DEVICE_MAMPS,225.498,82.836,669.591,574.483,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,129.427,0.000,0.000,0.000,0.000,0.000,0.000,2652.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6433,194
$CFSIZE,260034560,254427136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280907,014607,4739.544,-12253.177,13,1.1,29,18.3