version: 66.02
glider: 106
mission: 7
dive: 30
start: 9 25 107 22 20 45
data:
$ID,106
$MISSION,7
$DIVE,30
$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,-43652.57
$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,31
$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
$GPS1,221208,4739.467,-12252.849,11,1.4,11,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-65.0
$GPS2,221938,4739.426,-12252.862,12,1.4,17,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.226,0.067
$KALMAN_X,1565.4,108.3,-41.8,-2454.9,-74.0
$KALMAN_Y,1692.9,-2.6,-93.8,-2216.3,-90.2
$MHEAD_RNG_PITCHd_Wd,55.2,579,-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,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,-56.45,0.000,2,0.000,0.000,461,1995,2885
$GC,82,-1.63,-122.2,2.3,-4.0,9,138,14.57,2.58,-33.33,0.000,4,0.208,0.068,2722,3396,3718
$GC,151,-1.63,-122.2,3.7,-6.1,20,157,0.00,2.53,0.00,0.000,6,0.000,0.040,2722,1981,3718
$GC,222,-1.63,-122.2,8.8,-7.9,31,229,0.00,2.62,0.00,0.000,4,0.000,0.068,2722,591,3720
$GC,460,-1.63,-122.2,24.4,-5.8,62,464,0.00,2.50,0.00,0.000,6,0.000,0.036,2722,1995,3721
$GC,655,-1.63,-122.2,36.0,-6.1,77,659,0.00,2.58,0.00,0.000,4,0.000,0.057,2723,3399,3721
$GC,699,-1.63,-122.2,38.8,-6.3,80,707,0.00,2.55,0.00,0.000,6,0.000,0.039,2723,1991,3721
$GC,900,-1.63,-122.2,50.5,-6.1,96,905,0.00,2.65,0.00,0.000,4,0.000,0.070,2722,590,3722
$GC,1011,-1.63,-122.2,58.4,-6.5,104,1016,0.00,2.50,0.00,0.000,6,0.000,0.038,2723,1996,3722
$GC,1213,-1.63,-122.2,70.7,-5.6,120,1218,0.00,2.55,0.00,0.000,4,0.000,0.058,2722,3391,3722
$GC,1285,-1.63,-122.2,75.1,-5.8,125,1293,0.00,2.53,0.00,0.000,6,0.000,0.041,2722,1992,3722
$GC,1481,-1.63,-122.2,86.1,-5.5,141,1485,0.00,2.65,0.00,0.000,4,0.000,0.070,2722,588,3722
$GC,1561,-1.63,-122.2,91.4,-7.7,147,1566,0.00,2.50,0.00,0.000,6,0.000,0.038,2722,1995,3722
$STATE,1691,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1691,begin apogee
$GC,1695,-0.38,0.0,100.3,6.9,157,1801,1.38,0.00,97.78,0.678,6,0.100,0.000,2994,1924,3218
$STATE,1802,end apogee,CONTROL_FINISHED_OK
$STATE,1802,begin climb
$GC,1804,1.63,122.2,102.0,0.0,166,1903,1.98,0.00,94.72,0.655,6,0.051,0.000,3442,1924,2719
$GC,2089,1.63,122.2,73.4,11.4,189,2093,0.00,2.65,0.00,0.000,4,0.000,0.073,3442,536,2718
$GC,2159,1.63,122.2,64.7,12.3,194,2168,0.00,2.53,0.00,0.000,6,0.000,0.037,3442,1930,2718
$GC,2356,1.63,122.2,42.8,11.2,210,2361,0.00,2.70,0.00,0.000,4,0.000,0.072,3442,534,2718
$GC,2400,1.63,122.2,37.6,11.7,213,2409,0.00,2.55,0.00,0.000,6,0.000,0.037,3442,1939,2717
$GC,2598,1.63,122.2,17.1,10.2,231,2605,0.00,2.70,0.00,0.000,4,0.000,0.071,3442,534,2717
$STATE,2715,end climb,SURFACE_DEPTH_REACHED
$STATE,2715,begin surface coast
$FINISH,1.0,1.020907
$STATE,2763,end surface coast,CONTROL_FINISHED_OK
$STATE,2763,begin surface
$SM_CCo,2789,119.62,0.587,0,0,1586,400.08
$SM_GC,1.14,0.00,0.00,119.62,0.000,0.000,0.587,464,1996,1586,-12.04,0.17,400.08
$IRIDIUM_FIX,4722.92,-12249.11,260907,020256
$TT8_MAMPS,0.069797
$HUMID,2028
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.5,51.2
$24V_AH,23.8,8.444
$10V_AH,10.1,31.189
$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,31.725,46.625,192.500,119.625,0.000,74.008,96.246,125.996,0.500,95.450,3365.550,17.245,486.575,1612.005,433.781,490.530,366.321,33.327,723.148,0.000,461.352,0.000,5.483
$DEVICE_MAMPS,207.857,72.865,678.028,586.755,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,171.617,0.000,0.000,0.000,0.000,0.000,0.000,3461.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6436,256
$CFSIZE,260034560,256180224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250907,231017,4739.466,-12252.473,11,4.4,30,18.3