version: 66.02
glider: 106
mission: 7
dive: 74
start: 9 27 107 13 3 5
data:
$ID,106
$MISSION,7
$DIVE,74
$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,-44630.402
$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,30
$R_STBD_OVSHOOT,31
$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
$GPS1,125617,4739.427,-12252.785,10,7.7,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-64.6
$GPS2,130159,4739.405,-12252.772,18,2.2,37,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.219,0.070
$KALMAN_X,2045.2,-49.1,-95.1,-2612.1,3.0
$KALMAN_Y,1814.7,-25.0,-144.8,-2304.5,-35.2
$MHEAD_RNG_PITCHd_Wd,53.9,476,-19.8,-9.524
$D_GRID,123
$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,23,-1.66,-115.7,0.0,0.0,0,80,0.00,0.00,-55.60,0.000,2,0.000,0.000,461,2002,2839
$GC,83,-1.67,-122.2,2.0,-3.7,9,139,14.62,2.72,-35.30,0.000,4,0.214,0.078,2713,590,3719
$GC,388,-1.67,-122.2,21.1,-6.5,55,396,0.00,2.47,0.00,0.000,6,0.000,0.034,2713,1987,3721
$GC,585,-1.67,-122.2,31.7,-6.0,71,590,0.00,2.60,0.00,0.000,4,0.000,0.064,2713,595,3722
$GC,716,-1.67,-122.2,40.3,-6.8,80,723,0.00,2.47,0.00,0.000,6,0.000,0.035,2713,1991,3723
$GC,912,-1.67,-122.2,53.2,-6.8,96,913,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,1991,3723
$GC,1102,-1.67,-122.2,65.3,-6.0,111,1106,0.00,2.62,0.00,0.000,4,0.000,0.067,2713,590,3723
$GC,1233,-1.67,-122.2,73.8,-6.6,120,1240,0.00,2.47,0.00,0.000,6,0.000,0.035,2713,1990,3723
$GC,1429,-1.67,-122.2,86.2,-6.2,136,1430,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,1990,3723
$GC,1619,-1.67,-122.2,98.8,-6.8,151,1620,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,1990,3723
$STATE,1641,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1641,begin apogee
$GC,1646,-0.38,0.0,100.5,6.8,153,1752,1.40,0.00,98.05,0.676,6,0.100,0.000,2995,1919,3217
$STATE,1753,end apogee,CONTROL_FINISHED_OK
$STATE,1753,begin climb
$GC,1755,1.67,122.2,102.1,0.0,162,1855,2.03,0.00,95.05,0.652,6,0.049,0.000,3444,1919,2718
$GC,2038,1.67,122.2,75.6,10.7,185,2042,0.00,2.65,0.00,0.000,4,0.000,0.073,3444,532,2716
$GC,2110,1.67,122.2,67.3,11.5,190,2114,0.00,2.50,0.00,0.000,6,0.000,0.036,3444,1931,2716
$GC,2311,1.67,122.2,45.1,10.6,206,2316,0.00,2.65,0.00,0.000,4,0.000,0.071,3444,537,2716
$GC,2403,1.67,122.2,33.8,12.1,213,2408,0.00,2.47,0.00,0.000,6,0.000,0.035,3444,1927,2716
$GC,2603,1.67,122.2,11.2,10.5,234,2609,0.00,2.62,0.00,0.000,4,0.000,0.071,3444,539,2716
$STATE,2666,end climb,SURFACE_DEPTH_REACHED
$STATE,2667,begin surface coast
$FINISH,1.5,1.020413
$STATE,2720,end surface coast,CONTROL_FINISHED_OK
$STATE,2721,begin surface
$SM_CCo,2748,119.43,0.586,0,0,1587,400.08
$SM_GC,1.07,0.00,0.00,119.43,0.000,0.000,0.586,463,1993,1587,-12.04,0.08,400.08
$IRIDIUM_FIX,4726.11,-12250.84,270907,161607
$TT8_MAMPS,0.06903
$HUMID,2042
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.6,51.6
$24V_AH,23.8,12.021
$10V_AH,10.1,34.086
$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,32.150,31.000,193.100,119.425,0.000,40.033,38.926,139.313,0.500,4.150,3332.850,38.413,470.086,1552.767,428.456,483.421,304.183,33.328,690.408,0.000,437.316,0.000,6.269
$DEVICE_MAMPS,213.993,78.234,676.494,585.988,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,169.094,0.000,0.000,0.000,0.000,0.000,0.000,3337.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6455,252
$CFSIZE,260034560,254832640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270907,135156,4739.555,-12252.382,13,1.8,30,18.3