version: 66.02
glider: 106
mission: 7
dive: 179
start: 10 1 107 13 21 54
data:
$ID,106
$MISSION,7
$DIVE,179
$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,-46954.688
$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,29
$R_STBD_OVSHOOT,35
$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
$GPS1,131417,4739.455,-12252.840,10,2.6,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-60.9
$GPS2,132047,4739.469,-12252.815,17,2.5,36,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.232,0.045
$KALMAN_X,7898.9,175.7,-14.6,-8823.9,-115.0
$KALMAN_Y,11449.2,208.4,-23.3,-12176.7,-98.6
$MHEAD_RNG_PITCHd_Wd,60.6,516,-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,-122.2,0.0,0.0,0,105,0.00,0.00,-78.97,0.000,2,0.000,0.000,463,1811,3313
$GC,108,-1.63,-122.2,2.1,-4.4,13,146,14.18,2.55,-14.18,0.000,4,0.198,0.061,2743,3199,3719
$GC,397,-1.63,-122.2,21.2,-6.1,56,401,0.00,2.47,0.00,0.000,6,0.000,0.038,2743,1798,3721
$GC,592,-1.63,-122.2,32.2,-5.6,71,593,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,1798,3722
$GC,783,-1.63,-122.2,42.6,-5.7,86,787,0.00,2.65,0.00,0.000,4,0.000,0.074,2744,393,3722
$GC,821,-1.63,-122.2,44.9,-5.9,88,828,0.00,2.47,0.00,0.000,6,0.000,0.035,2743,1802,3722
$GC,1017,-1.63,-122.2,55.6,-5.9,104,1021,0.00,2.50,0.00,0.000,4,0.000,0.049,2743,3201,3722
$GC,1076,-1.63,-122.2,59.3,-5.9,108,1080,0.00,2.47,0.00,0.000,6,0.000,0.037,2743,1794,3722
$GC,1271,-1.63,-122.2,70.4,-5.7,123,1276,0.00,2.62,0.00,0.000,4,0.000,0.073,2744,396,3722
$GC,1310,-1.63,-122.2,72.8,-6.6,125,1317,0.00,2.45,0.00,0.000,6,0.000,0.034,2743,1795,3722
$GC,1506,-1.63,-122.2,84.2,-6.0,141,1510,0.00,2.50,0.00,0.000,4,0.000,0.049,2743,3195,3722
$GC,1577,-1.63,-122.2,88.8,-6.4,146,1584,0.00,2.47,0.00,0.000,6,0.000,0.037,2743,1802,3722
$STATE,1760,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1760,begin apogee
$GC,1766,-0.38,0.0,100.0,6.2,161,1870,1.35,0.00,98.57,0.680,6,0.101,0.000,3013,1726,3218
$STATE,1871,end apogee,CONTROL_FINISHED_OK
$STATE,1871,begin climb
$GC,1873,1.63,122.2,101.4,0.0,170,1978,2.03,0.00,95.85,0.651,6,0.052,0.000,3458,1726,2717
$GC,2167,1.63,122.2,71.3,11.7,194,2171,0.00,2.65,0.00,0.000,4,0.000,0.079,3458,341,2716
$GC,2212,1.63,122.2,65.6,12.9,197,2216,0.00,2.42,0.00,0.000,6,0.000,0.034,3458,1729,2716
$GC,2414,1.63,122.2,41.5,11.8,213,2415,0.00,0.00,0.00,0.000,6,0.000,0.000,3458,1730,2715
$GC,2605,1.63,122.2,20.1,10.8,228,2609,0.00,2.67,0.00,0.000,4,0.000,0.077,3458,334,2717
$GC,2652,1.63,122.2,14.9,11.2,234,2658,0.00,2.45,0.00,0.000,6,0.000,0.034,3458,1742,2715
$GC,2724,1.63,122.2,7.5,10.2,245,2730,0.00,2.50,0.00,0.000,4,0.000,0.051,3458,3129,2715
$STATE,2747,end climb,SURFACE_DEPTH_REACHED
$STATE,2747,begin surface coast
$FINISH,3.7,1.022147
$STATE,2761,end surface coast,CONTROL_FINISHED_OK
$STATE,2762,begin surface
$SM_CCo,2792,119.82,0.581,0,0,1586,400.08
$SM_GC,0.83,0.00,0.00,119.82,0.000,0.000,0.581,461,1800,1586,-12.14,0.00,400.08
$IRIDIUM_FIX,4722.92,-12251.79,011007,161609
$TT8_MAMPS,0.06903
$HUMID,2008
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.6,51.7
$24V_AH,23.9,20.306
$10V_AH,10.1,41.303
$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,31.825,40.400,194.425,119.825,0.000,40.221,38.278,167.452,0.500,0.000,3431.000,37.087,470.731,1577.145,437.395,471.602,373.054,33.329,701.466,0.000,420.337,0.000,5.487
$DEVICE_MAMPS,197.886,79.001,679.562,580.619,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,168.313,0.000,0.000,0.000,0.000,0.000,0.000,3431.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6436,251
$CFSIZE,260034560,251596800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011007,141138,4739.460,-12252.522,38,1.6,38,18.3