version: 66.02
glider: 106
mission: 7
dive: 94
start: 9 28 107 7 34 22
data:
$ID,106
$MISSION,7
$DIVE,94
$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,-45056.566
$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,20
$R_STBD_OVSHOOT,31
$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
$GPS1,072415,4739.420,-12253.074,12,2.0,12,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-61.3
$GPS2,073314,4739.397,-12253.140,9,1.1,14,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.234,0.030
$KALMAN_X,2649.8,90.8,124.5,-4033.6,82.5
$KALMAN_Y,1844.9,20.0,127.2,-2666.1,15.7
$MHEAD_RNG_PITCHd_Wd,64.4,930,-19.2,-9.524
$D_GRID,118
$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,-1.63,-122.2,0.0,0.0,0,86,0.00,0.00,-61.50,0.000,2,0.000,0.000,462,1806,2948
$GC,89,-1.63,-122.2,2.1,-4.3,10,138,15.12,2.55,-25.52,0.000,4,0.222,0.061,2739,3194,3720
$GC,177,-1.63,-122.2,7.4,-7.6,24,184,0.00,2.47,0.00,0.000,6,0.000,0.038,2739,1797,3721
$GC,249,-1.63,-122.2,12.1,-6.5,35,255,0.00,2.65,0.00,0.000,4,0.000,0.074,2739,394,3721
$GC,399,-1.63,-122.2,20.8,-5.4,57,407,0.00,2.47,0.00,0.000,6,0.000,0.034,2739,1804,3721
$GC,596,-1.63,-122.2,31.6,-5.5,73,600,0.00,2.47,0.00,0.000,4,0.000,0.049,2739,3190,3723
$GC,635,-1.63,-122.2,34.0,-5.9,76,639,0.00,2.45,0.00,0.000,6,0.000,0.038,2739,1798,3723
$GC,837,-1.63,-122.2,45.7,-5.8,92,838,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1799,3723
$GC,1026,-1.63,-122.2,56.8,-5.9,107,1030,0.00,2.53,0.00,0.000,4,0.000,0.049,2739,3197,3724
$GC,1118,-1.63,-122.2,62.9,-6.6,114,1122,0.00,2.47,0.00,0.000,6,0.000,0.040,2740,1802,3724
$GC,1320,-1.63,-122.2,75.1,-6.1,130,1321,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1802,3724
$GC,1512,-1.63,-122.2,86.8,-6.3,145,1513,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1802,3724
$GC,1699,-1.63,-122.2,97.7,-5.3,160,1704,0.00,2.50,0.00,0.000,4,0.000,0.050,2739,3188,3724
$STATE,1743,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1743,begin apogee
$GC,1750,-0.38,0.0,100.2,5.2,163,1854,1.38,0.00,98.40,0.673,6,0.104,0.000,3012,1735,3218
$STATE,1855,end apogee,CONTROL_FINISHED_OK
$STATE,1855,begin climb
$GC,1857,1.63,122.2,100.6,0.0,172,1957,1.98,0.00,94.90,0.650,6,0.053,0.000,3458,1734,2719
$GC,2142,1.63,122.2,70.0,12.1,195,2143,0.00,0.00,0.00,0.000,6,0.000,0.000,3458,1734,2717
$GC,2332,1.63,122.2,47.0,12.0,210,2333,0.00,0.00,0.00,0.000,6,0.000,0.000,3458,1735,2716
$GC,2521,1.63,122.2,24.7,11.6,225,2522,0.00,0.00,0.00,0.000,6,0.000,0.000,3458,1734,2717
$STATE,2715,end climb,SURFACE_DEPTH_REACHED
$STATE,2715,begin surface coast
$FINISH,0.2,1.010641
$STATE,2802,end surface coast,CONTROL_FINISHED_OK
$STATE,2802,begin surface
$SM_CCo,2828,120.50,0.585,0,0,1586,400.08
$SM_GC,1.06,0.00,0.00,120.50,0.000,0.000,0.585,462,1795,1586,-12.13,-0.14,400.08
$IRIDIUM_FIX,4722.92,-12256.21,280907,111101
$TT8_MAMPS,0.071331
$HUMID,2067
$INTERNAL_PRESSURE,8.42806
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.1,51.3
$24V_AH,23.8,13.732
$10V_AH,10.1,35.476
$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,32.150,25.300,193.300,120.500,0.000,78.291,70.482,215.612,0.500,20.010,3587.990,14.933,488.829,1692.639,409.793,461.043,466.530,33.326,675.090,0.000,432.202,0.000,5.484
$DEVICE_MAMPS,222.430,74.399,673.426,585.221,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,177.221,0.000,0.000,0.000,0.000,0.000,0.000,3608.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6448,264
$CFSIZE,260034560,254201856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280907,082432,4739.358,-12252.828,11,1.6,28,18.3