version: 66.02
glider: 106
mission: 7
dive: 120
start: 9 29 107 7 29 17
data:
$ID,106
$MISSION,7
$DIVE,120
$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,-45624.047
$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,38
$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
$GPS1,072238,4739.478,-12253.279,41,0.9,41,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-63.5
$GPS2,072809,4739.472,-12253.309,14,1.2,14,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.233,-0.039
$KALMAN_X,3091.0,32.5,78.8,-4578.1,0.2
$KALMAN_Y,2870.5,238.3,115.8,-3762.0,78.4
$MHEAD_RNG_PITCHd_Wd,81.3,1131,-19.2,-9.524
$D_GRID,119
$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,-67.40,0.000,2,0.000,0.000,460,1807,3094
$GC,95,-1.63,-122.2,2.5,-5.5,11,138,14.95,2.53,-20.00,0.000,4,0.217,0.061,2742,3192,3719
$GC,389,-1.63,-122.2,20.0,-5.1,56,396,0.00,2.47,0.00,0.000,6,0.000,0.039,2742,1796,3721
$GC,585,-1.63,-122.2,30.5,-6.1,72,589,0.00,2.53,0.00,0.000,4,0.000,0.048,2742,3194,3722
$GC,755,-1.63,-122.2,41.2,-5.5,84,762,0.00,2.50,0.00,0.000,6,0.000,0.038,2742,1797,3722
$GC,951,-1.63,-122.2,51.7,-5.8,100,952,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1797,3722
$GC,1142,-1.63,-122.2,62.3,-5.0,115,1146,0.00,2.53,0.00,0.000,4,0.000,0.049,2742,3199,3722
$GC,1246,-1.63,-122.2,68.7,-6.1,122,1253,0.00,2.50,0.00,0.000,6,0.000,0.038,2742,1801,3722
$GC,1442,-1.63,-122.2,80.7,-6.4,138,1446,0.00,2.50,0.00,0.000,4,0.000,0.048,2742,3193,3722
$GC,1501,-1.63,-122.2,84.3,-6.0,142,1505,0.00,2.47,0.00,0.000,6,0.000,0.039,2742,1793,3722
$GC,1696,-1.63,-122.2,95.6,-5.5,157,1697,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1793,3722
$STATE,1782,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1783,begin apogee
$GC,1788,-0.38,0.0,100.4,5.6,164,1894,1.35,0.00,98.03,0.683,6,0.104,0.000,3010,1732,3218
$STATE,1895,end apogee,CONTROL_FINISHED_OK
$STATE,1895,begin climb
$GC,1897,1.63,122.2,100.9,0.0,173,1997,2.05,0.00,95.30,0.656,6,0.055,0.000,3458,1732,2719
$GC,2179,1.63,122.2,71.5,12.2,196,2181,0.00,0.00,0.00,0.000,6,0.000,0.000,3458,1732,2717
$GC,2369,1.63,122.2,48.5,12.0,211,2373,0.00,2.55,0.00,0.000,4,0.000,0.051,3458,3129,2717
$GC,2407,1.63,122.2,43.5,12.8,213,2414,0.00,2.53,0.00,0.000,6,0.000,0.041,3458,1739,2717
$GC,2604,1.63,122.2,14.9,15.8,231,2611,0.00,2.72,0.00,0.000,4,0.000,0.084,3458,328,2717
$GC,2663,1.63,122.2,6.4,12.9,240,2670,0.00,2.47,0.00,0.000,6,0.000,0.036,3458,1745,2716
$STATE,2673,end climb,SURFACE_DEPTH_REACHED
$STATE,2673,begin surface coast
$FINISH,2.7,1.021466
$STATE,2714,end surface coast,CONTROL_FINISHED_OK
$STATE,2715,begin surface
$SM_CCo,2741,119.93,0.585,0,0,1586,400.08
$SM_GC,1.04,0.00,0.00,119.93,0.000,0.000,0.585,464,1808,1586,-12.13,0.23,400.08
$IRIDIUM_FIX,4722.92,-12256.21,290907,101012
$TT8_MAMPS,0.072098
$HUMID,2039
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.2,51.3
$24V_AH,23.9,15.777
$10V_AH,10.1,37.259
$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,32.625,30.475,193.325,119.925,0.000,37.377,36.952,143.853,0.500,0.000,3333.000,14.048,463.927,1555.920,430.885,449.442,321.480,33.335,688.931,0.000,424.062,0.000,6.428
$DEVICE_MAMPS,217.061,85.904,683.397,585.221,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,166.230,0.000,0.000,0.000,0.000,0.000,0.000,3333.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6465,248
$CFSIZE,260034560,253407232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290907,081744,4739.406,-12253.008,8,1.4,13,18.3