version: 66.02
glider: 106
mission: 7
dive: 69
start: 9 27 107 8 31 10
data:
$ID,106
$MISSION,7
$DIVE,69
$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,-44532.484
$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,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
$GPS1,082456,4739.339,-12252.826,12,1.1,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-63.9
$GPS2,083003,4739.325,-12252.829,11,1.1,11,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.200,0.125
$KALMAN_X,2208.8,-4.6,92.3,-3075.6,-47.5
$KALMAN_Y,2068.1,68.2,118.4,-3060.7,-80.9
$MHEAD_RNG_PITCHd_Wd,39.7,595,-19.2,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,22,-1.63,-122.2,0.0,0.0,0,86,0.00,0.00,-61.67,0.000,2,0.000,0.000,460,1998,2972
$GC,89,-1.63,-122.2,2.2,-3.9,10,138,14.68,2.65,-28.15,0.000,4,0.213,0.077,2719,594,3718
$GC,389,-1.63,-122.2,21.6,-6.6,55,393,0.00,2.45,0.00,0.000,6,0.000,0.035,2719,1995,3720
$GC,591,-1.63,-122.2,34.3,-6.3,71,595,0.00,2.62,0.00,0.000,4,0.000,0.066,2719,592,3720
$GC,789,-1.63,-122.2,47.7,-6.8,86,793,0.00,2.45,0.00,0.000,6,0.000,0.035,2719,1990,3721
$GC,991,-1.63,-122.2,61.3,-6.9,102,992,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,1991,3721
$GC,1181,-1.63,-122.2,73.8,-6.8,117,1182,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,1990,3721
$GC,1372,-1.63,-122.2,86.5,-6.6,132,1376,0.00,2.62,0.00,0.000,4,0.000,0.068,2719,591,3721
$GC,1503,-1.63,-122.2,96.3,-7.5,141,1510,0.00,2.47,0.00,0.000,6,0.000,0.035,2719,2010,3721
$STATE,1558,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1558,begin apogee
$GC,1562,-0.38,0.0,100.1,6.9,146,1669,1.35,0.00,98.07,0.674,6,0.097,0.000,2991,1921,3217
$STATE,1669,end apogee,CONTROL_FINISHED_OK
$STATE,1670,begin climb
$GC,1671,1.63,122.2,101.4,0.0,155,1775,1.98,2.62,95.12,0.653,4,0.051,0.058,3439,3326,2718
$GC,1806,1.63,122.2,90.9,10.5,165,1814,0.00,2.53,0.00,0.000,6,0.000,0.041,3440,1936,2717
$GC,2002,1.63,122.2,69.9,10.9,181,2007,0.00,2.72,0.00,0.000,4,0.000,0.077,3439,529,2716
$GC,2135,1.63,122.2,54.2,11.7,191,2139,0.00,2.47,0.00,0.000,6,0.000,0.035,3439,1930,2716
$GC,2330,1.63,122.2,33.3,10.5,206,2334,0.00,2.67,0.00,0.000,4,0.000,0.071,3439,524,2716
$GC,2395,1.63,122.2,26.1,11.3,211,2400,0.00,2.50,0.00,0.000,6,0.000,0.035,3440,1929,2715
$GC,2598,1.65,138.3,5.5,8.7,237,2605,0.00,0.00,5.78,0.680,2,0.000,0.000,3439,1929,2684
$STATE,2606,end climb,SURFACE_DEPTH_REACHED
$STATE,2606,begin surface coast
$FINISH,1.2,1.020523
$STATE,2664,end surface coast,CONTROL_FINISHED_OK
$STATE,2664,begin surface
$SM_CCo,2690,115.72,0.582,0,0,1586,400.08
$SM_GC,1.08,0.00,0.00,115.72,0.000,0.000,0.582,462,2002,1586,-12.04,0.34,400.08
$IRIDIUM_FIX,4722.92,-12256.21,270907,111156
$TT8_MAMPS,0.069797
$HUMID,2053
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,60.5,61.4
$24V_AH,23.8,11.638
$10V_AH,10.1,33.746
$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,31.950,31.050,198.975,115.725,0.000,38.344,40.372,136.095,1.000,4.150,3250.850,11.888,470.727,1483.107,412.351,480.490,297.089,33.329,690.230,0.000,455.255,0.000,9.996
$DEVICE_MAMPS,213.226,77.467,680.329,582.153,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,165.792,0.000,0.000,0.000,0.000,0.000,0.000,3255.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6442,247
$CFSIZE,260034560,254988288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270907,091839,4739.375,-12252.672,10,1.6,10,18.3