version: 66.02
glider: 106
mission: 7
dive: 164
start: 9 30 107 23 53 16
data:
$ID,106
$MISSION,7
$DIVE,164
$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,-46567.977
$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,24
$R_STBD_OVSHOOT,47
$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
$GPS1,234307,4739.458,-12253.267,11,1.2,27,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-56.0
$GPS2,235209,4739.442,-12253.269,11,1.7,11,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.234,0.028
$KALMAN_X,6042.0,291.5,122.4,-7783.4,-90.1
$KALMAN_Y,9328.6,302.2,128.8,-10352.1,-41.0
$MHEAD_RNG_PITCHd_Wd,65.0,1083,-19.2,-9.524
$D_GRID,119
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.63,-122.2,0.0,0.0,0,112,0.00,0.00,-85.07,0.000,2,0.000,0.000,460,1824,3355
$GC,115,-1.63,-122.2,2.1,-4.9,14,152,14.65,2.50,-12.77,0.000,4,0.210,0.062,2741,3182,3719
$GC,404,-1.63,-122.2,19.4,-4.9,58,410,0.00,2.45,0.00,0.000,6,0.000,0.038,2741,1797,3721
$GC,479,-1.63,-122.2,23.5,-5.7,65,483,0.00,2.50,0.00,0.000,4,0.000,0.047,2741,3182,3721
$GC,644,-1.63,-122.2,33.1,-5.7,77,648,0.00,2.45,0.00,0.000,6,0.000,0.038,2741,1795,3722
$GC,839,-1.63,-122.2,44.0,-5.6,92,844,0.00,2.65,0.00,0.000,4,0.000,0.074,2742,394,3722
$GC,885,-1.63,-122.2,47.1,-6.6,95,889,0.00,2.45,0.00,0.000,6,0.000,0.035,2741,1800,3722
$GC,1080,-1.63,-122.2,59.4,-6.5,110,1085,0.00,2.67,0.00,0.000,4,0.000,0.073,2742,391,3722
$GC,1154,-1.63,-122.2,63.9,-6.7,115,1158,0.00,2.45,0.00,0.000,6,0.000,0.035,2741,1799,3722
$GC,1349,-1.63,-122.2,75.9,-5.7,130,1354,0.00,2.50,0.00,0.000,4,0.000,0.050,2742,3197,3721
$GC,1427,-1.63,-122.2,80.7,-6.0,135,1434,0.00,2.50,0.00,0.000,6,0.000,0.038,2742,1796,3721
$GC,1624,-1.63,-122.2,91.4,-5.2,151,1625,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1796,3722
$STATE,1785,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1785,begin apogee
$GC,1791,-0.38,0.0,100.2,5.3,164,1897,1.38,0.00,98.30,0.685,6,0.104,0.000,3014,1722,3217
$STATE,1897,end apogee,CONTROL_FINISHED_OK
$STATE,1898,begin climb
$GC,1900,1.63,122.2,100.7,0.0,173,2005,2.03,0.00,95.28,0.652,6,0.055,0.000,3454,1722,2718
$GC,2193,1.63,122.2,70.2,12.4,197,2198,0.00,2.67,0.00,0.000,4,0.000,0.081,3455,331,2716
$GC,2231,1.63,122.2,65.2,13.2,199,2239,0.00,2.50,0.00,0.000,6,0.000,0.036,3455,1732,2715
$GC,2428,1.63,122.2,41.9,11.5,215,2429,0.00,0.00,0.00,0.000,6,0.000,0.000,3455,1732,2715
$GC,2618,1.63,122.2,19.2,12.1,230,2624,0.00,2.67,0.00,0.000,4,0.000,0.077,3455,340,2716
$GC,2657,1.63,122.2,13.8,13.4,236,2663,0.00,2.45,0.00,0.000,6,0.000,0.035,3454,1738,2715
$STATE,2727,end climb,SURFACE_DEPTH_REACHED
$STATE,2727,begin surface coast
$FINISH,1.4,1.021946
$STATE,2774,end surface coast,CONTROL_FINISHED_OK
$STATE,2774,begin surface
$SM_CCo,2802,119.38,0.584,0,0,1587,400.08
$SM_GC,0.79,0.00,0.00,119.38,0.000,0.000,0.584,462,1818,1587,-12.13,0.54,400.08
$IRIDIUM_FIX,4722.92,-12247.38,011007,030313
$TT8_MAMPS,0.06903
$HUMID,2026
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,19.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.0,51.2
$24V_AH,23.9,19.142
$10V_AH,10.1,40.285
$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,32.125,35.650,193.575,119.375,0.000,76.887,76.426,206.710,0.500,0.000,3590.000,11.946,475.299,1626.566,440.116,462.706,487.929,33.326,709.627,0.000,437.642,0.000,5.483
$DEVICE_MAMPS,210.158,80.535,684.931,583.687,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,170.306,0.000,0.000,0.000,0.000,0.000,0.000,3590.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6449,254
$CFSIZE,260034560,252047360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011007,004239,4739.397,-12252.932,7,1.8,7,18.3