version: 66.02
glider: 106
mission: 7
dive: 17
start: 9 25 107 11 6 58
data:
$ID,106
$MISSION,7
$DIVE,17
$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,-43383.781
$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,22
$R_STBD_OVSHOOT,26
$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
$GPS1,110107,4738.569,-12253.121,8,1.2,24,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-63.3
$GPS2,110551,4738.565,-12253.064,14,1.5,14,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H7
$TGT_LATLONG,4739.000,-12252.750
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.087,0.219
$KALMAN_X,769.4,88.0,-57.7,-1877.6,20.3
$KALMAN_Y,1160.4,112.0,-129.1,-3361.0,-46.4
$MHEAD_RNG_PITCHd_Wd,3.4,895,-19.2,-9.524
$D_GRID,137
$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,-122.2,0.0,0.0,0,79,0.00,0.00,-55.95,0.000,2,0.000,0.000,460,1996,2873
$GC,81,-1.63,-122.2,2.0,-3.1,9,137,14.27,2.67,-33.45,0.000,4,0.200,0.081,2723,587,3719
$GC,334,-1.63,-122.2,16.4,-5.5,48,341,0.00,2.50,0.00,0.000,6,0.000,0.038,2723,1990,3721
$GC,406,-1.63,-122.2,20.1,-5.0,59,407,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1990,3721
$GC,596,-1.63,-122.2,33.2,-7.5,74,597,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1990,3722
$GC,785,-1.63,-122.2,46.0,-6.6,89,790,0.00,2.62,0.00,0.000,4,0.000,0.070,2723,588,3722
$GC,876,-1.63,-122.2,53.1,-7.5,95,884,0.00,2.50,0.00,0.000,6,0.000,0.038,2723,1981,3722
$GC,1074,-1.63,-122.2,66.3,-6.5,111,1079,0.00,2.65,0.00,0.000,4,0.000,0.069,2723,581,3722
$GC,1124,-1.63,-122.2,70.0,-6.9,114,1132,0.00,2.50,0.00,0.000,6,0.000,0.038,2723,1986,3723
$GC,1321,-1.63,-122.2,82.8,-6.6,130,1325,0.00,2.65,0.00,0.000,4,0.000,0.069,2723,587,3722
$GC,1379,-1.63,-122.2,87.0,-7.2,134,1387,0.00,2.55,0.00,0.000,6,0.000,0.038,2723,1991,3722
$STATE,1574,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1574,begin apogee
$GC,1578,-0.38,0.0,100.0,6.8,150,1684,1.33,0.00,98.07,0.684,6,0.091,0.000,2991,1922,3217
$STATE,1685,end apogee,CONTROL_FINISHED_OK
$STATE,1685,begin climb
$GC,1687,1.63,122.2,101.4,0.0,159,1793,2.03,2.70,95.25,0.660,4,0.049,0.074,3437,543,2718
$GC,1832,1.63,122.2,89.9,11.7,171,1836,0.00,2.50,0.00,0.000,6,0.000,0.038,3436,1932,2717
$GC,2034,1.63,122.2,67.0,11.3,187,2038,0.00,2.70,0.00,0.000,4,0.000,0.072,3436,541,2716
$GC,2086,1.63,122.2,61.0,11.3,191,2091,0.00,2.50,0.00,0.000,6,0.000,0.039,3437,1932,2717
$GC,2288,1.63,122.2,39.3,10.3,207,2293,0.00,2.70,0.00,0.000,4,0.000,0.072,3437,537,2717
$GC,2372,1.63,122.2,29.8,11.6,213,2381,0.00,2.53,0.00,0.000,6,0.000,0.039,3436,1938,2717
$GC,2574,1.63,122.2,8.3,10.3,237,2575,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,1938,2716
$STATE,2612,end climb,SURFACE_DEPTH_REACHED
$STATE,2612,begin surface coast
$FINISH,0.7,1.020650
$STATE,2686,end surface coast,CONTROL_FINISHED_OK
$STATE,2686,begin surface
$SM_CCo,2710,121.88,0.593,0,0,1586,400.08
$SM_GC,1.31,0.00,0.00,121.88,0.000,0.000,0.593,460,1996,1586,-12.05,0.17,400.08
$IRIDIUM_FIX,4722.92,-12114.26,250907,141406
$TT8_MAMPS,0.071331
$HUMID,2050
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.5,51.3
$24V_AH,23.2,7.190
$10V_AH,10.1,30.345
$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,31.100,36.475,193.325,121.875,0.000,41.331,39.565,118.054,0.500,29.050,3211.950,14.079,478.022,1508.287,440.370,459.356,262.795,33.327,708.137,0.000,436.002,0.000,5.484
$DEVICE_MAMPS,200.187,89.739,684.164,592.891,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,170.385,0.000,0.000,0.000,0.000,0.000,0.000,3241.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6448,254
$CFSIZE,260034560,256614400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,250907,115451,4738.846,-12252.830,9,1.8,9,18.3