version: 66.02
glider: 106
mission: 7
dive: 9
start: 9 25 107 4 34 23
data:
$ID,106
$MISSION,7
$DIVE,9
$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,-43241.309
$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,1980
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,16
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,400
$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
$GPS1,042829,4739.386,-12252.176,12,6.0,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-65.9
$GPS2,043317,4739.413,-12252.127,15,4.1,34,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.202,-0.003
$KALMAN_X,529.3,109.8,103.5,-650.6,83.3
$KALMAN_Y,992.0,284.7,124.7,-2052.2,109.0
$MHEAD_RNG_PITCHd_Wd,251.0,357,-22.8,-9.524
$D_GRID,125
$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,-1.86,-87.3,0.0,0.0,0,67,0.00,0.00,-44.03,0.000,2,0.000,0.000,465,1981,2603
$GC,69,-1.90,-122.2,2.2,-3.4,7,137,13.90,2.65,-45.42,0.000,4,0.201,0.081,2659,584,3718
$GC,195,-1.90,-122.2,6.7,-6.6,27,202,0.00,2.50,0.00,0.000,6,0.000,0.038,2660,1990,3730
$GC,267,-1.90,-122.2,11.0,-6.7,38,274,0.00,2.58,0.00,0.000,4,0.000,0.058,2659,3396,3732
$GC,510,-1.90,-122.2,30.6,-8.6,66,518,0.00,2.53,0.00,0.000,6,0.000,0.044,2659,1991,3734
$GC,706,-1.90,-122.2,46.8,-8.5,82,707,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,1991,3735
$GC,895,-1.90,-122.2,63.0,-8.7,97,900,0.00,2.67,0.00,0.000,4,0.000,0.073,2659,589,3736
$GC,948,-1.90,-122.2,67.8,-9.5,101,952,0.00,2.53,0.00,0.000,6,0.000,0.040,2660,1988,3737
$GC,1150,-1.90,-122.2,85.7,-8.9,117,1151,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,1988,3737
$STATE,1326,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1326,begin apogee
$GC,1329,-0.38,0.0,100.4,8.0,131,1436,1.70,0.00,100.62,0.681,6,0.104,0.000,2993,1988,3218
$STATE,1437,end apogee,CONTROL_FINISHED_OK
$STATE,1437,begin climb
$GC,1438,1.90,122.2,101.7,0.0,140,1542,2.22,2.62,94.55,0.657,4,0.048,0.062,3500,3381,2718
$GC,1573,1.90,122.2,88.8,13.5,150,1581,0.00,2.58,0.00,0.000,6,0.000,0.045,3500,1985,2716
$GC,1771,1.90,122.2,63.4,13.3,166,1775,0.00,2.72,0.00,0.000,4,0.000,0.077,3500,568,2716
$GC,1908,1.90,122.2,44.3,14.1,176,1913,0.00,2.53,0.00,0.000,6,0.000,0.040,3500,1973,2716
$GC,2110,1.90,122.2,19.6,11.5,192,2117,0.00,2.72,0.00,0.000,4,0.000,0.073,3500,569,2716
$GC,2188,1.90,122.2,9.6,12.3,204,2196,0.00,2.53,0.00,0.000,6,0.000,0.039,3500,1981,2716
$STATE,2233,end climb,SURFACE_DEPTH_REACHED
$STATE,2233,begin surface coast
$FINISH,0.6,1.019216
$STATE,2280,end surface coast,CONTROL_FINISHED_OK
$STATE,2280,begin surface
$SM_CCo,2303,123.12,0.592,0,0,1586,400.08
$SM_GC,1.22,0.00,0.00,123.12,0.000,0.000,0.592,463,1984,1586,-12.04,-0.17,400.08
$IRIDIUM_FIX,4722.92,-12256.21,250907,070746
$TT8_MAMPS,0.069797
$HUMID,2038
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.1,50.9
$24V_AH,23.3,6.555
$10V_AH,10.1,29.846
$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,31.750,31.150,195.175,123.125,0.000,32.781,47.086,98.216,0.500,24.900,2815.100,35.049,412.073,1234.105,425.327,431.258,242.108,33.321,674.244,0.000,388.233,0.000,5.481
$DEVICE_MAMPS,200.954,81.302,681.096,592.124,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,145.649,0.000,0.000,0.000,0.000,0.000,0.000,2840.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6436,218
$CFSIZE,260034560,256851968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,250907,051607,4739.542,-12252.395,39,1.5,45,18.3