version: 66.02
glider: 106
mission: 7
dive: 14
start: 9 25 107 8 47 52
data:
$ID,106
$MISSION,7
$DIVE,14
$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,-43338.109
$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,1930
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,16
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,390
$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
$GPS1,084235,4738.945,-12253.729,11,2.8,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-63.5
$GPS2,084645,4738.912,-12253.721,14,1.3,14,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H4
$TGT_LATLONG,4739.000,-12253.603
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.105,0.154
$KALMAN_X,548.4,108.7,55.5,-2605.6,-73.9
$KALMAN_Y,1120.4,254.7,71.6,-3020.0,-160.9
$MHEAD_RNG_PITCHd_Wd,16.1,221,-24.7,-9.524
$D_GRID,136
$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,-1.99,-74.3,0.0,0.0,0,85,0.00,0.00,-61.92,0.000,2,0.000,0.000,461,1998,2988
$GC,87,-2.05,-122.2,2.2,-4.3,10,137,13.68,2.65,-27.45,0.000,4,0.200,0.080,2627,593,3718
$GC,307,-2.05,-122.2,19.8,-9.7,44,315,0.00,2.47,0.00,0.000,6,0.000,0.038,2628,1981,3720
$GC,377,-2.05,-122.2,25.5,-8.3,50,381,0.00,2.60,0.00,0.000,4,0.000,0.058,2628,3398,3720
$GC,421,-2.05,-122.2,29.7,-9.1,53,429,0.00,2.53,0.00,0.000,6,0.000,0.041,2628,1988,3720
$GC,617,-2.05,-122.2,47.4,-9.9,69,622,0.00,2.65,0.00,0.000,4,0.000,0.069,2628,591,3721
$GC,710,-2.05,-122.2,56.9,-11.1,76,714,0.00,2.50,0.00,0.000,6,0.000,0.038,2628,1992,3721
$GC,912,-2.05,-122.2,75.8,-9.1,92,913,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,1993,3721
$GC,1102,-2.05,-122.2,91.1,-7.6,107,1106,0.00,2.65,0.00,0.000,4,0.000,0.068,2627,590,3721
$GC,1160,-2.05,-122.2,95.6,-7.7,111,1165,0.00,2.47,0.00,0.000,6,0.000,0.039,2628,1998,3722
$STATE,1222,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1222,begin apogee
$GC,1226,-0.38,0.0,100.3,7.4,116,1333,1.85,0.00,97.57,0.680,6,0.107,0.000,2991,1924,3217
$STATE,1334,end apogee,CONTROL_FINISHED_OK
$STATE,1334,begin climb
$GC,1335,2.05,122.2,100.2,0.0,125,1438,2.38,2.70,94.57,0.656,4,0.047,0.073,3535,537,2718
$GC,1522,2.05,122.2,78.4,15.0,139,1531,0.00,2.53,0.00,0.000,6,0.000,0.038,3535,1927,2718
$GC,1719,2.05,122.2,50.6,14.6,155,1723,0.00,2.67,0.00,0.000,4,0.000,0.071,3535,543,2717
$GC,1798,2.05,122.2,38.8,14.7,161,1802,0.00,2.50,0.00,0.000,6,0.000,0.039,3535,1931,2717
$GC,1995,2.05,122.2,13.2,11.2,180,2003,0.00,2.67,0.00,0.000,4,0.000,0.072,3535,540,2718
$STATE,2060,end climb,SURFACE_DEPTH_REACHED
$STATE,2060,begin surface coast
$FINISH,0.9,1.021045
$STATE,2100,end surface coast,CONTROL_FINISHED_OK
$STATE,2101,begin surface
$SM_CCo,2127,121.57,0.592,0,0,1587,400.08
$SM_GC,1.07,0.00,0.00,121.57,0.000,0.000,0.592,463,1996,1587,-12.04,0.17,400.08
$IRIDIUM_FIX,4722.92,-12256.21,250907,121239
$TT8_MAMPS,0.06903
$HUMID,2021
$INTERNAL_PRESSURE,8.42806
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.6,51.5
$24V_AH,23.7,6.949
$10V_AH,10.1,30.160
$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,31.900,36.350,192.150,121.575,0.000,39.934,31.366,94.793,0.500,16.610,2613.390,14.461,378.760,1122.610,422.774,383.852,222.953,33.321,660.306,0.000,360.157,0.000,5.486
$DEVICE_MAMPS,200.187,79.768,679.562,592.124,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,130.749,0.000,0.000,0.000,0.000,0.000,0.000,2630.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6451,196
$CFSIZE,260034560,256708608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,250907,092620,4738.997,-12253.553,11,1.2,28,18.3