version: 66.02
glider: 106
mission: 7
dive: 167
start: 10 1 107 2 31 29
data:
$ID,106
$MISSION,7
$DIVE,167
$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,-46651.555
$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,23
$R_STBD_OVSHOOT,33
$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
$GPS1,022451,4739.442,-12252.314,9,1.5,9,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-59.4
$GPS2,023021,4739.494,-12252.211,12,1.5,12,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.159,-0.046
$KALMAN_X,6559.5,224.7,-39.6,-6760.2,63.7
$KALMAN_Y,9761.0,218.5,-4.0,-10476.4,38.9
$MHEAD_RNG_PITCHd_Wd,235.6,243,-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,-58.7,0.0,0.0,0,100,0.00,0.00,-73.15,0.000,2,0.000,0.000,462,1809,3207
$GC,102,-2.28,-114.5,2.1,-3.5,12,139,13.85,0.00,-16.50,0.000,6,0.213,0.000,2600,1809,3686
$GC,205,-2.29,-122.2,7.9,-6.4,28,211,0.00,0.00,-0.68,0.000,6,0.000,0.000,2600,1809,3719
$GC,276,-2.29,-122.2,13.6,-8.9,39,283,0.00,2.67,0.00,0.000,4,0.000,0.070,2600,392,3719
$GC,421,-2.29,-122.2,26.6,-9.6,56,425,0.00,2.47,0.00,0.000,6,0.000,0.034,2600,1810,3720
$GC,623,-2.29,-122.2,44.1,-8.9,72,624,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1811,3720
$GC,813,-2.29,-122.2,61.1,-8.9,87,817,0.00,2.67,0.00,0.000,4,0.000,0.069,2600,394,3720
$GC,911,-2.29,-122.2,70.4,-9.5,94,915,0.00,2.45,0.00,0.000,6,0.000,0.034,2600,1801,3720
$GC,1107,-2.29,-122.2,87.9,-9.3,109,1111,0.00,2.50,0.00,0.000,4,0.000,0.050,2601,3195,3720
$GC,1180,-2.29,-122.2,94.9,-10.0,114,1184,0.00,2.47,0.00,0.000,6,0.000,0.037,2601,1791,3720
$STATE,1234,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1234,begin apogee
$GC,1240,-0.38,0.0,100.3,9.2,118,1345,2.12,0.00,97.95,0.678,6,0.118,0.000,3010,1728,3217
$STATE,1346,end apogee,CONTROL_FINISHED_OK
$STATE,1346,begin climb
$GC,1348,2.29,122.2,102.5,0.0,127,1453,2.62,2.75,94.97,0.652,4,0.051,0.075,3610,342,2718
$GC,1493,2.29,122.2,85.4,17.4,138,1497,0.00,2.45,0.00,0.000,6,0.000,0.034,3610,1732,2717
$GC,1695,2.29,122.2,49.4,17.9,154,1700,0.00,2.67,0.00,0.000,4,0.000,0.074,3610,343,2716
$GC,1741,2.29,122.2,40.9,18.4,157,1745,0.00,2.45,0.00,0.000,6,0.000,0.034,3610,1737,2716
$GC,1940,2.29,122.2,8.1,14.1,178,1946,0.00,2.67,0.00,0.000,4,0.000,0.074,3610,343,2716
$STATE,1957,end climb,SURFACE_DEPTH_REACHED
$STATE,1957,begin surface coast
$FINISH,0.6,1.020670
$STATE,1985,end surface coast,CONTROL_FINISHED_OK
$STATE,1985,begin surface
$SM_CCo,2015,122.65,0.578,0,0,1587,400.08
$SM_GC,0.79,0.00,0.00,122.65,0.000,0.000,0.578,462,1819,1587,-12.13,0.54,400.08
$IRIDIUM_FIX,4722.92,-12247.38,011007,050548
$TT8_MAMPS,0.069797
$HUMID,1998
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.1,52.3
$24V_AH,23.9,19.362
$10V_AH,10.1,40.469
$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,32.950,30.975,192.925,122.650,0.000,38.428,35.960,139.496,0.500,0.000,2572.000,12.899,365.791,1026.941,416.604,363.361,325.894,33.333,642.605,0.000,338.903,0.000,5.486
$DEVICE_MAMPS,213.226,83.603,678.028,578.318,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,123.407,0.000,0.000,0.000,0.000,0.000,0.000,2572.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3315,185
$CFSIZE,260034560,251969536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011007,030751,4739.509,-12252.385,10,1.2,10,18.3