version: 66.02
glider: 106
mission: 7
dive: 115
start: 9 29 107 2 41 59
data:
$ID,106
$MISSION,7
$DIVE,115
$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,-45490.277
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,460
$PITCH_MAX,3783
$C_PITCH,3100
$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,1800
$C_ROLL_CLIMB,1735
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,16
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,34
$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
$GPS1,023544,4739.515,-12252.254,11,1.3,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-62.6
$GPS2,024051,4739.525,-12252.232,12,1.4,12,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.137,-0.092
$KALMAN_X,2838.3,6.8,-93.4,-2792.0,-8.2
$KALMAN_Y,2004.9,99.2,-53.1,-2492.1,26.8
$MHEAD_RNG_PITCHd_Wd,218.0,238,-27.8,-9.524
$D_GRID,124
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-2.21,-58.7,0.0,0.0,0,86,0.00,0.00,-61.40,0.000,2,0.000,0.000,461,1807,2949
$GC,89,-2.27,-110.1,2.0,-3.9,10,139,14.02,2.67,-28.70,0.000,4,0.218,0.081,2599,394,3668
$GC,204,-2.27,-110.5,8.7,-9.5,28,211,0.00,2.47,0.00,0.000,6,0.000,0.033,2599,1816,3669
$GC,276,-2.28,-116.3,15.9,-8.9,39,282,0.00,0.00,-0.43,0.000,6,0.000,0.000,2600,1815,3697
$GC,347,-2.29,-122.2,20.9,-6.1,49,349,0.00,0.00,-0.30,0.000,6,0.000,0.000,2600,1815,3720
$GC,538,-2.29,-122.2,34.6,-8.4,64,542,0.00,2.67,0.00,0.000,4,0.000,0.070,2599,400,3721
$GC,588,-2.29,-122.2,39.5,-9.0,67,596,0.00,2.47,0.00,0.000,6,0.000,0.034,2600,1804,3722
$GC,785,-2.29,-122.2,56.8,-8.7,83,789,0.00,2.50,0.00,0.000,4,0.000,0.050,2599,3202,3722
$GC,876,-2.29,-122.2,65.0,-8.6,89,883,0.00,2.50,0.00,0.000,6,0.000,0.038,2599,1805,3722
$GC,1072,-2.29,-122.2,81.7,-8.3,105,1073,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1805,3723
$GC,1263,-2.29,-122.2,97.5,-8.1,120,1264,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1805,3722
$STATE,1297,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1297,begin apogee
$GC,1302,-0.38,0.0,100.5,8.1,123,1409,2.12,0.00,98.12,0.673,6,0.115,0.000,3012,1731,3218
$STATE,1409,end apogee,CONTROL_FINISHED_OK
$STATE,1410,begin climb
$GC,1411,2.29,122.2,100.9,0.0,132,1518,2.65,2.75,94.80,0.644,4,0.047,0.080,3612,331,2718
$GC,1548,2.29,122.2,82.1,19.7,143,1557,0.00,2.50,0.00,0.000,6,0.000,0.033,3612,1733,2717
$GC,1745,2.29,122.2,47.3,17.3,159,1749,0.00,2.70,0.00,0.000,4,0.000,0.076,3612,332,2716
$GC,1790,2.29,122.2,39.0,18.3,162,1798,0.00,2.50,0.00,0.000,6,0.000,0.034,3612,1737,2716
$GC,1990,2.29,122.2,7.2,14.2,184,1997,0.00,2.67,0.00,0.000,4,0.000,0.075,3612,339,2716
$STATE,2007,end climb,SURFACE_DEPTH_REACHED
$STATE,2007,begin surface coast
$FINISH,0.3,1.006352
$STATE,2041,end surface coast,CONTROL_FINISHED_OK
$STATE,2042,begin surface
$SM_CCo,2070,119.25,0.574,0,0,1585,400.08
$SM_GC,0.99,0.00,0.00,119.25,0.000,0.000,0.574,463,1811,1585,-12.13,0.31,400.08
$IRIDIUM_FIX,4722.92,-12247.38,290907,050532
$TT8_MAMPS,0.069797
$HUMID,2033
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.1,51.2
$24V_AH,23.9,15.389
$10V_AH,10.1,36.889
$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,33.075,31.175,192.925,119.250,0.000,40.072,31.258,130.114,0.500,0.000,2613.000,12.679,368.296,1078.370,435.216,352.224,294.735,33.328,655.549,0.000,329.092,0.000,5.483
$DEVICE_MAMPS,217.828,80.535,672.659,573.716,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,127.654,0.000,0.000,0.000,0.000,0.000,0.000,2613.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6478,192
$CFSIZE,260034560,253575168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290907,031914,4739.520,-12252.404,7,1.4,12,18.3