version: 66.02
glider: 106
mission: 7
dive: 113
start: 9 29 107 1 1 41
data:
$ID,106
$MISSION,7
$DIVE,113
$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,-45443.758
$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,19
$R_STBD_OVSHOOT,33
$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
$GPS1,005503,4739.503,-12252.895,11,1.5,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-63.3
$GPS2,010033,4739.497,-12252.962,16,1.5,16,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.236,-0.014
$KALMAN_X,2757.0,10.7,-75.1,-3637.4,-44.7
$KALMAN_Y,1829.7,65.5,-13.2,-2373.0,-6.7
$MHEAD_RNG_PITCHd_Wd,75.1,701,-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,-122.2,0.0,0.0,0,92,0.00,0.00,-67.38,0.000,2,0.000,0.000,463,1815,3086
$GC,95,-1.63,-122.2,2.3,-5.2,11,138,14.98,2.75,-19.25,0.000,4,0.219,0.084,2742,395,3719
$GC,197,-1.63,-122.2,6.3,2.0,27,204,0.00,2.47,0.00,0.000,6,0.000,0.035,2742,1811,3721
$GC,269,-1.63,-122.2,9.6,-5.4,38,276,0.00,2.50,0.00,0.000,4,0.000,0.050,2742,3201,3721
$GC,355,-1.63,-122.2,13.9,-5.3,51,362,0.00,2.50,0.00,0.000,6,0.000,0.038,2742,1787,3721
$GC,427,-1.63,-122.2,18.1,-5.7,62,433,0.00,2.62,0.00,0.000,4,0.000,0.073,2742,397,3721
$GC,492,-1.63,-122.2,23.1,-8.5,70,497,0.00,2.45,0.00,0.000,6,0.000,0.034,2742,1804,3721
$GC,688,-1.63,-122.2,31.6,-5.8,85,689,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,1805,3722
$GC,878,-1.63,-122.2,42.8,-4.5,100,882,0.00,2.50,0.00,0.000,4,0.000,0.050,2743,3197,3722
$GC,982,-1.63,-122.2,48.1,-5.5,107,989,0.00,2.50,0.00,0.000,6,0.000,0.038,2742,1801,3722
$GC,1178,-1.63,-122.2,60.0,-6.4,123,1179,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,1801,3722
$GC,1368,-1.63,-122.2,71.1,-5.8,138,1370,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1801,3722
$GC,1559,-1.63,-122.2,82.7,-6.1,153,1561,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1801,3722
$GC,1747,-1.63,-122.2,93.7,-6.3,168,1748,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,1801,3722
$STATE,1870,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1870,begin apogee
$GC,1875,-0.38,0.0,100.0,4.1,178,1981,1.38,0.00,97.85,0.677,6,0.106,0.000,3015,1729,3218
$STATE,1982,end apogee,CONTROL_FINISHED_OK
$STATE,1982,begin climb
$GC,1984,1.63,122.2,99.4,0.0,187,2089,1.98,2.72,94.90,0.651,4,0.054,0.079,3459,337,2718
$GC,2186,1.63,122.2,77.1,13.1,202,2194,0.00,2.47,0.00,0.000,6,0.000,0.035,3459,1724,2717
$GC,2382,1.63,122.2,54.3,11.5,218,2383,0.00,0.00,0.00,0.000,6,0.000,0.000,3459,1725,2716
$GC,2574,1.63,122.2,31.2,12.4,233,2575,0.00,0.00,0.00,0.000,6,0.000,0.000,3459,1725,2716
$GC,2767,1.63,122.2,9.6,11.7,255,2773,0.00,2.67,0.00,0.000,4,0.000,0.077,3458,334,2716
$STATE,2803,end climb,SURFACE_DEPTH_REACHED
$STATE,2803,begin surface coast
$FINISH,1.1,1.020718
$STATE,2851,end surface coast,CONTROL_FINISHED_OK
$STATE,2851,begin surface
$SM_CCo,2878,120.47,0.587,0,0,1587,400.08
$SM_GC,1.01,0.00,0.00,120.47,0.000,0.000,0.587,460,1814,1587,-12.14,0.37,400.08
$IRIDIUM_FIX,4722.92,-12249.11,290907,030311
$TT8_MAMPS,0.06903
$HUMID,2039
$INTERNAL_PRESSURE,8.42806
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.6,51.6
$24V_AH,23.9,15.246
$10V_AH,10.1,36.779
$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,32.150,30.925,192.750,120.475,0.000,38.728,33.238,146.206,0.500,0.000,3440.000,16.193,499.808,1639.854,420.811,477.080,320.933,33.329,697.613,0.000,446.391,0.000,5.487
$DEVICE_MAMPS,218.595,84.370,677.261,586.755,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,179.771,0.000,0.000,0.000,0.000,0.000,0.000,3440.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6451,268
$CFSIZE,260034560,253620224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290907,015241,4739.519,-12252.608,8,2.9,27,18.3