version: 66.02
glider: 106
mission: 7
dive: 50
start: 9 26 107 15 35 15
data:
$ID,106
$MISSION,7
$DIVE,50
$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,-44110.867
$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,37
$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
$GPS1,152925,4739.504,-12252.336,31,1.4,41,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-64.5
$GPS2,153408,4739.503,-12252.320,12,1.4,12,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.229,-0.056
$KALMAN_X,2347.3,35.8,-18.3,-2512.9,68.1
$KALMAN_Y,1932.8,21.2,-0.2,-2435.3,93.8
$MHEAD_RNG_PITCHd_Wd,237.9,1102,-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,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,-55.78,0.000,2,0.000,0.000,465,1995,2870
$GC,83,-1.63,-122.2,2.3,-4.1,9,138,14.65,2.58,-31.75,0.000,4,0.212,0.068,2719,3385,3718
$GC,387,-1.63,-122.2,21.1,-5.6,54,395,0.00,2.47,0.00,0.000,6,0.000,0.038,2719,2002,3720
$GC,584,-1.63,-122.2,33.8,-5.8,70,588,0.00,2.65,0.00,0.000,4,0.000,0.069,2719,587,3721
$GC,623,-1.63,-122.2,36.4,-6.5,72,630,0.00,2.47,0.00,0.000,6,0.000,0.036,2719,1998,3721
$GC,818,-1.63,-122.2,48.3,-6.2,88,822,0.00,2.65,0.00,0.000,4,0.000,0.067,2719,590,3722
$GC,872,-1.63,-122.2,51.5,-6.1,92,876,0.00,2.47,0.00,0.000,6,0.000,0.037,2720,1995,3722
$GC,1067,-1.63,-122.2,64.4,-6.5,107,1071,0.00,2.65,0.00,0.000,4,0.000,0.069,2719,590,3722
$GC,1111,-1.63,-122.2,67.7,-7.6,110,1119,0.00,2.50,0.00,0.000,6,0.000,0.037,2719,1991,3722
$GC,1308,-1.63,-122.2,81.4,-6.7,126,1309,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,1991,3722
$GC,1499,-1.63,-122.2,93.9,-6.6,141,1503,0.00,2.65,0.00,0.000,4,0.000,0.071,2719,587,3722
$STATE,1588,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1588,begin apogee
$GC,1594,-0.38,0.0,100.1,7.1,147,1697,1.35,0.00,98.18,0.678,6,0.099,0.000,2992,1939,3218
$STATE,1698,end apogee,CONTROL_FINISHED_OK
$STATE,1698,begin climb
$GC,1700,1.63,122.2,101.3,0.0,156,1800,2.00,0.00,95.50,0.654,6,0.052,0.000,3434,1939,2719
$GC,1984,1.63,122.2,75.1,10.5,179,1989,0.00,2.72,0.00,0.000,4,0.000,0.075,3436,526,2716
$GC,2161,1.63,122.2,54.3,11.3,192,2169,0.00,2.55,0.00,0.000,6,0.000,0.038,3434,1935,2716
$GC,2358,1.63,122.2,33.4,10.8,208,2362,0.00,2.67,0.00,0.000,4,0.000,0.073,3434,533,2716
$GC,2492,1.63,122.2,18.7,10.5,218,2498,0.00,2.47,0.00,0.000,6,0.000,0.037,3434,1932,2716
$GC,2563,1.63,122.2,11.2,10.1,229,2570,0.00,2.58,0.00,0.000,4,0.000,0.058,3434,3341,2716
$GC,2602,1.64,130.1,7.5,9.1,235,2615,0.00,2.53,5.53,0.689,6,0.000,0.043,3434,1928,2687
$STATE,2632,end climb,SURFACE_DEPTH_REACHED
$STATE,2632,begin surface coast
$FINISH,1.0,1.020336
$STATE,2706,end surface coast,CONTROL_FINISHED_OK
$STATE,2706,begin surface
$SM_CCo,2731,118.20,0.588,0,0,1585,400.08
$SM_GC,1.17,0.00,0.00,118.20,0.000,0.000,0.588,460,2005,1585,-12.05,0.42,400.08
$IRIDIUM_FIX,4722.92,-12251.79,260907,181808
$TT8_MAMPS,0.06903
$HUMID,2036
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.4,51.1
$24V_AH,23.8,10.163
$10V_AH,10.1,32.482
$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,31.750,41.175,199.200,118.200,0.000,38.589,35.692,119.541,0.500,8.300,3271.700,12.036,480.540,1501.724,436.486,475.211,270.872,33.333,715.175,0.000,452.674,0.000,5.483
$DEVICE_MAMPS,212.459,75.166,688.766,587.522,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,168.045,0.000,0.000,0.000,0.000,0.000,0.000,3280.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6418,251
$CFSIZE,260034560,255561728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260907,162327,4739.566,-12252.583,10,2.0,10,18.3