version: 66.02
glider: 106
mission: 7
dive: 178
start: 10 1 107 12 25 9
data:
$ID,106
$MISSION,7
$DIVE,178
$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,-46916.973
$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,35
$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
$GPS1,121109,4739.424,-12253.125,13,1.8,13,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-58.0
$GPS2,122402,4739.482,-12253.092,9,1.7,14,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.227,0.066
$KALMAN_X,7919.6,217.1,55.7,-9299.0,-128.4
$KALMAN_Y,11457.4,266.0,70.3,-12314.1,-150.1
$MHEAD_RNG_PITCHd_Wd,55.4,862,-19.2,-9.524
$D_GRID,117
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-1.63,-122.2,0.0,0.0,0,114,0.00,0.00,-85.03,0.000,2,0.000,0.000,462,1806,3421
$GC,116,-1.63,-122.2,2.1,-3.9,14,148,14.27,2.53,-10.20,0.000,4,0.202,0.059,2740,3204,3718
$GC,398,-1.63,-122.2,21.5,-6.6,55,405,0.00,2.50,0.00,0.000,6,0.000,0.036,2740,1802,3719
$GC,594,-1.63,-122.2,33.3,-5.7,71,596,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,1801,3720
$GC,785,-1.63,-122.2,44.8,-6.0,86,790,0.00,2.65,0.00,0.000,4,0.000,0.074,2740,394,3720
$GC,818,-1.63,-122.2,46.7,-5.7,88,822,0.00,2.45,0.00,0.000,6,0.000,0.034,2740,1809,3720
$GC,1013,-1.63,-122.2,58.6,-6.7,103,1017,0.00,2.67,0.00,0.000,4,0.000,0.071,2740,394,3720
$GC,1077,-1.63,-122.2,62.9,-6.5,107,1085,0.00,2.45,0.00,0.000,6,0.000,0.033,2740,1797,3720
$GC,1274,-1.63,-122.2,74.5,-5.8,123,1278,0.00,2.50,0.00,0.000,4,0.000,0.048,2740,3198,3720
$GC,1333,-1.63,-122.2,78.1,-5.7,127,1337,0.00,2.45,0.00,0.000,6,0.000,0.037,2741,1798,3720
$GC,1528,-1.63,-122.2,89.3,-5.6,142,1530,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,1798,3720
$STATE,1717,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1717,begin apogee
$GC,1722,-0.38,0.0,100.1,5.5,157,1827,1.38,0.00,98.00,0.683,6,0.102,0.000,3015,1723,3218
$STATE,1828,end apogee,CONTROL_FINISHED_OK
$STATE,1828,begin climb
$GC,1830,1.63,122.2,100.9,0.0,166,1936,1.98,2.75,95.50,0.653,4,0.052,0.077,3458,340,2717
$GC,2028,1.63,122.2,80.5,13.5,181,2032,0.00,2.45,0.00,0.000,6,0.000,0.035,3459,1733,2717
$GC,2223,1.63,122.2,56.3,12.4,196,2225,0.00,0.00,0.00,0.000,6,0.000,0.000,3459,1733,2716
$GC,2415,1.63,122.2,34.2,11.4,211,2420,0.00,2.67,0.00,0.000,4,0.000,0.076,3459,337,2716
$GC,2493,1.63,122.2,24.8,12.2,216,2500,0.00,2.47,0.00,0.000,6,0.000,0.034,3459,1734,2716
$STATE,2681,end climb,SURFACE_DEPTH_REACHED
$STATE,2681,begin surface coast
$FINISH,0.3,1.021644
$STATE,2736,end surface coast,CONTROL_FINISHED_OK
$STATE,2736,begin surface
$SM_CCo,2763,120.03,0.581,0,0,1586,400.08
$SM_GC,0.82,0.00,0.00,120.03,0.000,0.000,0.581,462,1811,1586,-12.13,0.31,400.08
$IRIDIUM_FIX,4722.92,-12253.53,011007,161643
$TT8_MAMPS,0.070564
$HUMID,1998
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.6,51.6
$24V_AH,23.8,20.230
$10V_AH,10.1,41.231
$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,31.175,30.775,193.500,120.025,0.000,124.159,110.347,284.543,0.500,0.000,3770.000,14.988,469.585,1676.375,413.119,468.579,657.507,33.333,686.796,0.000,439.923,0.000,5.483
$DEVICE_MAMPS,201.721,77.467,682.630,581.386,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,167.888,0.000,0.000,0.000,0.000,0.000,0.000,3770.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6434,250
$CFSIZE,260034560,251625472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011007,131417,4739.455,-12252.840,10,2.6,29,18.3