version: 66.02
glider: 106
mission: 7
dive: 70
start: 9 27 107 9 28 3
data:
$ID,106
$MISSION,7
$DIVE,70
$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,-44549.535
$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,22
$R_STBD_OVSHOOT,36
$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
$GPS1,091839,4739.375,-12252.672,10,1.6,10,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-64.1
$GPS2,092656,4739.369,-12252.654,11,2.0,16,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.183,0.149
$KALMAN_X,2076.2,-15.6,58.9,-2679.6,-76.7
$KALMAN_Y,1955.5,61.8,70.2,-2814.6,-137.1
$MHEAD_RNG_PITCHd_Wd,32.4,364,-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,22,-1.63,-122.2,0.0,0.0,0,80,0.00,0.00,-55.92,0.000,2,0.000,0.000,462,2002,2853
$GC,83,-1.63,-122.2,2.1,-3.8,9,139,14.60,2.72,-35.70,0.000,4,0.212,0.077,2720,583,3719
$GC,390,-1.63,-122.2,19.7,-6.2,56,396,0.00,2.45,0.00,0.000,6,0.000,0.034,2720,1986,3721
$GC,465,-1.63,-122.2,23.8,-5.4,63,469,0.00,2.62,0.00,0.000,4,0.000,0.064,2719,578,3721
$GC,557,-1.63,-122.2,29.3,-6.1,70,561,0.00,2.47,0.00,0.000,6,0.000,0.034,2720,1996,3722
$GC,759,-1.63,-122.2,41.0,-5.7,86,763,0.00,2.62,0.00,0.000,4,0.000,0.066,2719,588,3723
$GC,851,-1.63,-122.2,46.9,-6.5,93,855,0.00,2.45,0.00,0.000,6,0.000,0.035,2720,1992,3723
$GC,1053,-1.63,-122.2,59.6,-6.2,109,1054,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1992,3723
$GC,1243,-1.63,-122.2,72.3,-6.8,124,1247,0.00,2.53,0.00,0.000,4,0.000,0.056,2720,3394,3723
$GC,1316,-1.63,-122.2,77.5,-7.6,129,1320,0.00,2.47,0.00,0.000,6,0.000,0.038,2720,1982,3723
$GC,1511,-1.63,-122.2,89.8,-6.2,144,1515,0.00,2.58,0.00,0.000,4,0.000,0.068,2720,593,3723
$GC,1656,-1.63,-122.2,99.8,-7.3,155,1660,0.00,2.45,0.00,0.000,6,0.000,0.035,2719,1997,3723
$STATE,1667,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1667,begin apogee
$GC,1671,-0.38,0.0,100.7,7.3,156,1778,1.38,0.00,98.15,0.676,6,0.101,0.000,2995,1921,3217
$STATE,1778,end apogee,CONTROL_FINISHED_OK
$STATE,1778,begin climb
$GC,1780,1.63,122.2,102.1,0.0,165,1883,1.98,2.67,94.97,0.654,4,0.053,0.071,3441,537,2718
$GC,1951,1.63,122.2,88.4,10.5,178,1955,0.00,2.47,0.00,0.000,6,0.000,0.036,3441,1932,2717
$GC,2145,1.63,122.2,67.0,11.5,193,2149,0.00,2.65,0.00,0.000,4,0.000,0.070,3441,540,2716
$GC,2184,1.63,122.2,62.5,11.6,196,2189,0.00,2.47,0.00,0.000,6,0.000,0.036,3441,1926,2716
$GC,2386,1.63,122.2,39.6,11.4,212,2390,0.00,2.62,0.00,0.000,4,0.000,0.071,3441,539,2715
$GC,2457,1.63,122.2,31.0,11.7,217,2465,0.00,2.47,0.00,0.000,6,0.000,0.035,3441,1929,2716
$GC,2658,1.63,122.2,9.6,9.7,240,2663,0.00,0.00,0.00,0.000,6,0.000,0.000,3441,1929,2716
$STATE,2721,end climb,SURFACE_DEPTH_REACHED
$STATE,2721,begin surface coast
$FINISH,1.0,1.020391
$STATE,2815,end surface coast,CONTROL_FINISHED_OK
$STATE,2815,begin surface
$SM_CCo,2840,119.40,0.587,0,0,1587,400.08
$SM_GC,1.06,0.00,0.00,119.40,0.000,0.000,0.587,464,2002,1587,-12.04,0.34,400.08
$IRIDIUM_FIX,4719.74,-12254.47,270907,131322
$TT8_MAMPS,0.06903
$HUMID,2031
$INTERNAL_PRESSURE,8.42806
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.1,51.0
$24V_AH,23.8,11.720
$10V_AH,10.1,33.820
$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,32.000,40.975,193.125,119.400,0.000,76.689,68.054,189.134,0.500,8.310,3553.690,16.420,506.557,1628.763,415.181,513.643,423.359,33.330,715.088,0.000,485.876,0.000,5.482
$DEVICE_MAMPS,211.692,76.700,675.727,586.755,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,177.354,0.000,0.000,0.000,0.000,0.000,0.000,3562.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6426,264
$CFSIZE,260034560,254951424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270907,101837,4739.468,-12252.467,41,0.9,41,18.3