version: 66.02
glider: 106
mission: 7
dive: 60
start: 9 27 107 0 33 13
data:
$ID,106
$MISSION,7
$DIVE,60
$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,-44364.629
$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,23
$R_STBD_OVSHOOT,26
$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
$GPS1,002647,4739.468,-12252.647,10,3.1,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-64.7
$GPS2,003207,4739.452,-12252.675,16,1.7,32,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.179,0.030
$KALMAN_X,2063.9,-55.4,-111.3,-2484.7,-36.8
$KALMAN_Y,1627.1,-29.9,-122.9,-2049.3,-34.4
$MHEAD_RNG_PITCHd_Wd,62.3,342,-25.3,-9.524
$D_GRID,124
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,22,-2.03,-70.8,0.0,0.0,0,80,0.00,0.00,-55.67,0.000,2,0.000,0.000,463,1994,2858
$GC,83,-2.10,-122.2,2.3,-3.9,9,131,14.07,0.00,-28.02,0.000,6,0.216,0.000,2617,1994,3718
$GC,196,-2.10,-122.2,9.9,-10.7,27,203,0.00,2.65,0.00,0.000,4,0.000,0.066,2618,588,3720
$GC,308,-2.10,-122.2,19.0,-9.3,44,315,0.00,2.47,0.00,0.000,6,0.000,0.035,2617,2000,3720
$GC,384,-2.10,-122.2,24.5,-6.7,51,388,0.00,2.65,0.00,0.000,4,0.000,0.064,2617,584,3720
$GC,442,-2.10,-122.2,28.8,-8.0,55,447,0.00,2.47,0.00,0.000,6,0.000,0.035,2617,1995,3721
$GC,644,-2.10,-122.2,45.3,-8.4,71,648,0.00,2.62,0.00,0.000,4,0.000,0.065,2617,588,3721
$GC,702,-2.10,-122.2,50.7,-9.5,75,709,0.00,2.47,0.00,0.000,6,0.000,0.035,2618,1985,3721
$GC,898,-2.10,-122.2,67.5,-9.0,91,903,0.00,2.62,0.00,0.000,4,0.000,0.065,2618,588,3721
$GC,944,-2.10,-122.2,71.7,-8.7,94,948,0.00,2.47,0.00,0.000,6,0.000,0.035,2618,1998,3721
$GC,1146,-2.10,-122.2,89.4,-8.7,110,1147,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1997,3721
$STATE,1270,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1271,begin apogee
$GC,1275,-0.38,0.0,100.5,8.2,120,1381,1.92,0.00,97.90,0.673,6,0.110,0.000,2994,1914,3217
$STATE,1382,end apogee,CONTROL_FINISHED_OK
$STATE,1382,begin climb
$GC,1384,2.10,122.2,101.7,0.0,129,1487,2.42,2.65,94.68,0.651,4,0.049,0.056,3542,3333,2718
$GC,1500,2.10,122.2,90.7,13.5,138,1505,0.00,2.55,0.00,0.000,6,0.000,0.041,3542,1934,2717
$GC,1702,2.10,122.2,60.1,15.5,154,1706,0.00,2.70,0.00,0.000,4,0.000,0.078,3542,527,2716
$GC,1826,2.10,122.2,39.8,16.3,163,1834,0.00,2.50,0.00,0.000,6,0.000,0.036,3542,1923,2716
$GC,2025,2.10,122.2,10.2,13.5,184,2032,0.00,2.67,0.00,0.000,4,0.000,0.072,3542,524,2716
$STATE,2069,end climb,SURFACE_DEPTH_REACHED
$STATE,2070,begin surface coast
$FINISH,1.4,1.020391
$STATE,2110,end surface coast,CONTROL_FINISHED_OK
$STATE,2110,begin surface
$SM_CCo,2137,120.22,0.583,0,0,1586,400.08
$SM_GC,1.14,0.00,0.00,120.22,0.000,0.000,0.583,463,1997,1586,-12.04,0.20,400.08
$IRIDIUM_FIX,4722.92,-12254.47,270907,030311
$TT8_MAMPS,0.070564
$HUMID,2020
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.1,51.1
$24V_AH,23.8,10.935
$10V_AH,10.1,33.140
$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,32.425,36.325,192.575,120.225,0.000,38.368,36.479,129.154,0.500,20.750,2687.250,32.150,380.698,1129.538,416.440,397.702,282.439,33.320,653.086,0.000,356.001,0.000,5.482
$DEVICE_MAMPS,215.527,78.234,673.426,582.920,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,131.393,0.000,0.000,0.000,0.000,0.000,0.000,2708.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6454,197
$CFSIZE,260034560,255266816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270907,011133,4739.533,-12252.354,10,1.2,10,18.3