version: 66.02
glider: 106
mission: 7
dive: 15
start: 9 25 107 9 32 4
data:
$ID,106
$MISSION,7
$DIVE,15
$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,-43352.367
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,460
$PITCH_MAX,3783
$C_PITCH,3080
$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,1990
$C_ROLL_CLIMB,1930
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,16
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,390
$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
$GPS1,092620,4738.997,-12253.553,11,1.2,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-63.2
$GPS2,093057,4738.968,-12253.537,13,1.3,13,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H5
$TGT_LATLONG,4738.532,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.165,-0.169
$KALMAN_X,596.6,99.7,12.9,-2375.1,-63.7
$KALMAN_Y,1028.1,206.3,-0.2,-2704.3,-192.0
$MHEAD_RNG_PITCHd_Wd,117.3,909,-19.2,-9.524
$D_GRID,136
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-1.63,-122.2,0.0,0.0,0,85,0.00,0.00,-61.97,0.000,2,0.000,0.000,463,1997,2967
$GC,87,-1.63,-122.2,2.2,-3.6,10,137,14.12,2.70,-29.45,0.000,4,0.196,0.080,2724,594,3717
$GC,388,-1.63,-122.2,22.0,-7.2,54,392,0.00,2.47,0.00,0.000,6,0.000,0.038,2723,1983,3720
$GC,590,-1.63,-122.2,33.3,-5.9,70,594,0.00,2.62,0.00,0.000,4,0.000,0.068,2723,593,3720
$GC,829,-1.63,-122.2,49.2,-7.7,88,833,0.00,2.55,0.00,0.000,6,0.000,0.038,2723,1997,3721
$GC,1023,-1.63,-122.2,64.9,-7.1,103,1024,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1998,3721
$GC,1215,-1.63,-122.2,78.9,-7.2,118,1216,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1998,3721
$GC,1402,-1.63,-122.2,93.1,-7.6,133,1403,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1998,3721
$STATE,1514,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1514,begin apogee
$GC,1518,-0.38,0.0,100.4,5.8,142,1624,1.33,0.00,97.38,0.683,6,0.092,0.000,2991,1929,3218
$STATE,1625,end apogee,CONTROL_FINISHED_OK
$STATE,1625,begin climb
$GC,1626,1.63,122.2,101.6,0.0,151,1730,1.95,2.65,94.75,0.660,4,0.048,0.061,3436,3330,2718
$GC,1755,1.63,122.7,93.1,9.5,161,1760,0.00,2.55,0.00,0.000,6,0.000,0.044,3436,1935,2717
$GC,1957,1.63,122.7,72.3,10.7,177,1962,0.00,2.75,0.00,0.000,4,0.000,0.078,3436,527,2717
$GC,2081,1.63,122.7,56.8,12.1,186,2089,0.00,2.53,0.00,0.000,6,0.000,0.040,3436,1930,2716
$GC,2277,1.63,122.7,35.1,11.1,202,2282,0.00,2.75,0.00,0.000,4,0.000,0.074,3436,525,2716
$GC,2309,1.63,122.7,31.3,12.0,204,2317,0.00,2.55,0.00,0.000,6,0.000,0.040,3436,1930,2716
$GC,2510,1.64,129.9,10.8,9.2,227,2523,0.00,2.72,5.55,0.691,4,0.000,0.074,3436,522,2688
$STATE,2574,end climb,SURFACE_DEPTH_REACHED
$STATE,2574,begin surface coast
$FINISH,1.3,1.021071
$STATE,2628,end surface coast,CONTROL_FINISHED_OK
$STATE,2628,begin surface
$SM_CCo,2654,117.53,0.595,0,0,1585,400.08
$SM_GC,1.12,0.00,0.00,117.53,0.000,0.000,0.595,461,1993,1585,-12.04,0.11,400.08
$IRIDIUM_FIX,4722.92,-12253.53,250907,121207
$TT8_MAMPS,0.069797
$HUMID,2037
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.8,51.6
$24V_AH,23.6,7.032
$10V_AH,10.1,30.225
$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,31.325,31.625,197.675,117.525,0.000,39.643,36.383,115.834,0.500,33.200,3144.800,13.628,461.215,1486.011,416.857,463.248,253.375,33.326,686.226,0.000,438.620,0.000,5.484
$DEVICE_MAMPS,196.352,79.768,691.067,595.192,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,164.342,0.000,0.000,0.000,0.000,0.000,0.000,3178.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6443,245
$CFSIZE,260034560,256675840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,250907,101920,4738.775,-12253.280,16,1.9,33,18.3