version: 66.02
glider: 106
mission: 7
dive: 166
start: 10 1 107 1 48 42
data:
$ID,106
$MISSION,7
$DIVE,166
$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,-46638.031
$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,29
$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
$GPS1,014147,4739.535,-12252.428,12,3.8,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-63.4
$GPS2,014735,4739.585,-12252.344,16,5.5,35,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.031,-0.162
$KALMAN_X,6320.0,241.5,-4.1,-6738.6,-36.8
$KALMAN_Y,9551.7,249.4,41.1,-10174.1,-60.4
$MHEAD_RNG_PITCHd_Wd,172.6,231,-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,-79.10,0.000,2,0.000,0.000,462,1807,3332
$GC,108,-2.27,-110.4,2.2,-3.9,13,140,13.77,2.53,-10.57,0.000,4,0.212,0.059,2597,3201,3670
$GC,225,-2.28,-119.0,11.3,-8.6,31,233,0.00,2.47,-0.65,0.000,6,0.000,0.037,2598,1802,3706
$GC,299,-2.28,-119.0,18.8,-10.1,42,305,0.00,2.65,0.00,0.000,4,0.000,0.073,2598,400,3707
$GC,555,-2.29,-121.7,41.8,-9.2,63,562,0.00,2.47,0.00,0.000,6,0.000,0.034,2598,1804,3709
$GC,752,-2.29,-122.2,57.8,-8.1,79,753,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,1807,3708
$GC,944,-2.29,-122.2,73.0,-8.3,94,948,0.00,2.65,0.00,0.000,4,0.000,0.070,2598,400,3708
$GC,1021,-2.29,-122.2,80.0,-8.9,99,1028,0.00,2.47,0.00,0.000,6,0.000,0.034,2598,1802,3708
$GC,1218,-2.29,-122.2,96.6,-8.0,115,1222,0.00,2.50,0.00,0.000,4,0.000,0.049,2598,3197,3708
$STATE,1261,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1261,begin apogee
$GC,1269,-0.38,0.0,100.3,8.3,118,1372,2.12,0.00,95.80,0.682,6,0.122,0.000,3009,1734,3217
$STATE,1373,end apogee,CONTROL_FINISHED_OK
$STATE,1373,begin climb
$GC,1376,2.29,122.2,100.7,0.0,127,1481,2.62,2.78,95.07,0.650,4,0.052,0.076,3608,335,2719
$GC,1526,2.29,122.2,79.3,19.1,138,1533,0.00,2.50,0.00,0.000,6,0.000,0.034,3608,1731,2717
$GC,1722,2.29,122.2,43.6,18.5,154,1727,0.00,2.70,0.00,0.000,4,0.000,0.074,3608,328,2716
$GC,1822,2.29,122.2,24.4,18.8,161,1827,0.00,2.47,0.00,0.000,6,0.000,0.033,3608,1737,2716
$STATE,1944,end climb,SURFACE_DEPTH_REACHED
$STATE,1944,begin surface coast
$FINISH,0.2,1.020376
$STATE,1978,end surface coast,CONTROL_FINISHED_OK
$STATE,1978,begin surface
$SM_CCo,2006,119.28,0.577,0,0,1586,400.08
$SM_GC,0.93,0.00,0.00,119.28,0.000,0.000,0.577,462,1806,1586,-12.13,0.17,400.08
$IRIDIUM_FIX,4722.92,-12251.79,011007,040436
$TT8_MAMPS,0.071331
$HUMID,2008
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.7,51.9
$24V_AH,23.9,19.290
$10V_AH,10.1,40.414
$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,32.725,30.925,190.875,119.275,0.000,39.470,36.585,130.661,0.500,0.000,2604.000,36.200,358.384,1012.902,411.836,403.353,315.321,33.331,644.476,0.000,355.664,0.000,5.484
$DEVICE_MAMPS,212.459,75.933,681.863,576.784,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,121.250,0.000,0.000,0.000,0.000,0.000,0.000,2604.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3310,182
$CFSIZE,260034560,251998208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011007,022451,4739.442,-12252.314,9,1.5,9,18.3