version: 66.02
glider: 106
mission: 7
dive: 19
start: 9 25 107 12 42 51
data:
$ID,106
$MISSION,7
$DIVE,19
$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,-43416.719
$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,30
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,390
$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
$GPS1,123705,4739.070,-12252.750,14,3.4,33,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-64.2
$GPS2,124144,4739.074,-12252.750,14,1.4,14,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H1
$TGT_LATLONG,4739.000,-12252.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.230,-0.052
$KALMAN_X,947.9,80.3,-67.3,-1643.2,75.6
$KALMAN_Y,1338.2,57.6,-139.2,-2532.6,28.9
$MHEAD_RNG_PITCHd_Wd,84.5,946,-19.2,-9.524
$D_GRID,129
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-1.63,-122.2,0.0,0.0,0,79,0.00,0.00,-55.97,0.000,2,0.000,0.000,460,2000,2850
$GC,81,-1.63,-122.2,2.1,-3.5,9,137,14.25,2.60,-36.17,0.000,4,0.200,0.070,2720,3385,3718
$GC,387,-1.63,-122.2,21.8,-6.7,54,395,0.00,2.50,0.00,0.000,6,0.000,0.041,2720,1997,3720
$GC,585,-1.63,-122.2,33.5,-5.6,70,586,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1997,3721
$GC,773,-1.63,-122.2,46.2,-6.9,85,777,0.00,2.67,0.00,0.000,4,0.000,0.071,2720,587,3721
$GC,845,-1.63,-122.2,51.5,-7.2,90,849,0.00,2.45,0.00,0.000,6,0.000,0.038,2721,1985,3721
$GC,1047,-1.63,-122.2,65.7,-7.1,106,1051,0.00,2.67,0.00,0.000,4,0.000,0.069,2720,582,3722
$GC,1099,-1.63,-122.2,69.6,-7.4,110,1103,0.00,2.47,0.00,0.000,6,0.000,0.038,2720,1990,3721
$GC,1301,-1.63,-122.2,83.4,-6.9,126,1302,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1990,3721
$GC,1491,-1.63,-122.2,96.1,-7.1,141,1492,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1990,3721
$STATE,1553,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1553,begin apogee
$GC,1557,-0.38,0.0,100.3,6.7,146,1663,1.38,0.00,97.85,0.683,6,0.097,0.000,2994,1922,3217
$STATE,1664,end apogee,CONTROL_FINISHED_OK
$STATE,1664,begin climb
$GC,1665,1.63,122.2,101.9,0.0,155,1772,2.03,2.72,94.90,0.657,4,0.048,0.075,3441,536,2718
$GC,1811,1.63,122.2,90.2,11.8,167,1816,0.00,2.50,0.00,0.000,6,0.000,0.038,3441,1926,2717
$GC,2014,1.63,122.2,67.7,10.8,183,2019,0.00,2.67,0.00,0.000,4,0.000,0.073,3441,535,2716
$GC,2072,1.63,122.2,60.7,11.7,187,2077,0.00,2.50,0.00,0.000,6,0.000,0.038,3441,1930,2716
$GC,2274,1.63,122.2,39.2,10.5,203,2279,0.00,2.67,0.00,0.000,4,0.000,0.072,3441,544,2716
$GC,2353,1.63,122.2,30.4,10.7,209,2357,0.00,2.47,0.00,0.000,6,0.000,0.038,3441,1932,2716
$GC,2553,1.65,140.8,10.4,8.6,232,2573,0.00,2.70,14.18,0.655,4,0.000,0.073,3441,537,2642
$STATE,2610,end climb,SURFACE_DEPTH_REACHED
$STATE,2611,begin surface coast
$FINISH,2.1,1.021452
$STATE,2638,end surface coast,CONTROL_FINISHED_OK
$STATE,2638,begin surface
$SM_CCo,2664,111.60,0.591,0,0,1586,400.08
$SM_GC,1.20,0.00,0.00,111.60,0.000,0.000,0.591,460,1990,1586,-12.05,0.00,400.08
$IRIDIUM_FIX,4722.92,-12253.53,250907,151526
$TT8_MAMPS,0.071331
$HUMID,2024
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.0,50.9
$24V_AH,23.7,7.361
$10V_AH,10.1,30.464
$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,31.625,36.375,206.925,111.600,0.000,37.144,42.441,113.156,0.500,70.570,3128.430,14.937,463.212,1495.783,422.151,447.755,258.794,33.329,688.931,0.000,424.639,0.000,5.482
$DEVICE_MAMPS,200.187,75.166,683.397,590.590,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,164.309,0.000,0.000,0.000,0.000,0.000,0.000,3199.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6455,245
$CFSIZE,260034560,256557056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,250907,132951,4739.105,-12252.260,12,1.5,12,18.3