version: 66.02
glider: 106
mission: 7
dive: 37
start: 9 26 107 4 32 35
data:
$ID,106
$MISSION,7
$DIVE,37
$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,-43812.988
$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,21
$R_STBD_OVSHOOT,27
$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
$GPS1,042601,4739.497,-12252.636,41,1.0,44,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-64.7
$GPS2,043127,4739.508,-12252.704,14,1.3,14,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.230,-0.054
$KALMAN_X,2147.4,43.4,57.2,-2875.2,115.3
$KALMAN_Y,1898.0,-53.0,32.9,-2349.8,69.3
$MHEAD_RNG_PITCHd_Wd,238.4,626,-19.2,-9.524
$D_GRID,123
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-1.63,-122.2,0.0,0.0,0,72,0.00,0.00,-49.85,0.000,2,0.000,0.000,463,1999,2728
$GC,74,-1.63,-122.2,2.1,-3.3,8,136,14.55,2.67,-40.65,0.000,4,0.206,0.077,2723,586,3716
$GC,168,-1.63,-122.2,5.7,-8.6,23,175,0.00,2.50,0.00,0.000,6,0.000,0.036,2723,1992,3717
$GC,240,-1.63,-122.2,10.6,-6.8,34,247,0.00,2.58,0.00,0.000,4,0.000,0.056,2723,3397,3717
$GC,443,-1.63,-122.2,23.5,-6.4,61,451,0.00,2.55,0.00,0.000,6,0.000,0.039,2723,1983,3719
$GC,640,-1.63,-122.2,36.2,-6.4,77,644,0.00,2.65,0.00,0.000,4,0.000,0.070,2723,583,3719
$GC,732,-1.63,-122.2,42.2,-6.7,84,736,0.00,2.50,0.00,0.000,6,0.000,0.036,2723,1995,3720
$GC,934,-1.63,-122.2,56.0,-6.9,100,935,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1995,3720
$GC,1123,-1.63,-122.2,69.5,-7.0,115,1125,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1995,3720
$GC,1313,-1.63,-122.2,82.5,-7.0,130,1317,0.00,2.65,0.00,0.000,4,0.000,0.068,2723,590,3720
$GC,1390,-1.63,-122.2,88.0,-7.4,135,1398,0.00,2.50,0.00,0.000,6,0.000,0.036,2723,1990,3720
$STATE,1572,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1572,begin apogee
$GC,1576,-0.38,0.0,100.3,6.7,150,1682,1.35,0.00,97.40,0.677,6,0.104,0.000,2990,1922,3219
$STATE,1683,end apogee,CONTROL_FINISHED_OK
$STATE,1683,begin climb
$GC,1685,1.63,122.2,101.8,0.0,159,1790,2.00,2.65,95.30,0.654,4,0.053,0.058,3441,3333,2718
$GC,1807,1.63,122.2,92.9,10.5,168,1816,0.00,2.58,0.00,0.000,6,0.000,0.041,3441,1933,2718
$GC,2004,1.63,122.2,71.1,11.4,184,2008,0.00,2.70,0.00,0.000,4,0.000,0.077,3441,526,2717
$GC,2138,1.63,122.2,55.6,11.5,194,2142,0.00,2.50,0.00,0.000,6,0.000,0.038,3441,1929,2716
$GC,2332,1.63,122.2,34.0,11.2,209,2336,0.00,2.70,0.00,0.000,4,0.000,0.071,3441,530,2716
$GC,2389,1.63,122.2,27.0,12.2,213,2398,0.00,2.55,0.00,0.000,6,0.000,0.036,3441,1939,2716
$GC,2593,1.64,135.7,6.6,8.8,239,2606,0.00,0.00,9.88,0.661,6,0.000,0.000,3441,1939,2663
$STATE,2616,end climb,SURFACE_DEPTH_REACHED
$STATE,2616,begin surface coast
$FINISH,0.4,1.020299
$STATE,2697,end surface coast,CONTROL_FINISHED_OK
$STATE,2697,begin surface
$SM_CCo,2721,116.10,0.588,0,0,1586,400.08
$SM_GC,1.18,0.00,0.00,116.10,0.000,0.000,0.588,460,1995,1586,-12.04,0.14,400.08
$IRIDIUM_FIX,4722.92,-12256.21,260907,070757
$TT8_MAMPS,0.072865
$HUMID,2033
$INTERNAL_PRESSURE,8.42806
$TCM_TEMP,19.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.8,51.6
$24V_AH,23.2,9.126
$10V_AH,10.1,31.653
$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,31.550,36.475,202.575,116.100,0.000,40.767,42.533,150.333,0.500,103.750,3198.250,14.126,478.551,1501.588,430.841,477.304,306.297,33.333,713.578,0.000,452.650,0.000,5.484
$DEVICE_MAMPS,206.323,88.972,677.261,587.522,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,170.775,0.000,0.000,0.000,0.000,0.000,0.000,3302.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6453,255
$CFSIZE,260034560,255946752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260907,052038,4739.514,-12253.006,8,1.9,13,18.3