version: 66.02
glider: 106
mission: 7
dive: 12
start: 9 25 107 7 13 43
data:
$ID,106
$MISSION,7
$DIVE,12
$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,-43306.363
$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,16
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,23
$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
$GPS1,070747,4739.470,-12253.114,14,3.2,33,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-63.9
$GPS2,071237,4739.451,-12253.108,17,1.5,33,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H4
$TGT_LATLONG,4739.000,-12253.603
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.128,-0.198
$KALMAN_X,604.3,130.6,136.0,-1998.7,-34.7
$KALMAN_Y,1370.8,318.7,160.7,-2425.5,4.7
$MHEAD_RNG_PITCHd_Wd,194.6,1038,-19.2,-9.524
$D_GRID,118
$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,-1.63,-122.2,0.0,0.0,0,85,0.00,0.00,-61.95,0.000,2,0.000,0.000,461,1981,2991
$GC,87,-1.63,-122.2,2.3,-4.0,10,137,14.15,2.62,-27.12,0.000,4,0.197,0.070,2723,3401,3718
$GC,314,-1.63,-122.2,17.0,-7.3,45,321,0.00,2.55,0.00,0.000,6,0.000,0.042,2722,1993,3719
$GC,392,-1.63,-122.2,21.4,-5.9,55,396,0.00,2.65,0.00,0.000,4,0.000,0.071,2723,590,3720
$GC,476,-1.63,-122.2,27.0,-7.0,61,484,0.00,2.53,0.00,0.000,6,0.000,0.038,2723,1994,3721
$GC,672,-1.63,-122.2,39.6,-6.5,77,673,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1995,3721
$GC,862,-1.63,-122.2,52.6,-6.6,92,866,0.00,2.67,0.00,0.000,4,0.000,0.069,2723,587,3723
$GC,999,-1.63,-122.2,63.0,-7.6,102,1007,0.00,2.50,0.00,0.000,6,0.000,0.038,2723,1990,3722
$GC,1197,-1.63,-122.2,76.7,-6.5,118,1198,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1990,3722
$GC,1385,-1.63,-122.2,89.1,-6.1,133,1390,0.00,2.65,0.00,0.000,4,0.000,0.070,2723,588,3722
$GC,1417,-1.63,-122.2,91.3,-6.9,135,1422,0.00,2.47,0.00,0.000,6,0.000,0.039,2723,1991,3722
$STATE,1567,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1567,begin apogee
$GC,1571,-0.38,0.0,100.6,6.1,147,1677,1.35,0.00,97.65,0.683,6,0.093,0.000,2994,1991,3218
$STATE,1678,end apogee,CONTROL_FINISHED_OK
$STATE,1678,begin climb
$GC,1680,1.63,122.2,100.8,0.0,156,1786,2.00,2.75,95.05,0.660,4,0.048,0.071,3436,585,2717
$GC,1811,1.63,122.2,89.5,11.3,167,1816,0.00,2.53,0.00,0.000,6,0.000,0.039,3437,1979,2717
$GC,2013,1.63,122.2,68.1,10.2,183,2014,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,1979,2716
$GC,2205,1.63,122.2,49.6,10.1,198,2209,0.00,2.65,0.00,0.000,4,0.000,0.071,3436,579,2716
$GC,2395,1.63,122.2,27.6,11.4,212,2399,0.00,2.50,0.00,0.000,6,0.000,0.038,3436,1977,2717
$GC,2596,1.64,130.1,8.0,9.1,237,2610,0.00,2.70,5.55,0.700,4,0.000,0.071,3436,578,2687
$STATE,2634,end climb,SURFACE_DEPTH_REACHED
$STATE,2634,begin surface coast
$FINISH,3.2,1.021492
$STATE,2655,end surface coast,CONTROL_FINISHED_OK
$STATE,2655,begin surface
$SM_CCo,2682,117.07,0.593,0,0,1586,400.08
$SM_GC,1.11,0.00,0.00,117.07,0.000,0.000,0.593,461,1995,1586,-12.05,0.14,400.08
$IRIDIUM_FIX,4722.92,-12200.32,250907,101037
$TT8_MAMPS,0.070564
$HUMID,2021
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.1,50.8
$24V_AH,23.7,6.802
$10V_AH,10.1,30.052
$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,31.550,36.325,198.250,117.075,0.000,41.365,32.541,109.039,0.500,24.930,3195.070,33.735,466.923,1494.039,436.489,477.284,243.821,33.322,702.495,0.000,434.883,0.000,5.480
$DEVICE_MAMPS,197.119,70.564,700.271,592.891,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,164.872,0.000,0.000,0.000,0.000,0.000,0.000,3220.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6435,246
$CFSIZE,260034560,256757760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,250907,080102,4739.120,-12253.396,8,1.9,8,18.3