version: 66.02
glider: 106
mission: 7
dive: 77
start: 9 27 107 15 53 47
data:
$ID,106
$MISSION,7
$DIVE,77
$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,-44697.895
$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,41
$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
$GPS1,154653,4739.591,-12252.956,15,2.4,34,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-64.0
$GPS2,155239,4739.596,-12252.952,15,1.2,15,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.171,-0.163
$KALMAN_X,2194.0,-20.7,-45.4,-3063.2,72.3
$KALMAN_Y,2119.6,-14.4,-68.4,-2347.8,124.8
$MHEAD_RNG_PITCHd_Wd,208.1,393,-19.2,-9.524
$D_GRID,119
$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,22,-1.63,-122.2,0.0,0.0,0,85,0.00,0.00,-61.60,0.000,2,0.000,0.000,464,2002,2971
$GC,88,-1.63,-122.2,2.3,-4.4,10,137,14.88,2.70,-25.35,0.000,4,0.215,0.077,2719,597,3719
$GC,388,-1.63,-122.2,21.4,-6.4,55,392,0.00,2.45,0.00,0.000,6,0.000,0.034,2719,1986,3721
$GC,590,-1.63,-122.2,33.0,-5.2,71,594,0.00,2.65,0.00,0.000,4,0.000,0.065,2719,587,3722
$GC,714,-1.63,-122.2,41.1,-6.8,80,721,0.00,2.50,0.00,0.000,6,0.000,0.035,2719,1985,3722
$GC,910,-1.63,-122.2,53.0,-6.4,96,911,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,1985,3722
$GC,1101,-1.63,-122.2,65.5,-6.9,111,1105,0.00,2.65,0.00,0.000,4,0.000,0.067,2719,592,3722
$GC,1164,-1.63,-122.2,70.1,-7.5,115,1172,0.00,2.53,0.00,0.000,6,0.000,0.035,2721,1985,3722
$GC,1361,-1.63,-122.2,83.3,-6.4,131,1365,0.00,2.72,0.00,0.000,4,0.000,0.066,2719,596,3722
$GC,1425,-1.63,-122.2,87.5,-6.3,135,1433,0.00,2.50,0.00,0.000,6,0.000,0.035,2720,1992,3722
$GC,1622,-1.63,-122.2,98.5,-5.9,151,1627,0.00,2.65,0.00,0.000,4,0.000,0.067,2719,596,3722
$STATE,1645,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1645,begin apogee
$GC,1651,-0.38,0.0,100.1,6.4,152,1755,1.35,0.00,98.75,0.673,6,0.098,0.000,2989,1934,3217
$STATE,1755,end apogee,CONTROL_FINISHED_OK
$STATE,1756,begin climb
$GC,1757,1.63,122.2,101.4,0.0,161,1858,2.00,0.00,95.35,0.651,6,0.054,0.000,3438,1935,2719
$GC,2042,1.63,122.2,75.0,10.9,184,2047,0.00,2.78,0.00,0.000,4,0.000,0.072,3437,534,2717
$GC,2173,1.63,122.2,59.7,12.3,193,2181,0.00,2.50,0.00,0.000,6,0.000,0.036,3437,1924,2717
$GC,2369,1.63,122.2,37.3,11.4,209,2374,0.00,2.70,0.00,0.000,4,0.000,0.072,3437,527,2717
$GC,2427,1.63,122.2,30.4,11.8,213,2435,0.00,2.53,0.00,0.000,6,0.000,0.035,3437,1929,2716
$GC,2629,1.63,122.2,8.7,10.3,237,2635,0.00,2.67,0.00,0.000,4,0.000,0.071,3437,530,2716
$STATE,2666,end climb,SURFACE_DEPTH_REACHED
$STATE,2666,begin surface coast
$FINISH,4.0,1.021163
$STATE,2680,end surface coast,CONTROL_FINISHED_OK
$STATE,2680,begin surface
$SM_CCo,2708,124.28,0.583,0,0,1587,400.08
$SM_GC,1.07,0.00,0.00,124.28,0.000,0.000,0.583,462,2002,1587,-12.04,0.34,400.08
$IRIDIUM_FIX,4722.92,-12254.47,270907,181821
$TT8_MAMPS,0.06903
$HUMID,2059
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.5,51.4
$24V_AH,23.2,12.360
$10V_AH,10.1,34.298
$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,32.425,41.625,194.100,124.275,0.000,39.608,64.220,138.996,0.500,389.716,2916.284,15.190,463.128,1512.644,432.775,471.826,329.516,33.331,706.858,0.000,442.212,0.000,6.299
$DEVICE_MAMPS,214.760,76.700,673.426,582.920,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,164.216,0.000,0.000,0.000,0.000,0.000,0.000,3306.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6460,245
$CFSIZE,260034560,254738432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270907,164145,4739.452,-12253.131,12,1.4,12,18.3