version: 66.02
glider: 106
mission: 7
dive: 156
start: 9 30 107 17 0 14
data:
$ID,106
$MISSION,7
$DIVE,156
$D_SURF,5
$D_FLARE,2
$D_TGT,50
$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,15
$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,-46430.898
$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,27
$R_STBD_OVSHOOT,43
$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
$GPS1,165227,4739.512,-12252.343,13,2.0,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-56.3
$GPS2,165908,4739.581,-12252.195,40,1.5,40,18.3
$SPEED_LIMITS,0.192,0.247
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.194,-0.153
$KALMAN_X,4943.1,215.6,2.9,-5156.6,24.1
$KALMAN_Y,7990.8,390.4,41.8,-8764.4,15.3
$MHEAD_RNG_PITCHd_Wd,213.4,333,-21.8,-11.111
$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,-1.83,-122.2,0.0,0.0,0,105,0.00,0.00,-79.10,0.000,2,0.000,0.000,461,1811,3288
$GC,108,-1.83,-122.2,2.2,-5.0,13,145,14.98,2.70,-13.70,0.000,4,0.225,0.084,2696,395,3720
$GC,158,-1.83,-122.2,5.3,-6.3,21,165,0.00,2.45,0.00,0.000,6,0.000,0.035,2696,1801,3721
$GC,230,-1.83,-122.2,9.8,-5.2,32,237,0.00,2.50,0.00,0.000,4,0.000,0.049,2696,3195,3721
$GC,302,-1.83,-122.2,13.2,-5.6,43,309,0.00,2.47,0.00,0.000,6,0.000,0.038,2696,1797,3721
$GC,375,-1.83,-122.2,17.4,-5.8,54,381,0.00,2.65,0.00,0.000,4,0.000,0.074,2697,395,3722
$GC,466,-1.83,-122.2,23.8,-7.2,65,471,0.00,2.45,0.00,0.000,6,0.000,0.035,2696,1802,3722
$GC,662,-1.83,-122.2,36.8,-6.5,80,666,0.00,2.67,0.00,0.000,4,0.000,0.073,2696,393,3722
$GC,739,-1.83,-122.2,42.3,-6.9,85,746,0.00,2.47,0.00,0.000,6,0.000,0.034,2696,1801,3722
$STATE,858,end dive,TARGET_DEPTH_EXCEEDED
$STATE,858,begin apogee
$GC,863,-0.38,0.0,50.1,6.4,95,969,1.62,0.00,98.03,0.641,6,0.114,0.000,3012,1720,3217
$STATE,970,end apogee,CONTROL_FINISHED_OK
$STATE,970,begin climb
$GC,972,1.83,122.2,50.2,0.0,104,1072,2.25,0.00,94.88,0.613,6,0.057,0.000,3502,1720,2719
$GC,1255,1.83,122.2,18.1,12.6,128,1262,0.00,2.65,0.00,0.000,4,0.000,0.079,3502,341,2717
$GC,1341,1.83,122.2,6.6,14.7,141,1348,0.00,2.45,0.00,0.000,6,0.000,0.035,3502,1731,2716
$STATE,1352,end climb,SURFACE_DEPTH_REACHED
$STATE,1352,begin surface coast
$FINISH,0.4,1.021793
$STATE,1386,end surface coast,CONTROL_FINISHED_OK
$STATE,1386,begin surface
$SM_CCo,1413,119.03,0.570,0,0,1586,400.08
$SM_GC,0.80,0.00,0.00,119.03,0.000,0.000,0.570,461,1816,1586,-12.14,0.45,400.08
$IRIDIUM_FIX,4722.92,-12251.79,300907,202025
$TT8_MAMPS,0.069797
$HUMID,1991
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,25.9,26.3
$24V_AH,23.9,18.539
$10V_AH,10.1,39.743
$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,32.525,25.725,192.900,119.025,0.000,41.277,49.803,163.025,0.250,0.000,2050.000,40.435,283.308,600.715,427.040,296.383,355.481,33.329,604.746,0.000,248.433,0.000,2.477
$DEVICE_MAMPS,224.731,83.603,641.212,569.881,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,97.690,0.000,0.000,0.000,0.000,0.000,0.000,2050.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3303,148
$CFSIZE,260034560,252309504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300907,172633,4739.589,-12252.167,13,1.2,13,18.3