version: 66.02
glider: 106
mission: 7
dive: 107
start: 9 28 107 19 33 59
data:
$ID,106
$MISSION,7
$DIVE,107
$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,-45338.984
$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,37
$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
$GPS1,192714,4739.454,-12252.655,10,1.7,15,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-62.9
$GPS2,193251,4739.490,-12252.631,13,1.7,13,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.233,-0.040
$KALMAN_X,2988.2,108.1,129.7,-3759.8,56.7
$KALMAN_Y,1722.8,24.1,133.9,-2387.1,59.5
$MHEAD_RNG_PITCHd_Wd,241.9,714,-19.2,-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,-1.63,-122.2,0.0,0.0,0,92,0.00,0.00,-67.38,0.000,2,0.000,0.000,461,1809,3074
$GC,95,-1.63,-122.2,2.1,-4.2,11,139,14.90,2.72,-23.23,0.000,4,0.216,0.081,2740,400,3718
$GC,224,-1.63,-122.2,9.4,-6.7,31,231,0.00,2.45,0.00,0.000,6,0.000,0.035,2740,1801,3720
$GC,296,-1.63,-122.2,13.1,-5.0,42,303,0.00,2.50,0.00,0.000,4,0.000,0.050,2740,3194,3720
$GC,473,-1.63,-122.2,23.2,-5.9,65,480,0.00,2.50,0.00,0.000,6,0.000,0.038,2741,1799,3720
$GC,669,-1.63,-122.2,34.5,-5.9,81,670,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,1799,3722
$GC,859,-1.63,-122.2,45.1,-5.7,96,864,0.00,2.53,0.00,0.000,4,0.000,0.049,2740,3199,3722
$GC,897,-1.63,-122.2,47.6,-6.1,98,905,0.00,2.50,0.00,0.000,6,0.000,0.038,2740,1802,3722
$GC,1093,-1.63,-122.2,59.4,-6.0,114,1095,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,1801,3722
$GC,1284,-1.63,-122.2,70.5,-6.0,129,1285,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,1801,3721
$GC,1475,-1.63,-122.2,82.3,-6.0,144,1476,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,1801,3722
$GC,1662,-1.63,-122.2,93.1,-5.8,159,1667,0.00,2.65,0.00,0.000,4,0.000,0.074,2741,396,3722
$GC,1761,-1.63,-122.2,98.9,-6.0,166,1765,0.00,2.45,0.00,0.000,6,0.000,0.036,2741,1802,3721
$STATE,1784,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1784,begin apogee
$GC,1789,-0.38,0.0,100.4,5.9,168,1895,1.38,0.00,98.47,0.675,6,0.100,0.000,3015,1723,3217
$STATE,1896,end apogee,CONTROL_FINISHED_OK
$STATE,1896,begin climb
$GC,1898,1.63,122.2,101.1,0.0,177,2003,2.00,0.00,95.88,0.649,6,0.051,0.000,3456,1723,2717
$GC,2191,1.63,122.2,70.8,11.9,201,2196,0.00,2.65,0.00,0.000,4,0.000,0.077,3456,342,2716
$GC,2316,1.63,122.2,54.8,12.7,210,2323,0.00,2.47,0.00,0.000,6,0.000,0.036,3457,1728,2716
$GC,2512,1.63,122.2,33.5,10.9,226,2513,0.00,0.00,0.00,0.000,6,0.000,0.000,3456,1729,2716
$GC,2704,1.63,122.2,12.6,10.1,246,2710,0.00,0.00,0.00,0.000,6,0.000,0.000,3456,1730,2716
$GC,2776,1.63,126.6,5.9,9.3,257,2784,0.00,2.75,2.72,0.722,4,0.000,0.077,3457,336,2701
$STATE,2788,end climb,SURFACE_DEPTH_REACHED
$STATE,2788,begin surface coast
$FINISH,0.3,1.000190
$STATE,2862,end surface coast,CONTROL_FINISHED_OK
$STATE,2862,begin surface
$SM_CCo,2890,117.57,0.581,0,0,1586,400.08
$SM_GC,0.98,0.00,0.00,117.57,0.000,0.000,0.581,461,1811,1586,-12.14,0.31,400.08
$IRIDIUM_FIX,4722.92,-12251.79,280907,222256
$TT8_MAMPS,0.06903
$HUMID,2042
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.3,51.4
$24V_AH,23.3,14.781
$10V_AH,10.1,36.372
$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,31.975,30.950,197.075,117.575,0.000,38.198,44.329,147.458,0.500,20.020,3438.980,13.618,501.198,1630.922,437.354,471.740,333.795,33.330,707.617,0.000,445.983,0.000,5.484
$DEVICE_MAMPS,216.294,81.302,721.747,581.386,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,181.212,0.000,0.000,0.000,0.000,0.000,0.000,3459.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6453,270
$CFSIZE,260034560,253808640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280907,202507,4739.483,-12253.080,17,1.6,27,18.3