version: 66.02
glider: 106
mission: 7
dive: 149
start: 9 30 107 10 52 41
data:
$ID,106
$MISSION,7
$DIVE,149
$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,-46273.391
$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,19
$R_STBD_OVSHOOT,37
$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
$GPS1,104545,4739.353,-12252.851,12,1.9,12,18.3
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-60.0
$GPS2,105133,4739.418,-12252.757,13,1.8,13,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.220,0.086
$KALMAN_X,4145.0,297.2,106.3,-5241.5,-57.2
$KALMAN_Y,6538.9,531.1,163.5,-7869.5,-99.9
$MHEAD_RNG_PITCHd_Wd,50.3,452,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.63,-122.2,0.0,0.0,0,99,0.00,0.00,-73.20,0.000,2,0.000,0.000,461,1803,3169
$GC,102,-1.63,-122.2,2.0,-4.5,12,146,14.50,2.53,-20.95,0.000,4,0.206,0.061,2742,3194,3718
$GC,397,-1.63,-122.2,14.2,-5.9,57,403,0.00,2.47,0.00,0.000,6,0.000,0.038,2743,1795,3721
$GC,469,-1.63,-122.2,18.3,-6.0,68,475,0.00,2.53,0.00,0.000,4,0.000,0.047,2742,3201,3721
$GC,693,-1.63,-122.2,31.0,-5.4,88,697,0.00,2.47,0.00,0.000,6,0.000,0.038,2742,1795,3721
$GC,888,-1.63,-122.2,41.1,-5.2,103,893,0.00,2.65,0.00,0.000,4,0.000,0.075,2742,393,3721
$GC,980,-1.63,-122.2,46.2,-5.6,109,987,0.00,2.47,0.00,0.000,6,0.000,0.034,2743,1803,3721
$GC,1176,-1.63,-122.2,57.2,-6.0,125,1177,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,1807,3721
$GC,1367,-1.63,-122.2,67.2,-5.1,140,1371,0.00,2.50,0.00,0.000,4,0.000,0.050,2743,3201,3721
$GC,1465,-1.63,-122.2,73.2,-6.3,147,1469,0.00,2.47,0.00,0.000,6,0.000,0.038,2742,1796,3721
$GC,1661,-1.63,-122.2,85.0,-6.0,162,1662,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,1796,3721
$GC,1851,-1.63,-122.2,97.2,-6.8,177,1856,0.00,2.50,0.00,0.000,4,0.000,0.048,2742,3190,3721
$STATE,1887,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1887,begin apogee
$GC,1894,-0.38,0.0,100.2,7.4,179,1997,1.33,0.00,97.72,0.690,6,0.105,0.000,3008,1728,3218
$STATE,1998,end apogee,CONTROL_FINISHED_OK
$STATE,1998,begin climb
$GC,2001,1.63,122.2,102.6,0.0,188,2106,2.08,0.00,95.25,0.660,6,0.057,0.000,3460,1727,2718
$GC,2294,1.63,122.2,77.1,12.4,212,2295,0.00,0.00,0.00,0.000,6,0.000,0.000,3460,1728,2717
$GC,2484,1.63,122.2,48.6,13.7,227,2486,0.00,0.00,0.00,0.000,6,0.000,0.000,3460,1729,2716
$GC,2674,1.63,122.2,26.1,11.1,242,2678,0.00,2.65,0.00,0.000,4,0.000,0.077,3460,336,2717
$GC,2725,1.63,122.2,18.8,14.3,246,2732,0.00,2.45,0.00,0.000,6,0.000,0.035,3460,1737,2716
$GC,2797,1.63,122.2,10.2,11.3,257,2803,0.00,0.00,0.00,0.000,6,0.000,0.000,3460,1741,2715
$STATE,2847,end climb,SURFACE_DEPTH_REACHED
$STATE,2847,begin surface coast
$FINISH,2.2,1.021580
$STATE,2902,end surface coast,CONTROL_FINISHED_OK
$STATE,2902,begin surface
$SM_CCo,2928,119.20,0.585,0,0,1586,400.08
$SM_GC,0.81,0.00,0.00,119.20,0.000,0.000,0.585,462,1815,1586,-12.14,0.42,400.08
$IRIDIUM_FIX,4722.92,-12031.50,300907,131321
$TT8_MAMPS,0.068263
$HUMID,2011
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.7,51.9
$24V_AH,23.8,17.992
$10V_AH,10.1,39.309
$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,32.150,30.425,192.975,119.200,0.000,40.080,38.364,148.615,0.500,0.000,3508.000,13.084,505.009,1641.220,428.332,499.118,351.469,33.331,712.748,0.000,472.675,0.000,5.487
$DEVICE_MAMPS,206.323,77.467,689.533,585.221,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,183.303,0.000,0.000,0.000,0.000,0.000,0.000,3508.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6429,273
$CFSIZE,260034560,252493824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300907,114435,4739.487,-12252.424,13,3.2,32,18.3