version: 66.02
glider: 106
mission: 7
dive: 138
start: 9 30 107 0 25 48
data:
$ID,106
$MISSION,7
$DIVE,138
$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,-46023.055
$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,18
$R_STBD_OVSHOOT,32
$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
$GPS1,001851,4739.495,-12252.479,10,1.7,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-60.0
$GPS2,002439,4739.556,-12252.396,12,1.6,12,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.235,-0.027
$KALMAN_X,2834.9,52.8,58.1,-3187.4,-24.3
$KALMAN_Y,4020.0,204.4,133.5,-4742.7,-27.1
$MHEAD_RNG_PITCHd_Wd,245.2,1020,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-1.63,-122.2,0.0,0.0,0,98,0.00,0.00,-73.22,0.000,2,0.000,0.000,464,1807,3196
$GC,101,-1.63,-122.2,2.3,-4.9,12,139,14.62,2.75,-16.90,0.000,4,0.210,0.082,2739,387,3719
$GC,238,-1.63,-122.2,8.7,-3.7,33,245,0.00,2.47,0.00,0.000,6,0.000,0.033,2739,1814,3721
$GC,310,-1.63,-122.2,12.3,-6.0,44,316,0.00,2.47,0.00,0.000,4,0.000,0.050,2739,3191,3721
$GC,349,-1.63,-122.2,14.6,-6.3,50,356,0.00,2.47,0.00,0.000,6,0.000,0.037,2739,1789,3721
$GC,421,-1.63,-122.2,18.6,-5.7,61,427,0.00,2.53,0.00,0.000,4,0.000,0.048,2739,3188,3721
$GC,452,-1.63,-122.2,20.3,-5.7,65,459,0.00,2.47,0.00,0.000,6,0.000,0.035,2739,1801,3721
$GC,649,-1.63,-122.2,31.2,-5.2,81,650,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1801,3721
$GC,841,-1.63,-122.2,42.1,-5.6,96,842,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1801,3721
$GC,1027,-1.63,-122.2,51.6,-4.9,111,1028,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1801,3721
$GC,1218,-1.63,-122.2,62.1,-5.4,126,1219,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1801,3721
$GC,1407,-1.63,-122.2,73.1,-6.7,141,1408,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1801,3722
$GC,1596,-1.63,-122.2,85.4,-6.3,156,1598,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1800,3721
$GC,1787,-1.63,-122.2,96.3,-5.8,171,1791,0.00,2.65,0.00,0.000,4,0.000,0.073,2739,391,3722
$STATE,1844,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1844,begin apogee
$GC,1851,-0.38,0.0,100.3,7.0,175,1955,1.35,0.00,98.10,0.679,6,0.100,0.000,3012,1747,3218
$STATE,1956,end apogee,CONTROL_FINISHED_OK
$STATE,1956,begin climb
$GC,1958,1.63,122.2,101.9,0.0,184,2064,2.00,2.83,95.45,0.653,4,0.054,0.075,3460,328,2718
$GC,2174,1.63,122.2,80.0,13.4,200,2182,0.00,2.47,0.00,0.000,6,0.000,0.034,3460,1721,2717
$GC,2371,1.63,122.2,56.7,11.8,216,2375,0.00,2.67,0.00,0.000,4,0.000,0.076,3460,333,2716
$GC,2416,1.63,122.2,50.8,13.2,219,2420,0.00,2.47,0.00,0.000,6,0.000,0.035,3460,1742,2715
$GC,2618,1.63,122.2,26.3,11.6,235,2619,0.00,0.00,0.00,0.000,6,0.000,0.000,3460,1745,2716
$STATE,2805,end climb,SURFACE_DEPTH_REACHED
$STATE,2805,begin surface coast
$FINISH,0.6,1.021882
$STATE,2854,end surface coast,CONTROL_FINISHED_OK
$STATE,2854,begin surface
$SM_CCo,2880,119.62,0.584,0,0,1586,400.08
$SM_GC,0.92,0.00,0.00,119.62,0.000,0.000,0.584,462,1806,1586,-12.13,0.17,400.08
$IRIDIUM_FIX,4719.74,-12254.47,300907,030315
$TT8_MAMPS,0.069797
$HUMID,2019
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.4,51.2
$24V_AH,23.9,17.160
$10V_AH,10.1,38.528
$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,31.500,30.725,193.550,119.625,0.000,40.089,38.098,156.732,0.500,0.000,3461.000,12.698,497.708,1643.471,417.379,469.726,349.858,33.329,693.122,0.000,443.487,0.000,5.486
$DEVICE_MAMPS,210.158,83.603,678.795,583.687,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,178.505,0.000,0.000,0.000,0.000,0.000,0.000,3461.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6452,266
$CFSIZE,260034560,252837888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300907,011653,4739.607,-12252.793,12,4.7,31,18.3