version: 66.02
glider: 106
mission: 7
dive: 73
start: 9 27 107 12 6 16
data:
$ID,106
$MISSION,7
$DIVE,73
$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,-44591.359
$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,33
$R_STBD_OVSHOOT,35
$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
$GPS1,120027,4739.445,-12253.200,12,1.6,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-63.4
$GPS2,120509,4739.437,-12253.181,14,1.5,14,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.234,0.031
$KALMAN_X,2008.6,-44.9,-75.6,-3109.3,-26.9
$KALMAN_Y,1890.0,-8.6,-123.0,-2359.7,-40.0
$MHEAD_RNG_PITCHd_Wd,64.1,973,-19.2,-9.524
$D_GRID,117
$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,-61.65,0.000,2,0.000,0.000,460,1998,2965
$GC,90,-1.63,-122.2,2.1,-3.5,10,145,14.55,2.65,-32.42,0.000,4,0.210,0.079,2720,599,3718
$GC,396,-1.63,-122.2,19.3,-5.1,57,403,0.00,2.42,0.00,0.000,6,0.000,0.035,2720,1985,3720
$GC,466,-1.63,-122.2,23.3,-5.8,64,470,0.00,2.60,0.00,0.000,4,0.000,0.065,2720,596,3720
$GC,597,-1.63,-122.2,31.2,-5.8,73,604,0.00,2.47,0.00,0.000,6,0.000,0.035,2720,1990,3720
$GC,792,-1.63,-122.2,44.2,-7.2,89,796,0.00,2.62,0.00,0.000,4,0.000,0.067,2720,591,3721
$GC,832,-1.63,-122.2,46.9,-7.0,92,836,0.00,2.45,0.00,0.000,6,0.000,0.036,2720,1990,3721
$GC,1034,-1.63,-122.2,59.3,-6.2,108,1038,0.00,2.53,0.00,0.000,4,0.000,0.057,2720,3388,3721
$GC,1086,-1.63,-122.2,62.6,-6.4,112,1090,0.00,2.45,0.00,0.000,6,0.000,0.038,2720,1991,3721
$GC,1288,-1.63,-122.2,75.9,-6.8,128,1289,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1991,3721
$GC,1478,-1.63,-122.2,88.3,-6.4,143,1482,0.00,2.62,0.00,0.000,4,0.000,0.071,2720,587,3721
$GC,1550,-1.63,-122.2,93.3,-7.3,148,1554,0.00,2.45,0.00,0.000,6,0.000,0.037,2720,1991,3721
$STATE,1674,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1674,begin apogee
$GC,1678,-0.38,0.0,100.4,5.2,158,1784,1.38,0.00,97.68,0.673,6,0.103,0.000,2995,1922,3217
$STATE,1785,end apogee,CONTROL_FINISHED_OK
$STATE,1785,begin climb
$GC,1787,1.63,122.2,100.9,0.0,167,1893,2.00,2.72,94.60,0.651,4,0.052,0.074,3436,538,2718
$GC,1938,1.63,122.2,88.0,11.7,179,1946,0.00,2.50,0.00,0.000,6,0.000,0.036,3436,1929,2717
$GC,2135,1.63,122.2,66.6,11.5,195,2139,0.00,2.67,0.00,0.000,4,0.000,0.073,3435,531,2717
$GC,2174,1.63,122.2,61.9,12.1,198,2178,0.00,2.50,0.00,0.000,6,0.000,0.036,3436,1925,2717
$GC,2376,1.63,122.2,39.8,10.7,214,2380,0.00,2.65,0.00,0.000,4,0.000,0.072,3435,536,2717
$GC,2428,1.63,122.2,33.9,10.8,218,2433,0.00,2.47,0.00,0.000,6,0.000,0.037,3436,1925,2717
$GC,2627,1.63,122.2,13.0,11.0,238,2634,0.00,2.65,0.00,0.000,4,0.000,0.072,3437,531,2717
$STATE,2718,end climb,SURFACE_DEPTH_REACHED
$STATE,2718,begin surface coast
$FINISH,1.8,1.020321
$STATE,2791,end surface coast,CONTROL_FINISHED_OK
$STATE,2791,begin surface
$SM_CCo,2819,119.30,0.584,0,0,1586,400.08
$SM_GC,1.12,0.00,0.00,119.30,0.000,0.000,0.584,461,2002,1586,-12.05,0.31,400.08
$IRIDIUM_FIX,4722.92,-12256.21,270907,151554
$TT8_MAMPS,0.06903
$HUMID,2055
$INTERNAL_PRESSURE,8.42806
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.2,51.0
$24V_AH,23.8,11.946
$10V_AH,10.1,34.017
$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,32.025,46.200,192.275,119.300,0.000,39.864,32.539,114.304,0.500,4.150,3324.850,14.764,494.379,1564.281,434.909,485.230,273.262,33.329,720.437,0.000,460.781,0.000,5.481
$DEVICE_MAMPS,210.158,79.001,672.659,583.687,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,176.425,0.000,0.000,0.000,0.000,0.000,0.000,3329.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6445,263
$CFSIZE,260034560,254861312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270907,125617,4739.427,-12252.785,10,7.7,29,18.3