version: 66.02
glider: 106
mission: 7
dive: 34
start: 9 26 107 1 48 59
data:
$ID,106
$MISSION,7
$DIVE,34
$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,-43750.52
$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,30
$R_STBD_OVSHOOT,28
$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
$GPS1,014247,4739.513,-12252.729,14,2.4,33,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-64.3
$GPS2,014753,4739.511,-12252.717,12,2.4,31,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.165,-0.080
$KALMAN_X,1721.2,24.4,-97.1,-2291.2,47.9
$KALMAN_Y,1828.2,-66.0,-141.9,-2085.6,86.3
$MHEAD_RNG_PITCHd_Wd,97.6,402,-25.0,-9.524
$D_GRID,123
$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,-2.02,-72.3,0.0,0.0,0,79,0.00,0.00,-55.80,0.000,2,0.000,0.000,460,1994,2867
$GC,81,-2.08,-122.2,2.2,-3.9,9,137,13.95,2.58,-33.75,0.000,4,0.209,0.068,2622,3391,3718
$GC,386,-2.08,-122.2,27.7,-8.1,49,394,0.00,2.50,0.00,0.000,6,0.000,0.040,2621,2001,3720
$GC,583,-2.08,-122.2,42.6,-7.7,65,587,0.00,2.58,0.00,0.000,4,0.000,0.054,2621,3388,3721
$GC,648,-2.08,-122.2,48.3,-8.8,70,653,0.00,2.50,0.00,0.000,6,0.000,0.040,2621,1984,3721
$GC,850,-2.08,-122.2,66.2,-9.1,86,851,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,1984,3721
$GC,1042,-2.08,-122.2,83.7,-9.0,101,1046,0.00,2.65,0.00,0.000,4,0.000,0.071,2621,585,3721
$GC,1100,-2.08,-122.2,89.2,-9.2,105,1104,0.00,2.50,0.00,0.000,6,0.000,0.038,2621,1993,3721
$STATE,1237,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1237,begin apogee
$GC,1242,-0.38,0.0,101.1,8.6,116,1348,1.92,0.00,98.00,0.679,6,0.113,0.000,2990,1925,3218
$STATE,1349,end apogee,CONTROL_FINISHED_OK
$STATE,1349,begin climb
$GC,1351,2.08,122.2,103.4,0.0,125,1455,2.40,2.70,95.22,0.654,4,0.048,0.074,3537,532,2718
$GC,1512,2.08,122.2,86.2,15.0,137,1520,0.00,2.55,0.00,0.000,6,0.000,0.037,3537,1930,2717
$GC,1709,2.08,122.2,59.2,13.7,153,1713,0.00,2.75,0.00,0.000,4,0.000,0.071,3537,533,2716
$GC,1774,2.08,122.2,49.8,14.1,158,1779,0.00,2.53,0.00,0.000,6,0.000,0.037,3537,1934,2716
$GC,1976,2.08,122.2,22.2,13.4,174,1981,0.00,2.70,0.00,0.000,4,0.000,0.071,3537,529,2716
$STATE,2127,end climb,SURFACE_DEPTH_REACHED
$STATE,2127,begin surface coast
$FINISH,3.2,1.021010
$STATE,2148,end surface coast,CONTROL_FINISHED_OK
$STATE,2148,begin surface
$SM_CCo,2175,124.97,0.588,0,0,1586,400.08
$SM_GC,1.23,0.00,0.00,124.97,0.000,0.000,0.588,464,1995,1586,-12.03,0.11,400.08
$IRIDIUM_FIX,4719.74,-12254.47,260907,040430
$TT8_MAMPS,0.071331
$HUMID,2029
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.5,51.4
$24V_AH,23.1,8.806
$10V_AH,10.1,31.437
$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,32.950,31.300,193.225,124.975,0.000,40.149,38.727,119.094,0.500,103.770,2627.230,32.719,381.283,1169.683,424.982,397.481,262.507,33.332,651.789,0.000,355.616,0.000,5.483
$DEVICE_MAMPS,209.391,73.632,678.795,587.522,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,132.348,0.000,0.000,0.000,0.000,0.000,0.000,2731.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6451,198
$CFSIZE,260034560,256061440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260907,022823,4739.433,-12252.330,12,2.3,31,18.3