version: 66.02
glider: 106
mission: 7
dive: 171
start: 10 1 107 6 7 53
data:
$ID,106
$MISSION,7
$DIVE,171
$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,-46771.238
$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,22
$R_STBD_OVSHOOT,39
$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
$GPS1,060108,4739.550,-12252.338,10,1.7,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-61.5
$GPS2,060645,4739.587,-12252.286,14,1.9,14,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.122,-0.167
$KALMAN_X,7452.1,256.7,79.1,-7894.0,114.1
$KALMAN_Y,10818.3,254.1,88.7,-11488.6,132.0
$MHEAD_RNG_PITCHd_Wd,197.7,266,-22.1,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.82,-92.4,0.0,0.0,0,94,0.00,0.00,-67.15,0.000,2,0.000,0.000,465,1815,3039
$GC,97,-1.85,-122.2,2.0,-4.5,11,147,14.18,2.50,-27.15,0.000,4,0.207,0.061,2691,3195,3718
$GC,186,-1.85,-122.2,5.2,-6.1,25,192,0.00,2.47,0.00,0.000,6,0.000,0.036,2691,1793,3721
$GC,258,-1.85,-122.2,9.0,-6.0,36,264,0.00,2.62,0.00,0.000,4,0.000,0.073,2691,401,3720
$GC,516,-1.85,-122.2,28.0,-7.2,67,522,0.00,2.42,0.00,0.000,6,0.000,0.034,2691,1801,3721
$GC,711,-1.85,-122.2,41.0,-6.3,83,712,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,1802,3721
$GC,901,-1.85,-122.2,54.2,-7.0,98,902,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,1804,3721
$GC,1091,-1.85,-122.2,66.9,-6.7,113,1092,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,1804,3721
$GC,1280,-1.85,-122.2,79.3,-6.7,128,1284,0.00,2.50,0.00,0.000,4,0.000,0.049,2691,3201,3720
$GC,1339,-1.85,-122.2,83.4,-6.7,132,1344,0.00,2.47,0.00,0.000,6,0.000,0.037,2691,1793,3721
$GC,1535,-1.85,-122.2,96.2,-6.4,147,1536,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,1793,3721
$STATE,1595,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1595,begin apogee
$GC,1601,-0.38,0.0,100.7,7.1,152,1706,1.62,0.00,98.45,0.680,6,0.108,0.000,3012,1731,3216
$STATE,1707,end apogee,CONTROL_FINISHED_OK
$STATE,1707,begin climb
$GC,1710,1.85,122.2,101.9,0.0,161,1816,2.25,2.72,95.32,0.650,4,0.051,0.079,3507,337,2719
$GC,1843,1.85,122.2,89.5,13.4,172,1847,0.00,2.45,0.00,0.000,6,0.000,0.035,3507,1729,2718
$GC,2045,1.85,122.2,62.0,13.5,188,2046,0.00,0.00,0.00,0.000,6,0.000,0.000,3507,1728,2716
$GC,2237,1.85,122.2,35.7,14.0,203,2242,0.00,2.67,0.00,0.000,4,0.000,0.076,3507,334,2716
$GC,2314,1.85,122.2,24.1,13.9,208,2322,0.00,2.47,0.00,0.000,6,0.000,0.034,3507,1736,2716
$STATE,2471,end climb,SURFACE_DEPTH_REACHED
$STATE,2471,begin surface coast
$FINISH,0.2,1.010460
$STATE,2512,end surface coast,CONTROL_FINISHED_OK
$STATE,2512,begin surface
$SM_CCo,2539,119.28,0.579,0,0,1586,400.08
$SM_GC,0.86,0.00,0.00,119.28,0.000,0.000,0.579,459,1811,1586,-12.15,0.31,400.08
$IRIDIUM_FIX,4722.92,-12254.47,011007,090938
$TT8_MAMPS,0.069797
$HUMID,2020
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.7,51.7
$24V_AH,23.9,19.674
$10V_AH,10.1,40.751
$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,31.550,25.525,193.775,119.275,0.000,39.954,46.938,131.029,0.500,0.000,3110.000,14.834,440.389,1399.263,417.713,428.491,338.858,33.330,668.576,0.000,399.887,0.000,5.486
$DEVICE_MAMPS,207.090,85.904,680.329,579.085,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,158.099,0.000,0.000,0.000,0.000,0.000,0.000,3110.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6442,236
$CFSIZE,260034560,251838464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011007,065317,4739.506,-12252.380,11,3.5,30,18.3