version: 66.02
glider: 106
mission: 7
dive: 51
start: 9 26 107 16 29 16
data:
$ID,106
$MISSION,7
$DIVE,51
$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,-44126.902
$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,36
$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
$GPS1,162327,4739.566,-12252.583,10,2.0,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-64.4
$GPS2,162809,4739.561,-12252.569,15,2.0,15,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.219,-0.088
$KALMAN_X,2457.4,42.5,22.7,-2981.3,94.3
$KALMAN_Y,2063.5,46.1,52.5,-2537.3,105.3
$MHEAD_RNG_PITCHd_Wd,229.8,809,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,22,-1.63,-122.2,0.0,0.0,0,80,0.00,0.00,-55.67,0.000,2,0.000,0.000,461,2005,2848
$GC,83,-1.63,-122.2,2.1,-3.1,9,139,14.77,2.58,-35.50,0.000,4,0.215,0.067,2720,3385,3719
$GC,363,-1.63,-122.2,19.5,-6.7,52,370,0.00,2.47,0.00,0.000,6,0.000,0.040,2719,1986,3720
$GC,438,-1.63,-122.2,24.6,-6.9,59,442,0.00,2.62,0.00,0.000,4,0.000,0.071,2719,591,3720
$GC,491,-1.63,-122.2,28.1,-6.5,63,495,0.00,2.45,0.00,0.000,6,0.000,0.037,2719,1986,3721
$GC,693,-1.63,-122.2,40.6,-6.1,79,697,0.00,2.65,0.00,0.000,4,0.000,0.069,2719,584,3721
$GC,751,-1.63,-122.2,44.4,-6.6,83,756,0.00,2.47,0.00,0.000,6,0.000,0.037,2719,1990,3722
$GC,953,-1.63,-122.2,57.1,-6.5,99,955,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,1990,3722
$GC,1143,-1.63,-122.2,69.0,-6.2,114,1148,0.00,2.65,0.00,0.000,4,0.000,0.070,2719,585,3722
$GC,1215,-1.63,-122.2,73.9,-6.4,119,1219,0.00,2.47,0.00,0.000,6,0.000,0.037,2719,1992,3722
$GC,1417,-1.63,-122.2,87.4,-6.6,135,1421,0.00,2.65,0.00,0.000,4,0.000,0.069,2719,582,3722
$GC,1469,-1.63,-122.2,90.9,-7.2,139,1474,0.00,2.47,0.00,0.000,6,0.000,0.037,2719,1992,3722
$STATE,1619,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1620,begin apogee
$GC,1624,-0.38,0.0,100.3,6.1,151,1730,1.38,0.00,98.20,0.680,6,0.101,0.000,2993,1922,3217
$STATE,1731,end apogee,CONTROL_FINISHED_OK
$STATE,1731,begin climb
$GC,1733,1.63,122.2,101.4,0.0,160,1833,1.98,0.00,95.65,0.656,6,0.054,0.000,3438,1922,2719
$GC,2018,1.63,122.2,74.1,11.4,183,2022,0.00,2.65,0.00,0.000,4,0.000,0.074,3438,535,2717
$GC,2142,1.63,122.2,59.7,11.9,192,2150,0.00,2.50,0.00,0.000,6,0.000,0.036,3437,1930,2716
$GC,2338,1.63,122.2,38.6,10.7,208,2342,0.00,2.65,0.00,0.000,4,0.000,0.071,3437,535,2716
$GC,2435,1.63,122.2,27.2,11.4,215,2444,0.00,2.53,0.00,0.000,6,0.000,0.035,3437,1948,2716
$GC,2639,1.66,146.0,7.2,8.3,241,2663,0.00,0.00,17.90,0.644,6,0.000,0.000,3438,1947,2622
$STATE,2680,end climb,SURFACE_DEPTH_REACHED
$STATE,2680,begin surface coast
$FINISH,0.5,1.019933
$STATE,2787,end surface coast,CONTROL_FINISHED_OK
$STATE,2787,begin surface
$SM_CCo,2812,109.32,0.588,0,0,1586,400.08
$SM_GC,1.27,0.00,0.00,109.32,0.000,0.000,0.588,463,1998,1586,-12.04,0.23,400.08
$IRIDIUM_FIX,4722.92,-12256.21,260907,191901
$TT8_MAMPS,0.071331
$HUMID,2057
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.0,50.7
$24V_AH,23.8,10.238
$10V_AH,10.1,32.550
$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,31.850,36.000,211.750,109.325,0.000,40.605,33.778,116.135,0.500,0.000,3321.000,15.409,492.984,1557.978,428.243,488.033,266.450,33.331,711.852,0.000,461.702,0.000,5.481
$DEVICE_MAMPS,214.760,117.351,679.562,587.522,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,176.987,0.000,0.000,0.000,0.000,0.000,0.000,3321.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6433,264
$CFSIZE,260034560,255528960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260907,171905,4739.519,-12252.886,15,6.2,34,18.3