version: 66.02
glider: 106
mission: 7
dive: 48
start: 9 26 107 13 57 52
data:
$ID,106
$MISSION,7
$DIVE,48
$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,-44063.828
$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,31
$R_STBD_OVSHOOT,30
$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
$GPS1,135159,4739.521,-12253.152,11,2.7,30,18.3
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-64.7
$GPS2,135645,4739.530,-12253.152,10,1.7,10,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.225,-0.072
$KALMAN_X,2207.9,20.2,-90.8,-3321.9,51.3
$KALMAN_Y,1795.2,-21.5,-92.6,-2112.9,87.0
$MHEAD_RNG_PITCHd_Wd,89.5,944,-19.2,-9.524
$D_GRID,116
$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,-122.2,0.0,0.0,0,73,0.00,0.00,-49.75,0.000,2,0.000,0.000,461,2002,2731
$GC,75,-1.63,-122.2,2.2,-4.2,8,137,14.88,2.55,-38.35,0.000,4,0.217,0.067,2720,3393,3718
$GC,156,-1.63,-122.2,4.8,-7.5,21,163,0.00,2.47,0.00,0.000,6,0.000,0.039,2720,1994,3719
$GC,228,-1.63,-122.2,9.9,-5.8,32,234,0.00,2.62,0.00,0.000,4,0.000,0.067,2720,591,3720
$GC,399,-1.63,-122.2,21.6,-6.4,57,403,0.00,2.45,0.00,0.000,6,0.000,0.036,2720,1990,3720
$GC,601,-1.63,-122.2,34.7,-6.8,73,605,0.00,2.55,0.00,0.000,4,0.000,0.056,2720,3383,3721
$GC,666,-1.63,-122.2,39.5,-7.5,78,671,0.00,2.47,0.00,0.000,6,0.000,0.040,2720,1982,3721
$GC,868,-1.63,-122.2,53.5,-6.8,94,872,0.00,2.60,0.00,0.000,4,0.000,0.070,2720,591,3721
$GC,960,-1.63,-122.2,60.3,-7.2,101,965,0.00,2.45,0.00,0.000,6,0.000,0.037,2720,1989,3722
$GC,1162,-1.63,-122.2,74.9,-7.0,117,1167,0.00,2.55,0.00,0.000,4,0.000,0.058,2720,3396,3722
$GC,1247,-1.63,-122.2,80.5,-6.6,123,1254,0.00,2.50,0.00,0.000,6,0.000,0.040,2720,1991,3722
$GC,1445,-1.63,-122.2,92.7,-6.1,139,1449,0.00,2.62,0.00,0.000,4,0.000,0.070,2720,586,3722
$GC,1521,-1.63,-122.2,98.0,-6.6,144,1529,0.00,2.50,0.00,0.000,6,0.000,0.037,2720,1993,3722
$STATE,1565,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1565,begin apogee
$GC,1569,-0.38,0.0,100.8,6.4,148,1675,1.38,0.00,97.85,0.680,6,0.104,0.000,2992,1924,3218
$STATE,1676,end apogee,CONTROL_FINISHED_OK
$STATE,1676,begin climb
$GC,1678,1.63,122.2,101.6,0.0,157,1784,2.03,2.72,95.40,0.657,4,0.054,0.073,3436,539,2718
$GC,1841,1.63,122.2,87.7,11.6,170,1850,0.00,2.53,0.00,0.000,6,0.000,0.036,3436,1930,2717
$GC,2038,1.63,122.2,66.3,10.9,186,2039,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,1930,2717
$GC,2228,1.63,122.2,45.8,10.6,201,2232,0.00,2.65,0.00,0.000,4,0.000,0.071,3436,535,2716
$GC,2286,1.63,122.2,39.0,11.7,205,2291,0.00,2.50,0.00,0.000,6,0.000,0.037,3436,1932,2716
$GC,2483,1.63,122.2,17.4,11.3,222,2490,0.00,2.67,0.00,0.000,4,0.000,0.071,3436,530,2716
$STATE,2600,end climb,SURFACE_DEPTH_REACHED
$STATE,2600,begin surface coast
$FINISH,2.6,1.020438
$STATE,2640,end surface coast,CONTROL_FINISHED_OK
$STATE,2641,begin surface
$SM_CCo,2668,122.57,0.590,0,0,1587,400.08
$SM_GC,1.14,0.00,0.00,122.57,0.000,0.000,0.590,464,2002,1587,-12.03,0.34,400.08
$IRIDIUM_FIX,4722.92,-12253.53,260907,161632
$TT8_MAMPS,0.069797
$HUMID,2041
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.8,51.6
$24V_AH,23.8,10.016
$10V_AH,10.1,32.358
$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,32.350,46.200,193.250,122.575,0.000,38.546,28.918,131.320,0.500,4.160,3197.840,10.320,467.690,1466.932,446.637,454.020,272.172,33.334,716.611,0.000,433.300,0.000,6.056
$DEVICE_MAMPS,217.061,72.865,679.562,589.823,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,164.767,0.000,0.000,0.000,0.000,0.000,0.000,3202.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6470,246
$CFSIZE,260034560,255619072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260907,144529,4739.519,-12252.697,14,2.5,33,18.3