version: 66.02
glider: 106
mission: 7
dive: 40
start: 9 26 107 7 4 35
data:
$ID,106
$MISSION,7
$DIVE,40
$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,-43877.492
$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,21
$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
$GPS1,065808,4739.388,-12252.854,7,1.3,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-64.2
$GPS2,070329,4739.390,-12252.852,11,3.2,30,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.230,0.054
$KALMAN_X,2170.9,75.8,153.4,-3208.7,-17.0
$KALMAN_Y,1881.0,-20.2,130.0,-2678.5,2.1
$MHEAD_RNG_PITCHd_Wd,58.4,579,-19.2,-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,-1.63,-122.2,0.0,0.0,0,79,0.00,0.00,-55.80,0.000,2,0.000,0.000,462,1989,2866
$GC,82,-1.63,-122.2,2.2,-3.8,9,137,14.70,2.60,-31.55,0.000,4,0.212,0.067,2723,3391,3718
$GC,386,-1.63,-122.2,21.3,-6.8,54,394,0.00,2.53,0.00,0.000,6,0.000,0.039,2723,1983,3720
$GC,583,-1.63,-122.2,33.9,-6.6,70,587,0.00,2.58,0.00,0.000,4,0.000,0.054,2723,3391,3722
$GC,655,-1.63,-122.2,38.9,-7.1,75,659,0.00,2.47,0.00,0.000,6,0.000,0.039,2723,1991,3722
$GC,857,-1.63,-122.2,53.1,-7.1,91,858,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1991,3722
$GC,1047,-1.63,-122.2,65.9,-6.6,106,1051,0.00,2.65,0.00,0.000,4,0.000,0.071,2723,585,3722
$GC,1084,-1.63,-122.2,68.6,-6.8,108,1092,0.00,2.50,0.00,0.000,6,0.000,0.035,2723,1990,3722
$GC,1281,-1.63,-122.2,81.1,-6.4,124,1282,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1990,3722
$GC,1472,-1.63,-122.2,93.0,-6.3,139,1476,0.00,2.65,0.00,0.000,4,0.000,0.070,2723,586,3722
$GC,1562,-1.63,-122.2,99.4,-6.5,145,1570,0.00,2.50,0.00,0.000,6,0.000,0.038,2723,1984,3722
$STATE,1580,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1580,begin apogee
$GC,1585,-0.38,0.0,100.6,6.3,147,1691,1.35,0.00,98.20,0.679,6,0.099,0.000,2992,1923,3218
$STATE,1692,end apogee,CONTROL_FINISHED_OK
$STATE,1692,begin climb
$GC,1694,1.63,122.2,101.8,0.0,156,1795,2.03,0.00,95.60,0.653,6,0.053,0.000,3437,1923,2719
$GC,1977,1.63,122.2,74.7,10.7,179,1981,0.00,2.65,0.00,0.000,4,0.000,0.073,3437,540,2717
$GC,2061,1.63,122.2,64.6,12.2,185,2069,0.00,2.53,0.00,0.000,6,0.000,0.037,3437,1935,2717
$GC,2257,1.63,122.2,43.8,10.3,201,2262,0.00,2.67,0.00,0.000,4,0.000,0.071,3437,536,2717
$GC,2323,1.63,122.2,36.3,11.5,206,2327,0.00,2.50,0.00,0.000,6,0.000,0.036,3437,1930,2717
$GC,2520,1.63,122.2,15.3,10.1,224,2527,0.00,2.65,0.00,0.000,4,0.000,0.071,3437,537,2717
$STATE,2624,end climb,SURFACE_DEPTH_REACHED
$STATE,2624,begin surface coast
$FINISH,3.4,1.020955
$STATE,2645,end surface coast,CONTROL_FINISHED_OK
$STATE,2645,begin surface
$SM_CCo,2672,125.10,0.588,0,0,1587,400.08
$SM_GC,1.23,0.00,0.00,125.10,0.000,0.000,0.588,464,1999,1587,-12.03,0.25,400.08
$IRIDIUM_FIX,4726.11,-12204.73,260907,101057
$TT8_MAMPS,0.06903
$HUMID,2014
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.5,51.2
$24V_AH,23.8,9.373
$10V_AH,10.1,31.842
$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,32.175,36.225,193.800,125.100,0.000,39.598,35.692,135.306,0.500,33.200,3190.800,31.588,457.894,1504.137,438.727,463.378,283.749,33.334,699.896,0.000,421.944,0.000,6.209
$DEVICE_MAMPS,212.459,81.302,678.795,587.522,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,162.950,0.000,0.000,0.000,0.000,0.000,0.000,3224.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6446,243
$CFSIZE,260034560,255852544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260907,075207,4739.349,-12252.507,13,2.0,23,18.3