version: 66.02
glider: 106
mission: 7
dive: 62
start: 9 27 107 2 17 29
data:
$ID,106
$MISSION,7
$DIVE,62
$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,-44413.238
$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,31
$R_STBD_OVSHOOT,26
$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
$GPS1,021105,4739.621,-12252.665,14,6.4,33,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-63.3
$GPS2,021621,4739.632,-12252.653,17,2.0,17,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.199,-0.126
$KALMAN_X,2171.4,-61.9,-105.3,-2568.6,34.3
$KALMAN_Y,1892.1,-24.9,-94.5,-2017.9,95.4
$MHEAD_RNG_PITCHd_Wd,219.3,750,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-1.63,-122.2,0.0,0.0,0,79,0.00,0.00,-55.72,0.000,2,0.000,0.000,460,1996,2848
$GC,82,-1.63,-122.2,2.1,-3.3,9,138,14.60,2.70,-35.42,0.000,4,0.211,0.078,2722,594,3719
$GC,216,-1.63,-122.2,9.1,-7.1,30,223,0.00,2.47,0.00,0.000,6,0.000,0.035,2721,1998,3720
$GC,288,-1.63,-122.2,14.1,-5.9,41,294,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1998,3721
$GC,360,-1.63,-122.2,18.4,-6.0,52,366,0.00,2.62,0.00,0.000,4,0.000,0.065,2722,596,3721
$GC,484,-1.63,-122.2,26.9,-6.0,63,491,0.00,2.47,0.00,0.000,6,0.000,0.034,2721,1989,3722
$GC,680,-1.63,-122.2,39.3,-6.4,79,684,0.00,2.62,0.00,0.000,4,0.000,0.067,2721,593,3723
$GC,738,-1.63,-122.2,43.6,-7.2,83,745,0.00,2.47,0.00,0.000,6,0.000,0.035,2722,1985,3723
$GC,934,-1.63,-122.2,57.3,-6.8,99,935,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1985,3723
$GC,1124,-1.63,-122.2,69.9,-6.5,114,1125,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1985,3723
$GC,1314,-1.63,-122.2,81.1,-5.8,129,1318,0.00,2.62,0.00,0.000,4,0.000,0.068,2722,590,3723
$GC,1385,-1.63,-122.2,85.5,-6.4,134,1390,0.00,2.47,0.00,0.000,6,0.000,0.036,2722,1985,3723
$GC,1587,-1.63,-122.2,97.8,-6.8,150,1588,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,1985,3723
$STATE,1623,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1623,begin apogee
$GC,1628,-0.38,0.0,100.1,6.3,153,1734,1.35,0.00,98.28,0.676,6,0.095,0.000,2994,1926,3218
$STATE,1735,end apogee,CONTROL_FINISHED_OK
$STATE,1735,begin climb
$GC,1737,1.63,122.2,101.3,0.0,162,1837,2.03,0.00,95.45,0.652,6,0.051,0.000,3440,1926,2718
$GC,2019,1.63,122.2,73.8,11.1,185,2024,0.00,2.65,0.00,0.000,4,0.000,0.074,3439,536,2717
$GC,2098,1.63,122.2,64.3,12.5,191,2102,0.00,2.47,0.00,0.000,6,0.000,0.036,3440,1922,2716
$GC,2300,1.63,122.2,41.2,11.3,207,2304,0.00,2.65,0.00,0.000,4,0.000,0.072,3440,533,2716
$GC,2344,1.63,122.2,35.8,11.9,210,2353,0.00,2.50,0.00,0.000,6,0.000,0.036,3439,1930,2716
$GC,2543,1.63,122.2,13.6,10.2,230,2550,0.00,2.65,0.00,0.000,4,0.000,0.072,3440,536,2716
$STATE,2628,end climb,SURFACE_DEPTH_REACHED
$STATE,2628,begin surface coast
$FINISH,2.2,1.020536
$STATE,2661,end surface coast,CONTROL_FINISHED_OK
$STATE,2661,begin surface
$SM_CCo,2689,121.60,0.586,0,0,1586,400.08
$SM_GC,1.11,0.00,0.00,121.60,0.000,0.000,0.586,463,1998,1586,-12.04,0.23,400.08
$IRIDIUM_FIX,4722.92,-12253.53,270907,050503
$TT8_MAMPS,0.070564
$HUMID,2022
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.3,51.2
$24V_AH,23.8,11.108
$10V_AH,10.1,33.281
$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,32.000,36.125,193.725,121.600,0.000,35.751,54.408,128.638,0.500,24.900,3236.100,17.028,466.866,1502.419,442.464,447.070,298.714,33.333,702.489,0.000,419.939,0.000,5.483
$DEVICE_MAMPS,210.925,79.001,676.494,585.988,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,166.039,0.000,0.000,0.000,0.000,0.000,0.000,3261.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6445,248
$CFSIZE,260034560,255197184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270907,030503,4739.612,-12252.903,11,1.4,11,18.3