version: 66.02
glider: 106
mission: 7
dive: 79
start: 9 27 107 17 46 24
data:
$ID,106
$MISSION,7
$DIVE,79
$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,-44747.539
$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,30
$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
$GPS1,173923,4739.404,-12252.689,12,4.8,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-64.7
$GPS2,174517,4739.404,-12252.706,12,5.0,31,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.162,0.033
$KALMAN_X,2252.6,11.9,35.1,-2927.0,50.9
$KALMAN_Y,2069.6,6.1,57.9,-2794.6,47.6
$MHEAD_RNG_PITCHd_Wd,60.3,397,-27.8,-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,22,-2.21,-58.7,0.0,0.0,0,79,0.00,0.00,-55.60,0.000,2,0.000,0.000,462,1998,2832
$GC,82,-2.28,-114.7,2.0,-3.4,9,137,14.52,2.72,-33.10,0.000,4,0.223,0.079,2580,588,3688
$GC,209,-2.28,-114.7,11.3,-11.1,29,216,0.00,2.53,0.00,0.000,6,0.000,0.034,2580,1993,3690
$GC,281,-2.29,-122.2,17.9,-8.2,40,288,0.00,2.67,-0.43,0.000,4,0.000,0.077,2580,596,3720
$GC,392,-2.29,-122.2,27.3,-9.3,51,400,0.00,2.53,0.00,0.000,6,0.000,0.033,2580,1986,3721
$GC,589,-2.29,-122.2,44.3,-8.5,67,590,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,1986,3721
$GC,778,-2.29,-122.2,61.5,-9.3,82,782,0.00,2.62,0.00,0.000,4,0.000,0.067,2580,594,3722
$GC,835,-2.29,-122.2,67.5,-10.2,86,844,0.00,2.47,0.00,0.000,6,0.000,0.035,2580,1989,3722
$GC,1032,-2.29,-122.2,86.3,-9.9,102,1036,0.00,2.62,0.00,0.000,4,0.000,0.067,2580,594,3722
$GC,1084,-2.29,-122.2,91.6,-10.2,106,1089,0.00,2.47,0.00,0.000,6,0.000,0.035,2580,1990,3722
$STATE,1171,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1171,begin apogee
$GC,1176,-0.38,0.0,100.0,9.1,113,1282,2.15,0.00,98.60,0.669,6,0.120,0.000,2992,1918,3216
$STATE,1283,end apogee,CONTROL_FINISHED_OK
$STATE,1283,begin climb
$GC,1285,2.29,122.2,101.0,0.0,122,1386,2.62,0.00,94.47,0.649,6,0.051,0.000,3585,1918,2719
$GC,1570,2.29,122.2,60.6,16.5,145,1574,0.00,2.62,0.00,0.000,4,0.000,0.074,3584,542,2718
$GC,1715,2.29,122.2,36.2,16.0,156,1719,0.00,2.47,0.00,0.000,6,0.000,0.035,3585,1932,2718
$GC,1915,2.29,122.2,5.3,13.2,179,1922,0.00,2.65,0.00,0.000,4,0.000,0.072,3585,541,2717
$STATE,1926,end climb,SURFACE_DEPTH_REACHED
$STATE,1926,begin surface coast
$FINISH,0.5,1.019821
$STATE,1967,end surface coast,CONTROL_FINISHED_OK
$STATE,1967,begin surface
$SM_CCo,1995,122.00,0.580,0,0,1586,400.08
$SM_GC,1.09,0.00,0.00,122.00,0.000,0.000,0.580,460,1994,1586,-12.05,0.11,400.08
$IRIDIUM_FIX,4722.92,-12251.79,270907,202032
$TT8_MAMPS,0.069797
$HUMID,2035
$INTERNAL_PRESSURE,8.42806
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.0,52.1
$24V_AH,23.9,12.511
$10V_AH,10.1,34.425
$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,33.800,31.125,193.075,122.000,0.000,37.789,40.883,153.947,0.500,0.000,2602.000,32.134,357.546,1026.732,419.913,385.043,312.655,33.323,645.498,0.000,340.337,0.000,5.486
$DEVICE_MAMPS,223.197,79.001,668.824,579.852,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,124.543,0.000,0.000,0.000,0.000,0.000,0.000,2602.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6448,187
$CFSIZE,260034560,254681088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270907,182255,4739.435,-12252.377,40,1.1,40,18.3