version: 66.02
glider: 106
mission: 7
dive: 89
start: 9 28 107 2 49 41
data:
$ID,106
$MISSION,7
$DIVE,89
$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,-44959.309
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,460
$PITCH_MAX,3783
$C_PITCH,3100
$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,1800
$C_ROLL_CLIMB,1735
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,16
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,36
$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
$GPS1,024333,4739.582,-12252.705,12,1.5,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-63.3
$GPS2,024833,4739.576,-12252.702,15,1.5,15,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.160,-0.136
$KALMAN_X,2058.7,-35.3,-79.9,-2568.5,40.8
$KALMAN_Y,1654.0,-106.2,-87.2,-1808.7,87.5
$MHEAD_RNG_PITCHd_Wd,112.1,426,-21.8,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-1.79,-95.6,0.0,0.0,0,86,0.00,0.00,-61.53,0.000,2,0.000,0.000,462,1812,2959
$GC,89,-1.82,-122.2,2.2,-4.9,10,138,14.90,2.75,-25.62,0.000,4,0.223,0.085,2699,394,3720
$GC,389,-1.82,-122.2,21.8,-6.2,54,393,0.00,2.47,0.00,0.000,6,0.000,0.035,2699,1810,3722
$GC,591,-1.82,-122.2,35.7,-7.3,70,592,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,1810,3722
$GC,781,-1.82,-122.2,49.4,-7.3,85,782,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,1810,3723
$GC,969,-1.82,-122.2,62.3,-6.9,100,974,0.00,2.70,0.00,0.000,4,0.000,0.073,2699,385,3723
$GC,1007,-1.82,-122.2,65.0,-7.4,102,1015,0.00,2.50,0.00,0.000,6,0.000,0.036,2700,1798,3723
$GC,1204,-1.82,-122.2,78.5,-6.9,118,1208,0.00,2.53,0.00,0.000,4,0.000,0.052,2699,3202,3723
$GC,1235,-1.82,-122.2,80.8,-7.1,120,1243,0.00,2.53,0.00,0.000,6,0.000,0.039,2699,1794,3723
$GC,1432,-1.82,-122.2,93.2,-6.5,136,1436,0.00,2.53,0.00,0.000,4,0.000,0.050,2699,3194,3723
$GC,1484,-1.82,-122.2,96.8,-7.0,140,1488,0.00,2.47,0.00,0.000,6,0.000,0.040,2700,1796,3723
$STATE,1534,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1534,begin apogee
$GC,1539,-0.38,0.0,100.2,6.8,144,1644,1.60,0.00,97.72,0.682,6,0.111,0.000,3012,1722,3217
$STATE,1645,end apogee,CONTROL_FINISHED_OK
$STATE,1645,begin climb
$GC,1647,1.82,122.2,101.3,0.0,153,1747,2.22,0.00,95.15,0.649,6,0.051,0.000,3504,1722,2719
$GC,1929,1.82,122.2,69.6,13.2,176,1931,0.00,0.00,0.00,0.000,6,0.000,0.000,3504,1722,2718
$GC,2119,1.82,122.2,45.0,12.9,191,2124,0.00,2.65,0.00,0.000,4,0.000,0.080,3503,340,2717
$GC,2178,1.82,122.2,36.5,14.1,195,2182,0.00,2.45,0.00,0.000,6,0.000,0.036,3503,1731,2717
$GC,2376,1.82,122.2,10.5,13.7,215,2383,0.00,2.67,0.00,0.000,4,0.000,0.077,3504,339,2717
$STATE,2420,end climb,SURFACE_DEPTH_REACHED
$STATE,2420,begin surface coast
$FINISH,3.8,1.020980
$STATE,2434,end surface coast,CONTROL_FINISHED_OK
$STATE,2434,begin surface
$SM_CCo,2463,126.18,0.582,0,0,1585,400.08
$SM_GC,1.04,0.00,0.00,126.18,0.000,0.000,0.582,460,1809,1585,-12.14,0.25,400.08
$IRIDIUM_FIX,4722.92,-12257.95,280907,050550
$TT8_MAMPS,0.070564
$HUMID,2009
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.1,51.1
$24V_AH,23.9,13.313
$10V_AH,10.1,35.115
$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,33.250,31.000,192.875,126.175,0.000,41.255,30.918,122.666,0.500,17.420,2976.580,15.438,424.988,1382.948,429.490,397.882,285.262,33.321,663.531,0.000,371.961,0.000,5.483
$DEVICE_MAMPS,223.197,85.137,681.863,582.153,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,150.032,0.000,0.000,0.000,0.000,0.000,0.000,2994.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6461,224
$CFSIZE,260034560,254361600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280907,033353,4739.522,-12252.306,9,2.2,28,18.3