version: 66.02
glider: 106
mission: 7
dive: 54
start: 9 26 107 19 11 2
data:
$ID,106
$MISSION,7
$DIVE,54
$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,-44192.656
$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,25
$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
$GPS1,190459,4739.345,-12252.840,12,2.2,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-65.1
$GPS2,190956,4739.341,-12252.861,16,1.5,33,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.212,0.104
$KALMAN_X,2431.0,58.9,108.4,-3417.5,-16.2
$KALMAN_Y,1960.6,84.5,132.1,-2954.0,-46.1
$MHEAD_RNG_PITCHd_Wd,45.6,619,-19.2,-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,22,-1.63,-122.2,0.0,0.0,0,80,0.00,0.00,-55.70,0.000,2,0.000,0.000,461,2002,2866
$GC,83,-1.63,-122.2,2.3,-4.4,9,138,14.77,2.55,-31.42,0.000,4,0.215,0.067,2721,3383,3719
$GC,387,-1.63,-122.2,21.6,-6.4,54,395,0.00,2.50,0.00,0.000,6,0.000,0.038,2721,1987,3721
$GC,584,-1.63,-122.2,33.7,-6.7,70,588,0.00,2.55,0.00,0.000,4,0.000,0.054,2721,3386,3721
$GC,682,-1.63,-122.2,40.6,-7.2,77,687,0.00,2.50,0.00,0.000,6,0.000,0.040,2721,1989,3721
$GC,884,-1.63,-122.2,53.8,-6.5,93,888,0.00,2.62,0.00,0.000,4,0.000,0.071,2721,590,3721
$GC,942,-1.63,-122.2,58.1,-7.8,97,950,0.00,2.47,0.00,0.000,6,0.000,0.036,2721,1985,3722
$GC,1139,-1.63,-122.2,71.7,-6.8,113,1143,0.00,2.62,0.00,0.000,4,0.000,0.069,2721,587,3721
$GC,1183,-1.63,-122.2,74.7,-6.8,116,1191,0.00,2.50,0.00,0.000,6,0.000,0.036,2721,1995,3722
$GC,1380,-1.63,-122.2,88.1,-7.0,132,1384,0.00,2.65,0.00,0.000,4,0.000,0.069,2721,585,3722
$GC,1438,-1.63,-122.2,92.1,-6.8,136,1445,0.00,2.50,0.00,0.000,6,0.000,0.037,2721,1990,3722
$STATE,1557,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1557,begin apogee
$GC,1561,-0.38,0.0,100.1,6.5,146,1668,1.35,0.00,98.12,0.677,6,0.100,0.000,2990,1921,3218
$STATE,1669,end apogee,CONTROL_FINISHED_OK
$STATE,1669,begin climb
$GC,1670,1.63,122.2,101.5,0.0,155,1777,2.05,2.72,95.18,0.657,4,0.052,0.074,3440,539,2718
$GC,1816,1.63,122.2,88.8,11.7,167,1821,0.00,2.50,0.00,0.000,6,0.000,0.038,3440,1923,2718
$GC,2020,1.63,122.2,65.8,11.4,183,2024,0.00,2.65,0.00,0.000,4,0.000,0.071,3440,536,2717
$GC,2104,1.63,122.2,55.5,11.8,189,2109,0.00,2.50,0.00,0.000,6,0.000,0.037,3440,1929,2717
$GC,2306,1.63,122.2,32.8,11.5,205,2310,0.00,2.65,0.00,0.000,4,0.000,0.071,3440,537,2716
$GC,2351,1.63,122.2,27.4,12.0,208,2359,0.00,2.50,0.00,0.000,6,0.000,0.036,3440,1932,2716
$GC,2554,1.64,134.0,6.3,8.9,234,2568,0.00,2.75,8.70,0.668,4,0.000,0.072,3440,532,2671
$STATE,2572,end climb,SURFACE_DEPTH_REACHED
$STATE,2572,begin surface coast
$FINISH,1.1,1.020214
$STATE,2632,end surface coast,CONTROL_FINISHED_OK
$STATE,2632,begin surface
$SM_CCo,2659,118.22,0.591,0,0,1586,400.08
$SM_GC,1.15,0.00,0.00,118.22,0.000,0.000,0.591,461,1990,1586,-12.05,0.03,400.08
$IRIDIUM_FIX,4722.92,-12256.21,260907,222221
$TT8_MAMPS,0.072098
$HUMID,2037
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.6,51.3
$24V_AH,23.8,10.460
$10V_AH,10.1,32.747
$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,32.075,46.500,202.000,118.225,0.000,40.756,34.073,109.218,0.500,0.000,3203.000,33.793,464.948,1452.008,439.604,486.523,260.224,33.332,719.077,0.000,442.144,0.000,5.483
$DEVICE_MAMPS,214.760,73.632,677.261,590.590,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,164.676,0.000,0.000,0.000,0.000,0.000,0.000,3203.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6457,246
$CFSIZE,260034560,255442944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260907,195823,4739.317,-12252.600,12,3.2,31,18.3