version: 66.02
glider: 106
mission: 7
dive: 132
start: 9 29 107 18 39 30
data:
$ID,106
$MISSION,7
$DIVE,132
$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,-45896.223
$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,20
$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
$GPS1,183251,4739.497,-12252.776,12,2.0,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-61.7
$GPS2,183823,4739.550,-12252.731,15,2.1,34,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.159,-0.135
$KALMAN_X,2613.2,-90.8,42.0,-3225.0,78.4
$KALMAN_Y,3307.8,68.4,82.2,-3852.5,130.9
$MHEAD_RNG_PITCHd_Wd,112.0,440,-21.9,-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,23,-1.80,-94.1,0.0,0.0,0,92,0.00,0.00,-67.30,0.000,2,0.000,0.000,462,1812,3073
$GC,95,-1.84,-122.2,2.2,-4.8,11,139,14.50,2.53,-22.45,0.000,4,0.214,0.060,2694,3204,3718
$GC,370,-1.84,-122.2,18.5,-7.2,53,376,0.00,2.50,0.00,0.000,6,0.000,0.038,2694,1791,3721
$GC,446,-1.84,-122.2,24.1,-7.4,61,447,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,1791,3721
$GC,637,-1.84,-122.2,36.5,-6.4,76,638,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,1791,3721
$GC,828,-1.84,-122.2,49.3,-7.4,91,832,0.00,2.55,0.00,0.000,4,0.000,0.049,2694,3205,3721
$GC,891,-1.84,-122.2,54.5,-7.7,95,899,0.00,2.53,0.00,0.000,6,0.000,0.038,2694,1797,3721
$GC,1088,-1.84,-122.2,69.1,-7.1,111,1092,0.00,2.53,0.00,0.000,4,0.000,0.048,2694,3200,3722
$GC,1147,-1.84,-122.2,73.3,-6.9,115,1151,0.00,2.47,0.00,0.000,6,0.000,0.038,2694,1797,3722
$GC,1342,-1.84,-122.2,86.6,-6.5,130,1344,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,1797,3722
$GC,1533,-1.84,-122.2,98.7,-6.5,145,1537,0.00,2.62,0.00,0.000,4,0.000,0.074,2694,400,3722
$STATE,1555,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1555,begin apogee
$GC,1563,-0.38,0.0,100.5,6.6,146,1666,1.58,0.00,98.28,0.678,6,0.106,0.000,3010,1751,3218
$STATE,1667,end apogee,CONTROL_FINISHED_OK
$STATE,1667,begin climb
$GC,1669,1.84,122.2,101.3,0.0,155,1774,2.25,0.00,95.72,0.648,6,0.051,0.000,3504,1751,2719
$GC,1962,1.84,122.2,66.2,13.5,179,1963,0.00,0.00,0.00,0.000,6,0.000,0.000,3504,1751,2717
$GC,2153,1.84,122.2,41.0,13.8,194,2157,0.00,2.72,0.00,0.000,4,0.000,0.078,3505,334,2716
$GC,2184,1.84,122.2,36.2,14.8,196,2189,0.00,2.45,0.00,0.000,6,0.000,0.035,3504,1731,2716
$GC,2384,1.84,122.2,10.4,12.4,217,2389,0.00,0.00,0.00,0.000,6,0.000,0.000,3504,1732,2716
$STATE,2426,end climb,SURFACE_DEPTH_REACHED
$STATE,2427,begin surface coast
$FINISH,1.5,1.021157
$STATE,2477,end surface coast,CONTROL_FINISHED_OK
$STATE,2477,begin surface
$SM_CCo,2502,121.03,0.580,0,0,1587,400.08
$SM_GC,0.92,0.00,0.00,121.03,0.000,0.000,0.580,461,1806,1587,-12.14,0.20,400.08
$IRIDIUM_FIX,4719.74,-12251.79,290907,212152
$TT8_MAMPS,0.069797
$HUMID,2047
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.3,51.4
$24V_AH,23.9,16.695
$10V_AH,10.1,38.091
$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,32.375,25.375,194.000,121.025,0.000,38.960,31.375,128.073,0.500,0.000,3066.000,35.722,432.839,1400.665,421.129,427.425,302.616,33.326,659.528,0.000,380.095,0.000,5.483
$DEVICE_MAMPS,213.993,78.234,678.028,579.852,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,154.703,0.000,0.000,0.000,0.000,0.000,0.000,3066.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6437,231
$CFSIZE,260034560,253038592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290907,192423,4739.462,-12252.364,16,2.6,35,18.3