version: 66.02
glider: 106
mission: 7
dive: 130
start: 9 29 107 16 56 13
data:
$ID,106
$MISSION,7
$DIVE,130
$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,-45847.453
$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,28
$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
$GPS1,164438,4739.571,-12253.166,9,1.4,14,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-60.7
$GPS2,165507,4739.611,-12253.119,12,1.4,28,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.075,-0.175
$KALMAN_X,2542.2,-116.1,-49.5,-3521.6,56.3
$KALMAN_Y,3033.5,39.8,-59.9,-3297.9,105.0
$MHEAD_RNG_PITCHd_Wd,184.9,287,-24.1,-9.524
$D_GRID,117
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.95,-77.8,0.0,0.0,0,93,0.00,0.00,-67.38,0.000,2,0.000,0.000,463,1805,3095
$GC,96,-2.01,-122.2,2.3,-5.4,11,139,14.20,2.55,-19.85,0.000,4,0.212,0.060,2659,3197,3719
$GC,160,-2.01,-122.2,5.9,-7.7,21,166,0.00,2.47,0.00,0.000,6,0.000,0.037,2659,1802,3720
$GC,232,-2.01,-122.2,10.6,-7.0,32,238,0.00,2.65,0.00,0.000,4,0.000,0.073,2660,400,3721
$GC,264,-2.01,-122.2,12.8,-7.4,37,270,0.00,2.47,0.00,0.000,6,0.000,0.034,2659,1821,3721
$GC,336,-2.01,-122.2,17.8,-7.7,48,341,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,1821,3721
$GC,406,-2.01,-122.2,22.8,-7.1,56,407,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,1821,3721
$GC,596,-2.01,-122.2,35.7,-6.8,71,597,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,1821,3722
$GC,790,-2.01,-122.2,50.2,-7.9,86,794,0.00,2.45,0.00,0.000,4,0.000,0.049,2659,3189,3723
$GC,848,-2.01,-122.2,55.6,-8.5,90,852,0.00,2.45,0.00,0.000,6,0.000,0.038,2660,1799,3723
$GC,1043,-2.01,-122.2,71.2,-7.9,105,1048,0.00,2.65,0.00,0.000,4,0.000,0.074,2659,391,3723
$GC,1195,-2.01,-122.2,84.0,-8.7,116,1200,0.00,2.45,0.00,0.000,6,0.000,0.035,2661,1801,3723
$GC,1390,-2.01,-122.2,98.6,-7.4,131,1395,0.00,2.50,0.00,0.000,4,0.000,0.050,2660,3202,3723
$STATE,1413,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1413,begin apogee
$GC,1420,-0.38,0.0,100.4,7.0,132,1524,1.75,0.00,98.43,0.676,6,0.113,0.000,3010,1729,3218
$STATE,1525,end apogee,CONTROL_FINISHED_OK
$STATE,1525,begin climb
$GC,1527,2.01,122.2,101.1,0.0,141,1632,2.35,2.78,95.05,0.646,4,0.051,0.077,3538,334,2718
$GC,1703,2.01,122.2,78.6,16.9,154,1711,0.00,2.47,0.00,0.000,6,0.000,0.034,3538,1724,2716
$GC,1899,2.01,122.2,50.5,15.0,170,1904,0.00,2.67,0.00,0.000,4,0.000,0.076,3538,336,2715
$GC,2010,2.01,122.2,33.7,14.9,178,2018,0.00,2.47,0.00,0.000,6,0.000,0.034,3538,1729,2715
$GC,2212,2.01,122.2,5.2,13.6,202,2217,0.00,0.00,0.00,0.000,6,0.000,0.000,3538,1732,2715
$STATE,2222,end climb,SURFACE_DEPTH_REACHED
$STATE,2222,begin surface coast
$FINISH,0.4,1.011831
$STATE,2263,end surface coast,CONTROL_FINISHED_OK
$STATE,2263,begin surface
$SM_CCo,2289,119.22,0.578,0,0,1586,400.08
$SM_GC,1.06,0.00,0.00,119.22,0.000,0.000,0.578,460,1806,1586,-12.14,0.17,400.08
$IRIDIUM_FIX,4722.92,-12256.21,290907,202032
$TT8_MAMPS,0.06903
$HUMID,2017
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.2,51.4
$24V_AH,23.9,16.548
$10V_AH,10.1,37.958
$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,32.150,35.800,193.475,119.225,0.000,81.286,74.958,276.854,0.500,0.000,3151.000,28.630,407.867,1261.308,420.322,429.277,546.386,33.326,675.428,0.000,387.860,0.000,6.799
$DEVICE_MAMPS,212.459,77.467,675.727,577.551,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,140.057,0.000,0.000,0.000,0.000,0.000,0.000,3151.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6439,210
$CFSIZE,260034560,253095936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290907,173703,4739.495,-12253.226,8,2.0,8,18.3