version: 66.02
glider: 106
mission: 7
dive: 7
start: 9 25 107 2 56 4
data:
$ID,106
$MISSION,7
$DIVE,7
$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,-43172.613
$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,1980
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,400
$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
$GPS1,025002,4739.074,-12251.948,9,1.5,9,18.3
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-65.2
$GPS2,025457,4739.100,-12251.915,13,1.5,13,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H1
$TGT_LATLONG,4739.000,-12252.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.116,-0.143
$KALMAN_X,340.0,55.6,-2.8,-35.1,138.0
$KALMAN_Y,619.4,205.5,52.7,-2107.0,118.5
$MHEAD_RNG_PITCHd_Wd,200.6,214,-25.0,-9.524
$D_GRID,127
$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,-2.01,-72.6,0.0,0.0,0,67,0.00,0.00,-44.00,0.000,2,0.000,0.000,462,1983,2598
$GC,69,-2.07,-122.2,2.2,-3.7,7,131,13.80,2.70,-42.10,0.000,4,0.203,0.081,2624,582,3719
$GC,170,-2.07,-122.2,5.3,-4.9,23,177,0.00,2.55,0.00,0.000,6,0.000,0.039,2624,1994,3725
$GC,242,-2.07,-122.2,10.2,-8.1,34,249,0.00,2.58,0.00,0.000,4,0.000,0.058,2624,3396,3725
$GC,418,-2.07,-122.2,25.9,-9.5,56,426,0.00,2.58,0.00,0.000,6,0.000,0.043,2624,1986,3729
$GC,616,-2.07,-122.2,44.2,-9.6,72,620,0.00,2.65,0.00,0.000,4,0.000,0.072,2624,587,3728
$GC,700,-2.07,-122.2,52.7,-10.1,78,705,0.00,2.53,0.00,0.000,6,0.000,0.039,2625,1990,3731
$GC,902,-2.07,-122.2,72.5,-9.9,94,903,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,1990,3729
$GC,1092,-2.07,-122.2,92.2,-10.3,109,1096,0.00,2.65,0.00,0.000,4,0.000,0.071,2624,584,3731
$GC,1157,-2.07,-122.2,99.1,-11.1,114,1162,0.00,2.53,0.00,0.000,6,0.000,0.040,2624,1983,3731
$STATE,1168,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1168,begin apogee
$GC,1172,-0.38,0.0,100.4,10.4,115,1280,1.90,0.00,99.25,0.682,6,0.109,0.000,2993,1983,3218
$STATE,1280,end apogee,CONTROL_FINISHED_OK
$STATE,1281,begin climb
$GC,1282,2.07,122.2,102.8,0.0,124,1382,2.45,0.00,95.25,0.660,6,0.048,0.000,3536,1982,2718
$GC,1565,2.07,122.2,71.4,13.5,147,1569,0.00,2.70,0.00,0.000,4,0.000,0.072,3536,578,2717
$GC,1701,2.07,122.2,51.1,15.0,157,1710,0.00,2.55,0.00,0.000,6,0.000,0.041,3535,1981,2716
$GC,1899,2.07,122.2,24.4,12.9,173,1904,0.00,2.70,0.00,0.000,4,0.000,0.072,3536,574,2716
$GC,2003,2.07,122.2,10.4,12.8,186,2011,0.00,2.53,0.00,0.000,6,0.000,0.040,3536,1976,2716
$STATE,2054,end climb,SURFACE_DEPTH_REACHED
$STATE,2054,begin surface coast
$FINISH,0.5,1.019522
$STATE,2102,end surface coast,CONTROL_FINISHED_OK
$STATE,2102,begin surface
$SM_CCo,2126,122.28,0.594,0,0,1586,400.08
$SM_GC,1.31,0.00,0.00,122.28,0.000,0.000,0.594,464,1977,1586,-12.03,-0.37,400.08
$IRIDIUM_FIX,4719.74,-12251.79,250907,050538
$TT8_MAMPS,0.069797
$HUMID,2014
$INTERNAL_PRESSURE,8.42806
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.6,51.6
$24V_AH,23.7,6.397
$10V_AH,10.1,29.720
$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,32.150,31.225,194.500,122.275,0.000,39.907,31.910,137.903,0.500,20.750,2629.250,13.181,387.669,1108.750,433.312,377.741,265.966,33.319,659.520,0.000,355.887,0.000,5.485
$DEVICE_MAMPS,203.255,81.302,681.863,594.425,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,134.236,0.000,0.000,0.000,0.000,0.000,0.000,2650.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6439,201
$CFSIZE,260034560,256917504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,250907,033415,4739.049,-12252.032,11,1.1,11,18.3