version: 66.02
glider: 106
mission: 7
dive: 154
start: 9 30 107 15 19 11
data:
$ID,106
$MISSION,7
$DIVE,154
$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,-46367.027
$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,30
$R_STBD_OVSHOOT,39
$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
$GPS1,151227,4739.466,-12253.153,14,1.2,14,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-54.6
$GPS2,151803,4739.519,-12253.086,12,1.4,12,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.233,-0.038
$KALMAN_X,4549.0,224.1,-22.0,-5855.3,-4.6
$KALMAN_Y,7545.3,433.8,7.8,-8439.3,26.6
$MHEAD_RNG_PITCHd_Wd,81.0,859,-19.2,-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,-1.63,-122.2,0.0,0.0,0,112,0.00,0.00,-85.12,0.000,2,0.000,0.000,458,1813,3400
$GC,114,-1.63,-122.2,2.2,-5.3,14,146,14.62,2.50,-9.73,0.000,4,0.208,0.061,2742,3191,3718
$GC,397,-1.63,-122.2,20.0,-7.1,57,403,0.00,2.45,0.00,0.000,6,0.000,0.038,2742,1809,3720
$GC,466,-1.63,-122.2,24.8,-6.9,63,470,0.00,2.50,0.00,0.000,4,0.000,0.048,2743,3193,3720
$GC,544,-1.63,-122.2,30.3,-6.5,68,551,0.00,2.50,0.00,0.000,6,0.000,0.037,2743,1800,3720
$GC,740,-1.63,-122.2,42.4,-5.6,84,741,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1800,3721
$GC,930,-1.63,-122.2,53.1,-6.5,99,931,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,1800,3721
$GC,1120,-1.63,-122.2,65.6,-6.0,114,1124,0.00,2.53,0.00,0.000,4,0.000,0.049,2742,3203,3721
$GC,1246,-1.63,-122.2,73.7,-6.5,123,1250,0.00,2.55,0.00,0.000,6,0.000,0.037,2742,1800,3721
$GC,1441,-1.63,-122.2,85.2,-5.9,138,1442,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,1800,3721
$GC,1632,-1.63,-122.2,97.4,-6.4,153,1633,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,1800,3720
$STATE,1679,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1679,begin apogee
$GC,1684,-0.38,0.0,100.2,5.6,157,1790,1.38,0.00,98.12,0.687,6,0.104,0.000,3015,1728,3217
$STATE,1791,end apogee,CONTROL_FINISHED_OK
$STATE,1791,begin climb
$GC,1793,1.63,122.2,101.5,0.0,166,1894,1.95,0.00,95.50,0.655,6,0.055,0.000,3454,1728,2719
$GC,2079,1.63,122.2,73.7,11.3,189,2080,0.00,0.00,0.00,0.000,6,0.000,0.000,3454,1728,2716
$GC,2269,1.63,122.2,52.1,11.6,204,2270,0.00,0.00,0.00,0.000,6,0.000,0.000,3454,1727,2716
$GC,2458,1.63,122.2,29.5,12.1,219,2462,0.00,2.55,0.00,0.000,4,0.000,0.051,3454,3124,2715
$GC,2477,1.63,122.2,27.1,12.2,220,2481,0.00,2.47,0.00,0.000,6,0.000,0.040,3454,1739,2715
$STATE,2670,end climb,SURFACE_DEPTH_REACHED
$STATE,2670,begin surface coast
$FINISH,0.2,1.021937
$STATE,2746,end surface coast,CONTROL_FINISHED_OK
$STATE,2746,begin surface
$SM_CCo,2773,119.47,0.584,0,0,1586,400.08
$SM_GC,0.77,0.00,0.00,119.47,0.000,0.000,0.584,461,1799,1586,-12.14,-0.03,400.08
$IRIDIUM_FIX,4722.92,-12253.53,300907,181834
$TT8_MAMPS,0.069797
$HUMID,2018
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.6,51.7
$24V_AH,23.8,18.384
$10V_AH,10.1,39.640
$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,31.575,20.275,193.625,119.475,0.000,40.824,31.704,149.235,0.500,33.200,3311.800,12.138,474.167,1586.469,410.343,448.698,339.048,33.327,669.881,0.000,425.184,0.000,5.485
$DEVICE_MAMPS,207.857,77.467,687.232,583.687,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,172.057,0.000,0.000,0.000,0.000,0.000,0.000,3345.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6457,256
$CFSIZE,260034560,252350464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300907,160829,4739.536,-12252.632,11,3.5,30,18.3