version: 66.02
glider: 106
mission: 7
dive: 83
start: 9 27 107 21 10 29
data:
$ID,106
$MISSION,7
$DIVE,83
$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,-44825.172
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,460
$PITCH_MAX,3783
$C_PITCH,3100
$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,1800
$C_ROLL_CLIMB,1735
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,16
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,27
$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
$GPS1,210046,4739.422,-12253.178,9,1.6,16,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-63.8
$GPS2,210923,4739.422,-12253.229,13,2.3,32,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.226,0.067
$KALMAN_X,2175.3,31.1,65.4,-3550.0,-34.9
$KALMAN_Y,1713.3,-32.9,56.9,-2364.5,-106.5
$MHEAD_RNG_PITCHd_Wd,55.2,1035,-19.2,-9.524
$D_GRID,118
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.63,-122.2,0.0,0.0,0,87,0.00,0.00,-61.55,0.000,2,0.000,0.000,461,2001,2967
$GC,90,-1.63,-122.2,2.1,-4.1,10,139,15.35,2.20,-26.38,0.000,4,0.216,0.066,2741,3204,3719
$GC,285,-1.63,-122.2,12.9,-5.4,40,291,0.00,2.50,0.00,0.000,6,0.000,0.038,2741,1810,3721
$GC,356,-1.63,-122.2,16.4,-4.8,51,363,0.00,2.75,0.00,0.000,4,0.000,0.075,2741,397,3721
$GC,480,-1.63,-122.2,23.1,-5.3,66,488,0.00,2.53,0.00,0.000,6,0.000,0.034,2741,1811,3722
$GC,676,-1.63,-122.2,34.0,-5.8,82,677,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,1811,3722
$GC,867,-1.63,-122.2,45.4,-5.9,97,871,0.00,2.50,0.00,0.000,4,0.000,0.051,2741,3200,3723
$GC,952,-1.63,-122.2,50.7,-6.8,103,956,0.00,2.47,0.00,0.000,6,0.000,0.039,2741,1802,3723
$GC,1154,-1.63,-122.2,63.5,-6.4,119,1155,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,1802,3723
$GC,1343,-1.63,-122.2,75.5,-6.2,134,1348,0.00,2.53,0.00,0.000,4,0.000,0.051,2742,3195,3723
$GC,1407,-1.63,-122.2,79.6,-6.2,138,1415,0.00,2.50,0.00,0.000,6,0.000,0.040,2741,1804,3723
$GC,1604,-1.63,-122.2,91.7,-6.2,154,1605,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,1805,3723
$STATE,1741,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1741,begin apogee
$GC,1746,-0.38,0.0,100.3,6.6,165,1852,1.38,0.00,98.12,0.674,6,0.106,0.000,3013,1732,3217
$STATE,1853,end apogee,CONTROL_FINISHED_OK
$STATE,1853,begin climb
$GC,1855,1.63,122.2,101.3,0.0,174,1954,1.98,0.00,94.85,0.648,6,0.055,0.000,3458,1732,2718
$GC,2140,1.63,122.2,72.3,11.5,197,2141,0.00,0.00,0.00,0.000,6,0.000,0.000,3458,1732,2717
$GC,2330,1.63,122.2,50.2,11.3,212,2331,0.00,0.00,0.00,0.000,6,0.000,0.000,3458,1732,2717
$GC,2519,1.63,122.2,28.5,11.3,227,2523,0.00,2.55,0.00,0.000,4,0.000,0.054,3458,3126,2717
$GC,2550,1.63,122.2,24.6,11.9,229,2555,0.00,2.53,0.00,0.000,6,0.000,0.044,3458,1738,2717
$STATE,2732,end climb,SURFACE_DEPTH_REACHED
$STATE,2732,begin surface coast
$FINISH,0.9,1.020444
$STATE,2793,end surface coast,CONTROL_FINISHED_OK
$STATE,2793,begin surface
$SM_CCo,2818,119.60,0.581,0,0,1587,400.08
$SM_GC,1.01,0.00,0.00,119.60,0.000,0.000,0.581,462,1795,1587,-12.13,-0.14,400.08
$IRIDIUM_FIX,4722.92,-12249.11,280907,010126
$TT8_MAMPS,0.071331
$HUMID,2039
$INTERNAL_PRESSURE,8.42806
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.3,51.2
$24V_AH,23.9,12.821
$10V_AH,10.1,34.698
$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,32.450,25.275,192.975,119.600,0.000,75.611,112.997,146.609,0.500,0.000,3574.000,33.206,483.162,1679.614,416.010,480.697,425.602,33.327,680.632,0.000,433.495,0.000,5.483
$DEVICE_MAMPS,216.294,79.768,674.193,581.386,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,175.915,0.000,0.000,0.000,0.000,0.000,0.000,3574.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6471,262
$CFSIZE,260034560,254558208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270907,220009,4739.384,-12252.953,10,1.8,10,18.3