version: 66.02
glider: 106
mission: 7
dive: 169
start: 10 1 107 4 18 54
data:
$ID,106
$MISSION,7
$DIVE,169
$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,-46719.453
$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,28
$R_STBD_OVSHOOT,36
$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
$GPS1,041155,4739.521,-12252.406,36,1.3,46,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-60.8
$GPS2,041747,4739.575,-12252.315,14,3.3,33,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.110,-0.149
$KALMAN_X,7033.3,220.8,-13.5,-7383.1,125.6
$KALMAN_Y,10309.6,210.5,8.6,-10878.7,115.2
$MHEAD_RNG_PITCHd_Wd,198.2,228,-24.9,-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,-2.00,-73.3,0.0,0.0,0,99,0.00,0.00,-73.00,0.000,2,0.000,0.000,462,1822,3182
$GC,102,-2.06,-122.2,2.1,-4.6,12,140,13.90,2.47,-17.52,0.000,4,0.206,0.059,2648,3194,3717
$GC,194,-2.06,-122.2,7.7,-6.3,26,201,0.00,2.47,0.00,0.000,6,0.000,0.036,2648,1795,3720
$GC,266,-2.06,-122.2,13.3,-7.8,37,273,0.00,2.65,0.00,0.000,4,0.000,0.072,2648,393,3720
$GC,438,-2.06,-122.2,27.1,-8.7,57,442,0.00,2.45,0.00,0.000,6,0.000,0.035,2648,1805,3721
$GC,639,-2.06,-122.2,43.7,-8.2,73,641,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,1805,3720
$GC,829,-2.06,-122.2,59.6,-8.1,88,830,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,1807,3720
$GC,1021,-2.06,-122.2,75.0,-8.6,103,1022,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,1808,3721
$GC,1209,-2.06,-122.2,91.2,-8.5,118,1210,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,1808,3720
$STATE,1319,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1319,begin apogee
$GC,1324,-0.38,0.0,100.4,8.2,127,1430,1.88,0.00,98.12,0.683,6,0.115,0.000,3013,1723,3217
$STATE,1431,end apogee,CONTROL_FINISHED_OK
$STATE,1431,begin climb
$GC,1433,2.06,122.2,102.2,0.0,136,1538,2.45,0.00,95.38,0.655,6,0.050,0.000,3557,1723,2718
$GC,1727,2.06,122.2,66.8,14.4,160,1731,0.00,2.67,0.00,0.000,4,0.000,0.079,3557,336,2717
$GC,1786,2.06,122.2,57.2,16.4,164,1790,0.00,2.45,0.00,0.000,6,0.000,0.035,3556,1730,2716
$GC,1987,2.06,122.2,27.2,14.2,180,1989,0.00,0.00,0.00,0.000,6,0.000,0.000,3557,1730,2716
$STATE,2148,end climb,SURFACE_DEPTH_REACHED
$STATE,2148,begin surface coast
$FINISH,0.2,1.017167
$STATE,2182,end surface coast,CONTROL_FINISHED_OK
$STATE,2182,begin surface
$SM_CCo,2210,121.45,0.581,0,0,1586,400.08
$SM_GC,0.69,0.00,0.00,121.45,0.000,0.000,0.581,464,1811,1586,-12.13,0.31,400.08
$IRIDIUM_FIX,4722.92,-12251.79,011007,070713
$TT8_MAMPS,0.072098
$HUMID,2019
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.0,51.2
$24V_AH,23.8,19.516
$10V_AH,10.1,40.607
$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,32.200,15.425,193.500,121.450,0.000,39.331,39.722,132.587,0.500,0.000,2829.000,34.769,385.268,1211.615,413.804,378.379,323.338,33.332,625.368,0.000,333.727,0.000,5.483
$DEVICE_MAMPS,206.323,79.001,682.630,581.386,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,137.101,0.000,0.000,0.000,0.000,0.000,0.000,2829.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6447,205
$CFSIZE,260034560,251904000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011007,045853,4739.508,-12252.374,13,2.9,32,18.3