version: 66.02
glider: 106
mission: 7
dive: 174
start: 10 1 107 8 37 10
data:
$ID,106
$MISSION,7
$DIVE,174
$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,-46840.723
$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,32
$R_STBD_OVSHOOT,39
$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
$GPS1,083027,4739.487,-12252.397,14,1.6,14,18.3
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-61.0
$GPS2,083603,4739.521,-12252.313,16,1.6,16,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.225,-0.071
$KALMAN_X,7942.0,289.4,167.1,-8539.0,89.1
$KALMAN_Y,11429.1,317.6,185.7,-12380.6,115.3
$MHEAD_RNG_PITCHd_Wd,234.1,1113,-19.2,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,26,-1.63,-122.2,0.0,0.0,0,94,0.00,0.00,-65.68,0.000,2,0.000,0.000,462,1816,3023
$GC,97,-1.63,-122.2,2.1,-4.5,11,140,14.30,0.00,-25.73,0.000,6,0.201,0.000,2743,1817,3718
$GC,206,-1.63,-122.2,6.5,-5.8,28,212,0.00,2.67,0.00,0.000,4,0.000,0.071,2743,403,3721
$GC,285,-1.63,-122.2,10.7,-5.7,40,291,0.00,2.42,0.00,0.000,6,0.000,0.035,2743,1805,3721
$GC,357,-1.63,-122.2,14.2,-4.8,51,363,0.00,2.47,0.00,0.000,4,0.000,0.049,2743,3188,3721
$GC,613,-1.63,-122.2,29.3,-6.5,78,620,0.00,2.45,0.00,0.000,6,0.000,0.037,2743,1810,3721
$GC,810,-1.63,-122.2,42.1,-6.0,94,814,0.00,2.47,0.00,0.000,4,0.000,0.048,2743,3186,3721
$GC,969,-1.63,-122.2,52.5,-6.3,105,976,0.00,2.47,0.00,0.000,6,0.000,0.036,2743,1797,3721
$GC,1166,-1.63,-122.2,64.0,-5.8,121,1167,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,1797,3721
$GC,1356,-1.63,-122.2,75.9,-6.5,136,1360,0.00,2.50,0.00,0.000,4,0.000,0.048,2743,3191,3721
$GC,1407,-1.63,-122.2,79.5,-6.6,139,1414,0.00,2.47,0.00,0.000,6,0.000,0.036,2743,1800,3721
$GC,1604,-1.63,-122.2,92.0,-6.1,155,1605,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,1800,3722
$STATE,1740,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1740,begin apogee
$GC,1746,-0.38,0.0,100.3,6.0,166,1851,1.35,0.00,98.30,0.680,6,0.104,0.000,3011,1725,3217
$STATE,1852,end apogee,CONTROL_FINISHED_OK
$STATE,1852,begin climb
$GC,1854,1.63,122.2,101.7,0.0,175,1955,2.00,0.00,95.45,0.650,6,0.058,0.000,3455,1725,2718
$GC,2141,1.63,122.2,73.6,11.5,198,2142,0.00,0.00,0.00,0.000,6,0.000,0.000,3455,1725,2716
$GC,2331,1.63,122.2,52.0,11.5,213,2332,0.00,0.00,0.00,0.000,6,0.000,0.000,3455,1725,2716
$GC,2520,1.63,122.2,30.2,11.5,228,2524,0.00,2.65,0.00,0.000,4,0.000,0.081,3455,341,2715
$GC,2538,1.63,122.2,27.9,11.5,229,2543,0.00,2.42,0.00,0.000,6,0.000,0.035,3454,1728,2716
$GC,2740,1.63,122.2,7.0,10.2,254,2747,0.00,2.53,0.00,0.000,4,0.000,0.051,3455,3130,2715
$STATE,2757,end climb,SURFACE_DEPTH_REACHED
$STATE,2757,begin surface coast
$FINISH,0.2,1.021544
$STATE,2806,end surface coast,CONTROL_FINISHED_OK
$STATE,2806,begin surface
$SM_CCo,2834,119.20,0.581,0,0,1586,400.08
$SM_GC,0.89,0.00,0.00,119.20,0.000,0.000,0.581,460,1803,1586,-12.14,0.08,400.08
$IRIDIUM_FIX,4719.74,-12235.86,011007,111104
$TT8_MAMPS,0.072865
$HUMID,2024
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.3,51.3
$24V_AH,23.9,19.905
$10V_AH,10.1,40.946
$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,30.975,30.100,193.750,119.200,0.000,37.293,32.165,147.831,0.500,0.000,3403.000,17.354,490.211,1580.578,419.387,488.167,341.051,33.338,699.167,0.000,456.328,0.000,6.865
$DEVICE_MAMPS,200.954,80.535,679.562,580.619,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,177.174,0.000,0.000,0.000,0.000,0.000,0.000,3403.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6463,264
$CFSIZE,260034560,251744256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011007,092728,4739.505,-12252.650,10,2.3,29,18.3