version: 66.02
glider: 106
mission: 7
dive: 150
start: 9 30 107 11 58 4
data:
$ID,106
$MISSION,7
$DIVE,150
$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,-46290.742
$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,23
$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
$GPS1,114435,4739.487,-12252.424,13,3.2,32,18.3
$_CALLS,3
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-57.0
$GPS2,115656,4739.650,-12252.268,11,1.1,16,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.082,-0.143
$KALMAN_X,4301.5,294.4,68.5,-4749.0,-27.3
$KALMAN_Y,6775.8,532.8,114.7,-7637.5,-96.1
$MHEAD_RNG_PITCHd_Wd,191.5,379,-27.8,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-2.21,-58.7,0.0,0.0,0,106,0.00,0.00,-79.20,0.000,2,0.000,0.000,462,1815,3298
$GC,108,-2.26,-100.7,2.2,-5.0,13,140,13.80,2.50,-10.77,0.000,4,0.212,0.061,2604,3194,3630
$GC,212,-2.29,-122.2,8.1,-6.1,29,219,0.00,2.47,-1.92,0.000,6,0.000,0.037,2604,1793,3718
$GC,286,-2.29,-122.2,14.6,-9.5,40,292,0.00,2.62,0.00,0.000,4,0.000,0.072,2604,398,3720
$GC,311,-2.29,-122.2,17.2,-9.6,44,318,0.00,2.45,0.00,0.000,6,0.000,0.035,2604,1808,3720
$GC,382,-2.29,-122.2,23.1,-8.0,52,386,0.00,2.67,0.00,0.000,4,0.000,0.071,2604,394,3721
$GC,420,-2.29,-122.2,26.3,-8.2,54,427,0.00,2.47,0.00,0.000,6,0.000,0.034,2604,1797,3721
$GC,616,-2.29,-122.2,41.7,-8.0,70,621,0.00,2.67,0.00,0.000,4,0.000,0.073,2604,391,3721
$GC,729,-2.29,-122.2,50.7,-8.1,78,734,0.00,2.45,0.00,0.000,6,0.000,0.035,2604,1802,3722
$GC,924,-2.29,-122.2,66.7,-8.5,93,926,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1802,3721
$GC,1115,-2.29,-122.2,82.8,-8.9,108,1116,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1802,3721
$GC,1304,-2.29,-122.2,98.8,-7.6,123,1309,0.00,2.65,0.00,0.000,4,0.000,0.071,2604,400,3721
$STATE,1321,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1321,begin apogee
$GC,1328,-0.38,0.0,100.5,8.3,124,1433,2.08,0.00,98.07,0.680,6,0.116,0.000,3009,1747,3217
$STATE,1433,end apogee,CONTROL_FINISHED_OK
$STATE,1434,begin climb
$GC,1436,2.29,122.2,101.7,0.0,133,1541,2.65,0.00,95.28,0.651,6,0.048,0.000,3600,1748,2718
$GC,1729,2.29,122.2,57.1,17.6,157,1734,0.00,2.72,0.00,0.000,4,0.000,0.076,3600,327,2716
$GC,1907,2.29,122.2,25.0,17.0,170,1911,0.00,2.47,0.00,0.000,6,0.000,0.034,3600,1742,2716
$STATE,2036,end climb,SURFACE_DEPTH_REACHED
$STATE,2036,begin surface coast
$FINISH,0.2,1.018491
$STATE,2064,end surface coast,CONTROL_FINISHED_OK
$STATE,2064,begin surface
$SM_CCo,2090,119.20,0.581,0,0,1587,400.08
$SM_GC,0.84,0.00,0.00,119.20,0.000,0.000,0.581,460,1802,1587,-12.14,0.08,400.08
$IRIDIUM_FIX,4722.92,-12256.21,300907,151533
$TT8_MAMPS,0.06903
$HUMID,2013
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.2,51.4
$24V_AH,23.9,18.078
$10V_AH,10.1,39.375
$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,32.525,30.625,193.350,119.200,0.000,109.166,217.100,170.445,0.500,0.000,3085.000,16.724,370.842,1206.583,424.712,366.731,611.770,33.325,644.861,0.000,338.618,0.000,5.483
$DEVICE_MAMPS,211.692,83.603,679.562,580.619,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,127.310,0.000,0.000,0.000,0.000,0.000,0.000,3085.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6457,191
$CFSIZE,260034560,252473344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300907,123539,4739.516,-12252.473,11,1.9,11,18.3