version: 66.02
glider: 106
mission: 7
dive: 80
start: 9 27 107 18 29 46
data:
$ID,106
$MISSION,7
$DIVE,80
$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,-44764.574
$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,34
$R_STBD_OVSHOOT,32
$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
$GPS1,182255,4739.435,-12252.377,40,1.1,40,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-64.3
$GPS2,182839,4739.417,-12252.408,15,1.9,15,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.235,0.025
$KALMAN_X,2249.8,22.0,63.1,-2590.4,34.5
$KALMAN_Y,2000.7,8.2,94.3,-2741.0,-10.1
$MHEAD_RNG_PITCHd_Wd,257.7,995,-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,22,-1.63,-122.2,0.0,0.0,0,79,0.00,0.00,-55.50,0.000,2,0.000,0.000,460,1995,2829
$GC,82,-1.63,-122.2,2.1,-4.0,9,137,15.15,2.55,-33.90,0.000,4,0.215,0.064,2720,3387,3717
$GC,388,-1.63,-122.2,19.5,-5.9,56,395,0.00,2.45,0.00,0.000,6,0.000,0.038,2720,1996,3719
$GC,464,-1.63,-122.2,23.9,-5.8,63,468,0.00,2.53,0.00,0.000,4,0.000,0.051,2720,3387,3720
$GC,541,-1.63,-122.2,29.0,-7.2,68,549,0.00,2.47,0.00,0.000,6,0.000,0.037,2720,1993,3720
$GC,738,-1.63,-122.2,40.8,-5.5,84,742,0.00,2.62,0.00,0.000,4,0.000,0.070,2720,593,3721
$GC,803,-1.63,-122.2,44.8,-6.5,89,808,0.00,2.45,0.00,0.000,6,0.000,0.035,2720,1994,3721
$GC,1005,-1.63,-122.2,57.7,-6.7,105,1010,0.00,2.65,0.00,0.000,4,0.000,0.068,2720,587,3721
$GC,1092,-1.63,-122.2,63.6,-6.8,111,1097,0.00,2.47,0.00,0.000,6,0.000,0.036,2720,1998,3721
$GC,1287,-1.63,-122.2,76.0,-6.4,126,1288,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1998,3721
$GC,1477,-1.63,-122.2,88.6,-6.8,141,1481,0.00,2.65,0.00,0.000,4,0.000,0.068,2720,584,3720
$GC,1567,-1.63,-122.2,94.7,-6.8,147,1575,0.00,2.47,0.00,0.000,6,0.000,0.035,2720,1983,3721
$STATE,1648,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1649,begin apogee
$GC,1653,-0.38,0.0,100.2,6.8,154,1759,1.38,0.00,97.88,0.675,6,0.105,0.000,2993,1922,3217
$STATE,1760,end apogee,CONTROL_FINISHED_OK
$STATE,1760,begin climb
$GC,1762,1.63,122.2,101.5,0.0,163,1862,2.03,0.00,95.20,0.651,6,0.054,0.000,3437,1921,2719
$GC,2045,1.63,122.2,75.0,11.1,186,2049,0.00,2.65,0.00,0.000,4,0.000,0.074,3436,536,2717
$GC,2209,1.63,122.2,55.6,12.2,198,2214,0.00,2.45,0.00,0.000,6,0.000,0.035,3437,1930,2717
$GC,2411,1.63,122.2,33.7,10.9,214,2415,0.00,2.65,0.00,0.000,4,0.000,0.071,3437,535,2717
$GC,2509,1.63,122.2,22.1,11.9,221,2517,0.00,2.47,0.00,0.000,6,0.000,0.035,3436,1928,2717
$STATE,2685,end climb,SURFACE_DEPTH_REACHED
$STATE,2685,begin surface coast
$FINISH,1.6,1.020287
$STATE,2746,end surface coast,CONTROL_FINISHED_OK
$STATE,2746,begin surface
$SM_CCo,2771,119.28,0.583,0,0,1587,400.08
$SM_GC,1.09,0.00,0.00,119.28,0.000,0.000,0.583,464,2001,1587,-12.03,0.28,400.08
$IRIDIUM_FIX,4719.74,-12251.79,270907,212109
$TT8_MAMPS,0.069797
$HUMID,2041
$INTERNAL_PRESSURE,8.42806
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.4,51.2
$24V_AH,23.9,12.587
$10V_AH,10.1,34.496
$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,32.625,35.750,193.075,119.275,0.000,38.566,42.355,160.031,0.500,0.000,3380.000,16.405,485.969,1534.396,429.447,490.466,325.850,33.322,704.059,0.000,459.537,0.000,5.483
$DEVICE_MAMPS,214.760,79.001,674.960,582.920,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,171.208,0.000,0.000,0.000,0.000,0.000,0.000,3380.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6447,255
$CFSIZE,260034560,254644224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270907,191859,4739.468,-12252.767,10,2.1,29,18.3