version: 66.02
glider: 106
mission: 7
dive: 152
start: 9 30 107 13 27 6
data:
$ID,106
$MISSION,7
$DIVE,152
$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,-46338.176
$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,28
$R_STBD_OVSHOOT,31
$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
$GPS1,131957,4739.434,-12252.483,14,1.4,14,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-57.5
$GPS2,132559,4739.496,-12252.421,12,2.5,31,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.231,-0.049
$KALMAN_X,4389.2,255.1,6.9,-4922.6,-10.3
$KALMAN_Y,7218.5,479.6,13.4,-8207.5,77.1
$MHEAD_RNG_PITCHd_Wd,239.7,976,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.63,-122.2,0.0,0.0,0,106,0.00,0.00,-79.10,0.000,2,0.000,0.000,459,1811,3287
$GC,108,-1.63,-122.2,2.1,-4.7,13,146,14.62,2.70,-13.68,0.000,4,0.210,0.081,2739,407,3720
$GC,324,-1.63,-122.2,17.0,-6.3,46,330,0.00,2.45,0.00,0.000,6,0.000,0.034,2740,1815,3721
$GC,395,-1.63,-122.2,20.4,-4.8,56,399,0.00,2.47,0.00,0.000,4,0.000,0.051,2739,3192,3722
$GC,454,-1.63,-122.2,23.8,-5.4,60,459,0.00,2.45,0.00,0.000,6,0.000,0.037,2739,1802,3721
$GC,650,-1.63,-122.2,35.2,-6.8,75,654,0.00,2.65,0.00,0.000,4,0.000,0.073,2739,394,3721
$GC,727,-1.63,-122.2,40.6,-7.0,80,734,0.00,2.47,0.00,0.000,6,0.000,0.034,2739,1802,3722
$GC,924,-1.63,-122.2,52.6,-6.2,96,925,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1804,3722
$GC,1114,-1.63,-122.2,63.6,-5.8,111,1115,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1804,3722
$GC,1304,-1.63,-122.2,74.7,-5.6,126,1308,0.00,2.65,0.00,0.000,4,0.000,0.071,2739,400,3722
$GC,1349,-1.63,-122.2,77.5,-5.8,129,1353,0.00,2.45,0.00,0.000,6,0.000,0.034,2740,1811,3722
$GC,1545,-1.63,-122.2,88.4,-5.9,144,1546,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1811,3722
$GC,1737,-1.63,-122.2,99.8,-6.2,159,1738,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1811,3722
$STATE,1744,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1744,begin apogee
$GC,1750,-0.38,0.0,100.6,6.1,160,1855,1.38,0.00,98.35,0.684,6,0.102,0.000,3013,1729,3217
$STATE,1856,end apogee,CONTROL_FINISHED_OK
$STATE,1856,begin climb
$GC,1859,1.63,122.2,102.3,0.0,169,1964,2.03,2.60,95.47,0.653,4,0.050,0.050,3461,3128,2718
$GC,1982,1.63,122.2,92.2,11.7,179,1990,0.00,2.53,0.00,0.000,6,0.000,0.038,3461,1742,2717
$GC,2179,1.63,122.2,68.2,12.4,195,2183,0.00,2.75,0.00,0.000,4,0.000,0.085,3461,325,2716
$GC,2291,1.63,122.2,53.4,12.9,203,2295,0.00,2.47,0.00,0.000,6,0.000,0.034,3461,1737,2716
$GC,2486,1.63,122.2,30.0,12.0,218,2487,0.00,0.00,0.00,0.000,6,0.000,0.000,3461,1738,2716
$GC,2680,1.63,122.2,7.6,9.8,241,2687,0.00,2.70,0.00,0.000,4,0.000,0.078,3461,332,2715
$STATE,2704,end climb,SURFACE_DEPTH_REACHED
$STATE,2704,begin surface coast
$FINISH,0.2,1.022191
$STATE,2761,end surface coast,CONTROL_FINISHED_OK
$STATE,2761,begin surface
$SM_CCo,2789,119.30,0.581,0,0,1586,400.08
$SM_GC,0.80,0.00,0.00,119.30,0.000,0.000,0.581,462,1820,1586,-12.13,0.59,400.08
$IRIDIUM_FIX,4722.92,-12251.79,300907,161630
$TT8_MAMPS,0.06903
$HUMID,2002
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.2,51.2
$24V_AH,23.9,18.227
$10V_AH,10.1,39.502
$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,31.600,36.125,193.825,119.300,0.000,38.965,41.814,148.011,0.500,0.000,3385.000,32.471,479.458,1566.700,433.797,474.208,346.847,33.328,699.109,0.000,428.261,0.000,6.635
$DEVICE_MAMPS,210.158,85.137,684.164,581.386,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,169.703,0.000,0.000,0.000,0.000,0.000,0.000,3385.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6456,253
$CFSIZE,260034560,252407808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300907,141638,4739.480,-12252.848,30,1.0,30,18.3