version: 66.02
glider: 106
mission: 7
dive: 27
start: 9 25 107 19 40 35
data:
$ID,106
$MISSION,7
$DIVE,27
$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,-43602.328
$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,33
$R_STBD_OVSHOOT,25
$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
$GPS1,193423,4739.420,-12252.444,14,3.4,33,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-63.4
$GPS2,193929,4739.387,-12252.476,14,3.3,33,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.201,0.123
$KALMAN_X,1589.5,194.1,143.2,-2265.4,-119.8
$KALMAN_Y,1827.3,97.2,141.3,-2757.9,-171.9
$MHEAD_RNG_PITCHd_Wd,283.1,918,-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,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,-55.90,0.000,2,0.000,0.000,460,1991,2876
$GC,82,-1.63,-122.2,2.1,-3.5,9,137,14.30,2.58,-35.00,0.000,4,0.202,0.067,2722,3399,3716
$GC,388,-1.63,-122.2,19.0,-5.6,56,395,0.00,2.50,0.00,0.000,6,0.000,0.041,2723,1997,3719
$GC,458,-1.63,-122.2,22.9,-5.7,63,459,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1997,3719
$GC,647,-1.63,-122.2,35.1,-6.7,78,651,0.00,2.65,0.00,0.000,4,0.000,0.071,2723,587,3720
$GC,767,-1.63,-122.2,43.3,-7.6,87,771,0.00,2.50,0.00,0.000,6,0.000,0.038,2723,1991,3720
$GC,962,-1.63,-122.2,55.0,-5.8,102,966,0.00,2.67,0.00,0.000,4,0.000,0.067,2723,593,3720
$GC,1001,-1.63,-122.2,57.6,-6.4,105,1005,0.00,2.50,0.00,0.000,6,0.000,0.038,2723,1992,3720
$GC,1203,-1.63,-122.2,71.3,-7.3,121,1204,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1992,3720
$GC,1393,-1.63,-122.2,83.8,-6.5,136,1394,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1992,3720
$GC,1582,-1.63,-122.2,95.2,-5.7,151,1583,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1992,3720
$STATE,1668,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1668,begin apogee
$GC,1672,-0.38,0.0,100.2,5.9,158,1774,1.35,0.00,97.57,0.680,6,0.094,0.000,2992,1925,3218
$STATE,1775,end apogee,CONTROL_FINISHED_OK
$STATE,1775,begin climb
$GC,1776,1.63,122.2,101.3,0.0,166,1879,2.00,0.00,95.07,0.656,6,0.052,0.000,3441,1925,2718
$GC,2067,1.63,122.2,72.0,11.2,190,2071,0.00,2.67,0.00,0.000,4,0.000,0.074,3441,532,2718
$GC,2137,1.63,122.2,63.6,12.2,195,2146,0.00,2.53,0.00,0.000,6,0.000,0.038,3441,1928,2717
$GC,2335,1.63,122.2,42.8,10.5,211,2340,0.00,2.67,0.00,0.000,4,0.000,0.073,3441,533,2717
$GC,2398,1.63,122.2,35.5,10.8,215,2407,0.00,2.53,0.00,0.000,6,0.000,0.038,3441,1932,2718
$GC,2597,1.63,122.2,15.3,10.0,234,2604,0.00,2.70,0.00,0.000,4,0.000,0.073,3441,526,2717
$GC,2689,1.66,151.2,6.5,8.0,248,2715,0.00,2.53,20.77,0.638,6,0.000,0.038,3441,1943,2601
$STATE,2719,end climb,SURFACE_DEPTH_REACHED
$STATE,2719,begin surface coast
$FINISH,0.5,1.019492
$STATE,2793,end surface coast,CONTROL_FINISHED_OK
$STATE,2793,begin surface
$SM_CCo,2818,107.10,0.588,0,0,1587,400.08
$SM_GC,1.19,0.00,0.00,107.10,0.000,0.000,0.588,463,1998,1587,-12.04,0.23,400.08
$IRIDIUM_FIX,4722.92,-12249.11,250907,222222
$TT8_MAMPS,0.06903
$HUMID,2045
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.6,51.5
$24V_AH,23.7,8.137
$10V_AH,10.1,30.989
$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,31.425,31.225,213.425,107.100,0.000,40.749,31.268,128.793,0.500,95.470,3282.530,34.015,489.614,1595.824,429.995,479.253,267.218,33.332,698.888,0.000,436.990,0.000,5.485
$DEVICE_MAMPS,201.721,89.739,679.562,587.522,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,177.033,0.000,0.000,0.000,0.000,0.000,0.000,3378.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6421,264
$CFSIZE,260034560,256286720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250907,203032,4739.503,-12252.912,41,1.5,41,18.3