version: 66.02
glider: 106
mission: 7
dive: 104
start: 9 28 107 16 55 40
data:
$ID,106
$MISSION,7
$DIVE,104
$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,-45273.809
$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,36
$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
$GPS1,164607,4739.512,-12253.144,13,2.0,23,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-60.0
$GPS2,165433,4739.544,-12253.101,10,1.7,10,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.213,-0.102
$KALMAN_X,2781.3,66.2,-12.1,-3957.0,101.8
$KALMAN_Y,1584.9,-36.6,-53.0,-1902.2,125.2
$MHEAD_RNG_PITCHd_Wd,97.2,884,-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,22,begin dive
$GC,24,-1.63,-122.2,0.0,0.0,0,93,0.00,0.00,-67.35,0.000,2,0.000,0.000,464,1819,3069
$GC,96,-1.63,-122.2,2.2,-4.9,11,139,14.90,2.50,-21.83,0.000,4,0.217,0.061,2739,3202,3718
$GC,251,-1.63,-122.2,11.1,-7.4,35,258,0.00,2.47,0.00,0.000,6,0.000,0.038,2739,1801,3720
$GC,323,-1.63,-122.2,15.7,-6.2,46,330,0.00,2.53,0.00,0.000,4,0.000,0.048,2739,3201,3720
$GC,421,-1.63,-122.2,21.5,-6.1,59,428,0.00,2.47,0.00,0.000,6,0.000,0.037,2739,1799,3720
$GC,617,-1.63,-122.2,31.8,-5.2,75,621,0.00,2.65,0.00,0.000,4,0.000,0.073,2740,391,3721
$GC,655,-1.63,-122.2,34.0,-5.9,77,663,0.00,2.47,0.00,0.000,6,0.000,0.034,2740,1799,3721
$GC,851,-1.63,-122.2,44.8,-5.9,93,853,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,1799,3722
$GC,1041,-1.63,-122.2,56.4,-6.2,108,1045,0.00,2.50,0.00,0.000,4,0.000,0.050,2740,3192,3722
$GC,1113,-1.63,-122.2,60.9,-6.6,113,1117,0.00,2.47,0.00,0.000,6,0.000,0.039,2739,1792,3722
$GC,1315,-1.63,-122.2,73.4,-5.8,129,1316,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1792,3722
$GC,1505,-1.63,-122.2,84.8,-6.1,144,1506,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1792,3722
$GC,1694,-1.63,-122.2,96.9,-6.3,159,1695,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1792,3721
$STATE,1754,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1755,begin apogee
$GC,1760,-0.38,0.0,100.7,5.8,164,1866,1.38,0.00,97.93,0.674,6,0.104,0.000,3012,1731,3217
$STATE,1867,end apogee,CONTROL_FINISHED_OK
$STATE,1867,begin climb
$GC,1868,1.63,122.2,101.3,0.0,173,1969,2.03,0.00,95.30,0.648,6,0.052,0.000,3456,1731,2718
$GC,2151,1.63,122.2,72.3,12.3,196,2156,0.00,2.67,0.00,0.000,4,0.000,0.079,3456,337,2716
$GC,2210,1.63,122.2,65.0,12.7,200,2214,0.00,2.45,0.00,0.000,6,0.000,0.036,3456,1727,2717
$GC,2412,1.63,122.2,42.3,11.0,216,2413,0.00,0.00,0.00,0.000,6,0.000,0.000,3457,1729,2716
$GC,2604,1.63,122.2,21.1,11.8,231,2605,0.00,0.00,0.00,0.000,6,0.000,0.000,3458,1729,2716
$STATE,2744,end climb,SURFACE_DEPTH_REACHED
$STATE,2745,begin surface coast
$FINISH,1.6,1.020812
$STATE,2805,end surface coast,CONTROL_FINISHED_OK
$STATE,2806,begin surface
$SM_CCo,2832,119.03,0.581,0,0,1587,400.08
$SM_GC,1.08,0.00,0.00,119.03,0.000,0.000,0.581,463,1803,1587,-12.13,0.11,400.08
$IRIDIUM_FIX,4722.92,-12251.79,280907,202053
$TT8_MAMPS,0.071331
$HUMID,2052
$INTERNAL_PRESSURE,8.42806
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.1,51.1
$24V_AH,23.9,14.545
$10V_AH,10.1,36.174
$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,32.500,25.400,193.225,119.025,0.000,75.825,117.280,141.950,0.500,20.030,3562.970,10.913,486.243,1693.596,423.083,444.258,439.318,33.338,679.567,0.000,422.312,0.000,5.483
$DEVICE_MAMPS,217.061,85.137,674.193,580.619,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,175.203,0.000,0.000,0.000,0.000,0.000,0.000,3583.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6438,261
$CFSIZE,260034560,253902848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280907,174553,4739.468,-12252.620,8,4.3,27,18.3