version: 66.02
glider: 106
mission: 7
dive: 31
start: 9 25 107 23 16 45
data:
$ID,106
$MISSION,7
$DIVE,31
$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,-43687.988
$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,29
$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
$GPS1,231017,4739.466,-12252.473,11,4.4,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-65.6
$GPS2,231538,4739.437,-12252.539,34,1.0,34,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.228,0.062
$KALMAN_X,1570.0,78.3,-88.4,-1979.1,-37.7
$KALMAN_Y,1636.6,-22.8,-135.8,-2080.6,-96.7
$MHEAD_RNG_PITCHd_Wd,267.0,829,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-1.63,-122.2,0.0,0.0,0,72,0.00,0.00,-49.88,0.000,2,0.000,0.000,464,1996,2747
$GC,74,-1.63,-122.2,2.3,-4.4,8,130,14.62,2.65,-32.65,0.000,4,0.210,0.070,2721,3392,3717
$GC,380,-1.63,-122.2,20.0,-4.6,55,387,0.00,2.50,0.00,0.000,6,0.000,0.040,2721,1991,3719
$GC,577,-1.63,-122.2,29.6,-6.0,71,578,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,1991,3720
$GC,766,-1.63,-122.2,41.2,-6.8,86,767,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,1991,3721
$GC,954,-1.63,-122.2,53.1,-6.3,101,955,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,1991,3721
$GC,1144,-1.63,-122.2,65.5,-6.5,116,1148,0.00,2.65,0.00,0.000,4,0.000,0.071,2721,590,3721
$GC,1248,-1.63,-122.2,72.8,-7.1,123,1255,0.00,2.53,0.00,0.000,6,0.000,0.038,2721,1984,3720
$GC,1444,-1.63,-122.2,85.6,-6.6,139,1445,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,1985,3721
$GC,1635,-1.63,-122.2,98.0,-6.6,154,1640,0.00,2.65,0.00,0.000,4,0.000,0.067,2721,585,3721
$STATE,1666,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1666,begin apogee
$GC,1672,-0.38,0.0,100.2,6.7,156,1777,1.38,0.00,97.90,0.680,6,0.100,0.000,2993,1940,3217
$STATE,1778,end apogee,CONTROL_FINISHED_OK
$STATE,1778,begin climb
$GC,1779,1.63,122.2,101.7,0.0,165,1883,1.98,2.60,94.93,0.656,4,0.051,0.060,3441,3326,2718
$GC,1900,1.63,122.2,93.5,9.5,174,1909,0.00,2.58,0.00,0.000,6,0.000,0.041,3441,1926,2718
$GC,2097,1.63,122.2,73.4,10.1,190,2102,0.00,2.42,0.00,0.000,4,0.000,0.074,3441,667,2718
$GC,2234,1.63,122.2,57.3,11.3,200,2242,0.00,2.28,0.00,0.000,6,0.000,0.036,3441,1929,2717
$GC,2431,1.63,122.2,36.1,10.5,216,2435,0.00,2.70,0.00,0.000,4,0.000,0.073,3441,533,2717
$GC,2502,1.63,122.2,28.4,11.6,221,2510,0.00,2.53,0.00,0.000,6,0.000,0.036,3441,1932,2717
$GC,2704,1.64,134.8,8.9,8.9,245,2722,0.00,2.78,9.40,0.667,4,0.000,0.072,3441,524,2668
$GC,2734,1.64,134.8,5.6,10.9,250,2741,0.00,2.53,0.00,0.000,6,0.000,0.038,3441,1926,2667
$STATE,2745,end climb,SURFACE_DEPTH_REACHED
$STATE,2745,begin surface coast
$FINISH,2.4,1.019927
$STATE,2799,end surface coast,CONTROL_FINISHED_OK
$STATE,2800,begin surface
$SM_CCo,2825,115.25,0.589,0,0,1587,400.08
$SM_GC,1.12,0.00,0.00,115.25,0.000,0.000,0.589,464,1996,1587,-12.03,0.17,400.08
$IRIDIUM_FIX,4722.92,-12253.53,260907,020225
$TT8_MAMPS,0.069797
$HUMID,2030
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.7,51.6
$24V_AH,23.8,8.542
$10V_AH,10.1,31.259
$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,32.050,35.925,202.225,115.250,0.000,39.585,35.486,134.243,0.500,83.010,3312.990,34.789,486.442,1599.513,428.989,497.055,279.608,33.332,709.577,0.000,451.233,0.000,5.483
$DEVICE_MAMPS,210.158,74.399,679.562,589.056,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,174.242,0.000,0.000,0.000,0.000,0.000,0.000,3396.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6465,260
$CFSIZE,260034560,256143360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260907,000632,4739.530,-12252.926,10,1.4,15,18.3