version: 66.02
glider: 106
mission: 7
dive: 76
start: 9 27 107 14 57 34
data:
$ID,106
$MISSION,7
$DIVE,76
$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,-44682.074
$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,27
$R_STBD_OVSHOOT,29
$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
$GPS1,145138,4739.615,-12252.672,26,1.9,26,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-64.6
$GPS2,145627,4739.612,-12252.666,16,2.0,16,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.210,-0.107
$KALMAN_X,2150.6,-29.2,-74.3,-2626.7,54.8
$KALMAN_Y,1998.0,-21.4,-115.5,-2143.8,71.6
$MHEAD_RNG_PITCHd_Wd,224.7,721,-19.2,-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,22,-1.63,-122.2,0.0,0.0,0,80,0.00,0.00,-55.62,0.000,2,0.000,0.000,461,1995,2829
$GC,83,-1.63,-122.2,2.0,-3.5,9,144,14.68,2.58,-36.92,0.000,4,0.215,0.067,2721,3390,3719
$GC,375,-1.63,-122.2,18.9,-7.1,54,381,0.00,2.45,0.00,0.000,6,0.000,0.038,2721,1991,3721
$GC,444,-1.63,-122.2,23.3,-6.7,61,449,0.00,2.62,0.00,0.000,4,0.000,0.068,2721,586,3721
$GC,517,-1.63,-122.2,28.2,-6.5,66,521,0.00,2.45,0.00,0.000,6,0.000,0.035,2721,1995,3721
$GC,718,-1.63,-122.2,40.5,-6.8,82,723,0.00,2.62,0.00,0.000,4,0.000,0.067,2721,593,3722
$GC,836,-1.63,-122.2,48.9,-7.3,90,844,0.00,2.47,0.00,0.000,6,0.000,0.035,2721,1989,3722
$GC,1032,-1.63,-122.2,61.2,-6.2,106,1036,0.00,2.53,0.00,0.000,4,0.000,0.054,2721,3396,3722
$GC,1071,-1.63,-122.2,63.9,-6.8,109,1075,0.00,2.47,0.00,0.000,6,0.000,0.038,2721,1987,3722
$GC,1273,-1.63,-122.2,76.8,-6.3,125,1277,0.00,2.60,0.00,0.000,4,0.000,0.069,2721,591,3722
$GC,1358,-1.63,-122.2,82.5,-7.0,131,1365,0.00,2.47,0.00,0.000,6,0.000,0.035,2721,1993,3722
$GC,1554,-1.63,-122.2,94.8,-6.1,147,1555,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,1993,3722
$STATE,1641,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1641,begin apogee
$GC,1645,-0.38,0.0,100.4,6.3,154,1751,1.38,0.00,97.93,0.673,6,0.107,0.000,2993,1921,3217
$STATE,1752,end apogee,CONTROL_FINISHED_OK
$STATE,1752,begin climb
$GC,1754,1.63,122.2,101.5,0.0,163,1858,1.98,2.67,94.60,0.653,4,0.056,0.072,3437,537,2717
$GC,1889,1.63,122.2,90.7,11.5,173,1897,0.00,2.50,0.00,0.000,6,0.000,0.035,3436,1929,2717
$GC,2085,1.63,122.2,69.7,10.6,189,2090,0.00,2.67,0.00,0.000,4,0.000,0.071,3436,540,2716
$GC,2164,1.63,122.2,60.6,11.5,195,2169,0.00,2.45,0.00,0.000,6,0.000,0.035,3437,1931,2716
$GC,2366,1.63,122.2,38.8,10.7,211,2371,0.00,2.67,0.00,0.000,4,0.000,0.070,3436,538,2716
$GC,2491,1.63,122.2,24.3,11.7,220,2498,0.00,2.47,0.00,0.000,6,0.000,0.035,3436,1933,2716
$STATE,2686,end climb,SURFACE_DEPTH_REACHED
$STATE,2686,begin surface coast
$FINISH,1.6,1.020475
$STATE,2747,end surface coast,CONTROL_FINISHED_OK
$STATE,2747,begin surface
$SM_CCo,2772,119.47,0.584,0,0,1587,400.08
$SM_GC,1.15,0.00,0.00,119.47,0.000,0.000,0.584,464,2001,1587,-12.03,0.31,400.08
$IRIDIUM_FIX,4719.74,-12254.47,270907,171715
$TT8_MAMPS,0.070564
$HUMID,2048
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.1,51.2
$24V_AH,23.8,12.176
$10V_AH,10.1,34.230
$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,32.000,40.925,192.525,119.475,0.000,40.338,31.977,117.614,0.500,0.000,3308.000,16.044,486.989,1525.085,425.245,497.689,275.733,33.328,717.612,0.000,470.058,0.000,5.482
$DEVICE_MAMPS,214.760,86.671,673.426,583.687,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,171.683,0.000,0.000,0.000,0.000,0.000,0.000,3308.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6446,256
$CFSIZE,260034560,254771200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270907,154653,4739.591,-12252.956,15,2.4,34,18.3