version: 66.02
glider: 106
mission: 7
dive: 82
start: 9 27 107 20 24 17
data:
$ID,106
$MISSION,7
$DIVE,82
$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,-44791.336
$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,35
$R_STBD_OVSHOOT,39
$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
$GPS1,201407,4739.357,-12253.145,14,1.3,30,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-63.9
$GPS2,202309,4739.345,-12253.218,14,1.3,14,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.021,0.164
$KALMAN_X,2208.5,33.4,79.7,-3586.9,-15.7
$KALMAN_Y,1849.5,-16.8,83.1,-2684.6,-52.4
$MHEAD_RNG_PITCHd_Wd,348.9,227,-27.8,-9.524
$D_GRID,119
$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,22,-2.21,-58.7,0.0,0.0,0,85,0.00,0.00,-61.53,0.000,2,0.000,0.000,465,2001,2963
$GC,88,-2.27,-105.4,2.1,-4.5,10,136,14.38,2.58,-24.50,0.000,4,0.221,0.064,2582,3381,3650
$GC,387,-2.29,-122.2,24.7,-6.7,51,393,0.00,2.53,-0.82,0.000,6,0.000,0.036,2582,1991,3721
$GC,582,-2.29,-122.2,40.7,-8.8,66,587,0.00,2.55,0.00,0.000,4,0.000,0.051,2582,3390,3722
$GC,666,-2.29,-122.2,48.9,-10.1,72,674,0.00,2.50,0.00,0.000,6,0.000,0.037,2582,1989,3723
$GC,863,-2.29,-122.2,68.1,-9.9,88,867,0.00,2.65,0.00,0.000,4,0.000,0.067,2582,588,3723
$GC,917,-2.29,-122.2,73.5,-10.6,92,921,0.00,2.45,0.00,0.000,6,0.000,0.035,2582,1985,3723
$GC,1111,-2.29,-122.2,94.5,-10.4,107,1112,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,1985,3723
$STATE,1173,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1173,begin apogee
$GC,1178,-0.38,0.0,101.4,10.8,112,1284,2.15,0.00,98.78,0.666,6,0.121,0.000,2993,1922,3218
$STATE,1285,end apogee,CONTROL_FINISHED_OK
$STATE,1285,begin climb
$GC,1287,2.29,122.2,104.1,0.0,121,1387,2.67,0.00,95.00,0.646,6,0.049,0.000,3589,1922,2719
$GC,1569,2.29,122.2,68.1,15.9,144,1573,0.00,2.62,0.00,0.000,4,0.000,0.072,3589,542,2718
$GC,1653,2.29,122.2,53.5,17.0,150,1662,0.00,2.47,0.00,0.000,6,0.000,0.035,3589,1928,2718
$GC,1850,2.29,122.2,22.5,15.7,166,1854,0.00,2.65,0.00,0.000,4,0.000,0.070,3589,534,2718
$STATE,1960,end climb,SURFACE_DEPTH_REACHED
$STATE,1960,begin surface coast
$FINISH,1.5,1.020490
$STATE,1989,end surface coast,CONTROL_FINISHED_OK
$STATE,1990,begin surface
$SM_CCo,2018,121.95,0.577,0,0,1587,400.08
$SM_GC,1.06,0.00,0.00,121.95,0.000,0.000,0.577,460,2001,1587,-12.05,0.31,400.08
$IRIDIUM_FIX,4722.92,-12249.11,280907,000054
$TT8_MAMPS,0.069797
$HUMID,2035
$INTERNAL_PRESSURE,8.42806
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.7,51.8
$24V_AH,23.9,12.742
$10V_AH,10.1,34.625
$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,34.100,25.725,193.775,121.950,0.000,81.511,69.105,219.608,0.500,0.000,2806.000,14.454,360.278,1125.548,422.073,350.477,454.807,33.321,632.222,0.000,326.555,0.000,5.484
$DEVICE_MAMPS,220.896,79.001,665.756,576.784,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,123.396,0.000,0.000,0.000,0.000,0.000,0.000,2806.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3326,185
$CFSIZE,260034560,254599168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270907,210046,4739.422,-12253.178,9,1.6,16,18.3