version: 66.02
glider: 106
mission: 7
dive: 20
start: 9 25 107 13 36 40
data:
$ID,106
$MISSION,7
$DIVE,20
$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,-43430.965
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,460
$PITCH_MAX,3783
$C_PITCH,3080
$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,1990
$C_ROLL_CLIMB,1930
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,16
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,390
$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
$GPS1,132951,4739.105,-12252.260,12,1.5,12,18.3
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,3
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-63.9
$GPS2,133533,4739.143,-12252.247,13,1.6,13,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H1
$TGT_LATLONG,4739.000,-12252.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.121,-0.171
$KALMAN_X,1039.5,95.1,-39.1,-1151.6,54.0
$KALMAN_Y,1535.2,46.4,-115.3,-2617.7,99.9
$MHEAD_RNG_PITCHd_Wd,126.4,406,-21.8,-9.524
$D_GRID,127
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,22,-1.79,-95.2,0.0,0.0,0,79,0.00,0.00,-55.35,0.000,2,0.000,0.000,460,1990,2826
$GC,81,-1.83,-122.2,2.0,-3.5,9,137,14.18,0.00,-38.42,0.000,6,0.201,0.000,2677,1990,3716
$GC,202,-1.83,-122.2,7.1,-6.5,28,208,0.00,2.58,0.00,0.000,4,0.000,0.058,2677,3393,3719
$GC,339,-1.83,-122.2,18.4,-7.7,49,346,0.00,2.55,0.00,0.000,6,0.000,0.043,2677,1995,3719
$GC,416,-1.83,-122.2,23.4,-6.4,57,420,0.00,2.67,0.00,0.000,4,0.000,0.070,2677,589,3720
$GC,548,-1.83,-122.2,33.9,-8.4,67,552,0.00,2.50,0.00,0.000,6,0.000,0.038,2677,1995,3720
$GC,749,-1.83,-122.2,49.8,-8.2,83,757,0.00,2.67,0.00,0.000,4,0.000,0.069,2677,588,3721
$GC,788,-1.83,-122.2,53.0,-8.1,86,793,0.00,2.53,0.00,0.000,6,0.000,0.038,2677,2011,3721
$GC,990,-1.83,-122.2,69.2,-8.0,102,995,0.00,2.70,0.00,0.000,4,0.000,0.069,2677,590,3721
$GC,1022,-1.83,-122.2,71.9,-8.5,104,1030,0.00,2.50,0.00,0.000,6,0.000,0.037,2677,1992,3721
$GC,1218,-1.83,-122.2,86.7,-7.3,120,1223,0.00,2.67,0.00,0.000,4,0.000,0.069,2677,581,3721
$GC,1263,-1.83,-122.2,90.3,-8.1,123,1271,0.00,2.50,0.00,0.000,6,0.000,0.038,2677,1987,3721
$STATE,1395,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1395,begin apogee
$GC,1399,-0.38,0.0,100.3,7.9,134,1506,1.58,0.00,97.78,0.679,6,0.100,0.000,2990,1920,3217
$STATE,1507,end apogee,CONTROL_FINISHED_OK
$STATE,1507,begin climb
$GC,1508,1.83,122.2,101.7,0.0,143,1615,2.22,2.70,95.28,0.658,4,0.048,0.074,3484,537,2719
$GC,1645,1.83,122.2,89.7,12.6,154,1654,0.00,2.58,0.00,0.000,6,0.000,0.038,3484,1935,2718
$GC,1843,1.83,122.2,65.6,12.3,170,1848,0.00,2.70,0.00,0.000,4,0.000,0.073,3484,533,2717
$GC,1941,1.83,122.2,52.4,13.9,177,1946,0.00,2.50,0.00,0.000,6,0.000,0.038,3484,1927,2717
$GC,2143,1.83,122.2,27.0,12.3,193,2147,0.00,2.70,0.00,0.000,4,0.000,0.073,3484,540,2717
$GC,2274,1.83,122.2,10.3,12.6,208,2282,0.00,2.50,0.00,0.000,6,0.000,0.038,3484,1933,2716
$STATE,2325,end climb,SURFACE_DEPTH_REACHED
$STATE,2325,begin surface coast
$FINISH,1.2,1.020117
$STATE,2374,end surface coast,CONTROL_FINISHED_OK
$STATE,2374,begin surface
$SM_CCo,2399,119.80,0.589,0,0,1587,400.08
$SM_GC,1.18,0.00,0.00,119.80,0.000,0.000,0.589,462,2000,1587,-12.04,0.28,400.08
$IRIDIUM_FIX,4719.74,-12235.86,250907,161643
$TT8_MAMPS,0.06903
$HUMID,2016
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.2,51.2
$24V_AH,23.7,7.459
$10V_AH,10.1,30.526
$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,32.150,41.775,193.050,119.800,0.000,37.919,36.569,176.249,0.500,78.850,2886.150,13.617,432.400,1276.774,444.799,420.485,317.671,33.328,702.466,0.000,398.515,0.000,5.499
$DEVICE_MAMPS,200.954,74.399,678.795,589.056,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,149.043,0.000,0.000,0.000,0.000,0.000,0.000,2965.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6432,223
$CFSIZE,260034560,256524288
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,250907,141937,4739.093,-12251.859,10,1.5,26,18.3