version: 66.02
glider: 106
mission: 7
dive: 39
start: 9 26 107 6 10 23
data:
$ID,106
$MISSION,7
$DIVE,39
$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,-43845.273
$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,28
$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
$GPS1,060420,4739.445,-12253.264,11,1.7,28,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-64.5
$GPS2,060915,4739.454,-12253.257,13,1.8,13,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.236,-0.017
$KALMAN_X,2179.3,67.2,140.5,-3700.2,35.4
$KALMAN_Y,1965.3,-24.7,117.2,-2627.9,46.1
$MHEAD_RNG_PITCHd_Wd,75.7,1067,-19.2,-9.524
$D_GRID,119
$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,-55.83,0.000,2,0.000,0.000,462,1995,2872
$GC,82,-1.63,-122.2,2.0,-3.1,9,137,14.50,2.55,-33.80,0.000,4,0.209,0.067,2719,3394,3717
$GC,295,-1.63,-122.2,14.6,-8.3,42,302,0.00,2.50,0.00,0.000,6,0.000,0.039,2719,1983,3718
$GC,367,-1.63,-122.2,19.4,-6.5,53,374,0.00,2.62,0.00,0.000,4,0.000,0.068,2719,585,3718
$GC,411,-1.63,-122.2,22.3,-7.0,57,419,0.00,2.50,0.00,0.000,6,0.000,0.035,2719,1988,3719
$GC,609,-1.63,-122.2,34.9,-6.6,73,613,0.00,2.55,0.00,0.000,4,0.000,0.055,2720,3392,3719
$GC,686,-1.63,-122.2,40.3,-7.2,78,694,0.00,2.50,0.00,0.000,6,0.000,0.039,2718,1992,3720
$GC,882,-1.63,-122.2,52.7,-6.9,94,886,0.00,2.65,0.00,0.000,4,0.000,0.069,2719,589,3720
$GC,927,-1.63,-122.2,55.8,-7.0,97,935,0.00,2.50,0.00,0.000,6,0.000,0.036,2720,1988,3720
$GC,1123,-1.63,-122.2,67.9,-6.1,113,1125,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1988,3720
$GC,1315,-1.63,-122.2,80.0,-6.5,128,1316,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,1988,3720
$GC,1502,-1.63,-122.2,92.2,-6.5,143,1504,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,1988,3720
$STATE,1626,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1627,begin apogee
$GC,1631,-0.38,0.0,100.8,7.0,153,1738,1.38,0.00,97.85,0.676,6,0.100,0.000,2994,1919,3218
$STATE,1738,end apogee,CONTROL_FINISHED_OK
$STATE,1739,begin climb
$GC,1740,1.63,122.2,102.1,0.0,162,1847,2.03,2.67,95.50,0.652,4,0.051,0.058,3439,3325,2719
$GC,1878,1.63,122.2,90.9,10.7,173,1886,0.00,2.55,0.00,0.000,6,0.000,0.041,3439,1936,2718
$GC,2074,1.63,122.2,69.1,11.2,189,2079,0.00,2.75,0.00,0.000,4,0.000,0.077,3439,530,2717
$GC,2145,1.63,122.2,60.7,11.1,194,2154,0.00,2.55,0.00,0.000,6,0.000,0.036,3439,1940,2716
$GC,2342,1.63,122.2,38.5,11.3,210,2347,0.00,2.72,0.00,0.000,4,0.000,0.071,3439,533,2716
$GC,2381,1.63,122.2,33.9,11.2,213,2386,0.00,2.50,0.00,0.000,6,0.000,0.036,3439,1927,2716
$GC,2580,1.63,122.2,11.8,10.2,234,2587,0.00,2.70,0.00,0.000,4,0.000,0.072,3439,520,2717
$STATE,2651,end climb,SURFACE_DEPTH_REACHED
$STATE,2651,begin surface coast
$FINISH,2.8,1.021277
$STATE,2672,end surface coast,CONTROL_FINISHED_OK
$STATE,2672,begin surface
$SM_CCo,2698,121.10,0.582,0,0,1586,400.08
$SM_GC,1.18,0.00,0.00,121.10,0.000,0.000,0.582,461,1989,1586,-12.04,-0.03,400.08
$IRIDIUM_FIX,4722.92,-12251.79,260907,090917
$TT8_MAMPS,0.06903
$HUMID,2026
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.1,50.9
$24V_AH,23.8,9.289
$10V_AH,10.1,31.775
$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,32.000,41.600,193.350,121.100,0.000,40.286,30.835,135.921,0.500,33.210,3209.790,13.850,464.938,1511.259,446.534,446.278,278.295,33.331,713.839,0.000,421.502,0.000,6.454
$DEVICE_MAMPS,208.624,76.700,676.494,582.153,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,165.940,0.000,0.000,0.000,0.000,0.000,0.000,3243.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6432,248
$CFSIZE,260034560,255881216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260907,065808,4739.388,-12252.854,7,1.3,13,18.3