version: 66.02
glider: 106
mission: 7
dive: 137
start: 9 29 107 23 27 4
data:
$ID,106
$MISSION,7
$DIVE,137
$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,-46009.727
$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,19
$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
$GPS1,231655,4739.430,-12252.892,25,1.8,42,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-56.4
$GPS2,232556,4739.536,-12252.816,12,1.9,12,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.232,-0.046
$KALMAN_X,2789.9,32.7,96.2,-3684.2,-23.8
$KALMAN_Y,3885.9,183.6,180.3,-4671.6,-15.5
$MHEAD_RNG_PITCHd_Wd,82.9,533,-19.2,-9.524
$D_GRID,122
$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,-122.2,0.0,0.0,0,99,0.00,0.00,-73.18,0.000,2,0.000,0.000,462,1808,3187
$GC,102,-1.63,-122.2,2.1,-4.1,12,140,14.73,2.58,-17.60,0.000,4,0.212,0.061,2741,3201,3718
$GC,391,-1.63,-122.2,17.4,-5.3,56,398,0.00,2.50,0.00,0.000,6,0.000,0.038,2741,1788,3721
$GC,462,-1.63,-122.2,21.6,-6.2,65,463,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,1789,3721
$GC,654,-1.63,-122.2,31.9,-5.3,80,655,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,1789,3721
$GC,842,-1.63,-122.2,42.5,-5.8,95,843,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,1788,3722
$GC,1030,-1.63,-122.2,53.4,-5.6,110,1034,0.00,2.53,0.00,0.000,4,0.000,0.048,2741,3191,3722
$GC,1054,-1.63,-122.2,54.7,-5.3,111,1062,0.00,2.47,0.00,0.000,6,0.000,0.036,2741,1800,3722
$GC,1251,-1.63,-122.2,64.9,-5.0,127,1252,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,1800,3722
$GC,1441,-1.63,-122.2,74.0,-5.1,142,1445,0.00,2.47,0.00,0.000,4,0.000,0.048,2741,3192,3722
$GC,1533,-1.63,-122.2,79.5,-6.0,149,1538,0.00,2.45,0.00,0.000,6,0.000,0.037,2741,1799,3722
$GC,1728,-1.63,-122.2,90.5,-5.5,164,1733,0.00,2.50,0.00,0.000,4,0.000,0.048,2741,3191,3722
$GC,1766,-1.63,-122.2,92.8,-6.4,166,1774,0.00,2.47,0.00,0.000,6,0.000,0.036,2741,1799,3722
$STATE,1898,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1898,begin apogee
$GC,1903,-0.38,0.0,100.3,5.7,177,2009,1.38,0.00,98.40,0.683,6,0.104,0.000,3014,1725,3217
$STATE,2010,end apogee,CONTROL_FINISHED_OK
$STATE,2010,begin climb
$GC,2012,1.63,122.2,100.7,0.0,186,2117,2.03,0.00,95.78,0.653,6,0.054,0.000,3457,1725,2718
$GC,2306,1.63,122.2,71.0,11.3,210,2310,0.00,2.58,0.00,0.000,4,0.000,0.051,3457,3134,2717
$GC,2338,1.63,122.2,67.2,12.0,212,2342,0.00,2.53,0.00,0.000,6,0.000,0.038,3456,1742,2717
$GC,2540,1.63,122.2,43.8,11.3,228,2544,0.00,2.72,0.00,0.000,4,0.000,0.082,3457,328,2717
$GC,2625,1.63,122.2,32.3,13.8,234,2630,0.00,2.45,0.00,0.000,6,0.000,0.034,3457,1734,2716
$GC,2825,1.63,122.2,8.8,12.1,256,2830,0.00,0.00,0.00,0.000,6,0.000,0.000,3457,1737,2716
$STATE,2862,end climb,SURFACE_DEPTH_REACHED
$STATE,2862,begin surface coast
$FINISH,1.8,1.021587
$STATE,2917,end surface coast,CONTROL_FINISHED_OK
$STATE,2917,begin surface
$SM_CCo,2943,119.43,0.584,0,0,1586,400.08
$SM_GC,0.93,0.00,0.00,119.43,0.000,0.000,0.584,464,1807,1586,-12.13,0.17,400.08
$IRIDIUM_FIX,4722.92,-12253.53,300907,030348
$TT8_MAMPS,0.06903
$HUMID,2035
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.5,51.5
$24V_AH,23.9,17.084
$10V_AH,10.1,38.457
$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,32.250,30.475,194.175,119.425,0.000,81.287,70.197,209.347,0.500,0.000,3748.000,12.972,504.147,1746.567,428.913,472.751,481.375,33.330,701.320,0.000,446.632,0.000,5.484
$DEVICE_MAMPS,212.459,82.069,682.630,583.687,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,181.350,0.000,0.000,0.000,0.000,0.000,0.000,3748.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6449,270
$CFSIZE,260034560,252870656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300907,001851,4739.495,-12252.479,10,1.7,10,18.3