version: 66.02
glider: 106
mission: 8
dive: 16
start: 10 2 107 12 36 44
data:
$ID,106
$MISSION,8
$DIVE,16
$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,45
$T_MISSION,90
$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,130
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$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,-47952.301
$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,27
$R_STBD_OVSHOOT,40
$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,71.400002
$AH0_10V,61.200001
$PRESSURE_YINT,-8.3042984
$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
$GPS1,122938,4739.492,-12252.607,24,1.9,24,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.24
$_SM_ANGLEo,-56.7
$GPS2,123537,4739.529,-12252.567,16,2.0,32,18.3
$SPEED_LIMITS,0.204,0.221
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.183,-0.088
$KALMAN_X,1131.9,181.7,53.1,-890.5,6.2
$KALMAN_Y,2555.8,399.2,98.1,-2972.8,-17.1
$MHEAD_RNG_PITCHd_Wd,97.4,236,-16.7,-7.407
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.41,-105.5,0.0,0.0,0,118,0.00,0.00,-91.05,0.000,2,0.000,0.000,459,1814,3611
$GC,122,-1.43,-119.6,2.5,-6.7,15,147,14.62,2.55,-2.22,0.000,4,0.202,0.063,2783,3192,3709
$GC,398,-1.44,-127.1,20.6,-5.1,57,403,0.00,2.47,-0.40,0.000,6,0.000,0.038,2783,1798,3739
$GC,593,-1.44,-127.1,30.2,-5.0,72,595,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1798,3740
$GC,784,-1.44,-127.1,39.4,-4.8,87,788,0.00,2.53,0.00,0.000,4,0.000,0.049,2783,3196,3740
$GC,817,-1.44,-127.1,41.2,-5.4,89,821,0.00,2.47,0.00,0.000,6,0.000,0.037,2783,1796,3740
$GC,1015,-1.44,-127.1,50.6,-4.6,104,1016,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1796,3740
$GC,1204,-1.44,-127.1,59.2,-4.8,119,1205,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1796,3740
$GC,1392,-1.44,-127.1,67.5,-4.4,134,1396,0.00,2.55,0.00,0.000,4,0.000,0.049,2783,3191,3741
$GC,1464,-1.44,-127.1,70.9,-4.8,139,1468,0.00,2.47,0.00,0.000,6,0.000,0.038,2783,1796,3740
$GC,1659,-1.44,-127.1,81.1,-5.5,154,1660,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1796,3740
$GC,1850,-1.44,-127.1,91.2,-5.5,169,1854,0.00,2.53,0.00,0.000,4,0.000,0.049,2783,3191,3740
$GC,1942,-1.44,-127.1,96.7,-5.8,175,1948,0.00,2.45,0.00,0.000,6,0.000,0.036,2782,1799,3740
$STATE,2009,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2009,begin apogee
$GC,2014,-0.38,0.0,100.5,5.6,181,2120,1.12,0.00,101.40,0.682,6,0.089,0.000,3013,1726,3218
$STATE,2121,end apogee,CONTROL_FINISHED_OK
$STATE,2121,begin climb
$GC,2123,1.44,127.1,102.5,0.0,190,2229,1.85,0.00,98.60,0.651,6,0.052,0.000,3421,1726,2698
$GC,2417,1.44,127.1,77.4,10.3,214,2418,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,1726,2697
$GC,2607,1.44,127.1,58.2,10.5,229,2608,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,1726,2696
$GC,2796,1.44,127.1,37.0,11.3,244,2798,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,1726,2697
$GC,2986,1.44,127.1,16.3,11.2,261,2992,0.00,2.55,0.00,0.000,4,0.000,0.051,3421,3123,2696
$GC,3031,1.44,127.1,11.2,11.0,268,3038,0.00,2.47,0.00,0.000,6,0.000,0.039,3421,1738,2696
$STATE,3101,end climb,SURFACE_DEPTH_REACHED
$STATE,3101,begin surface coast
$FINISH,1.5,1.021531
$STATE,3162,end surface coast,CONTROL_FINISHED_OK
$STATE,3162,begin surface
$SM_CCo,3190,116.97,0.584,0,0,1586,400.08
$SM_GC,0.20,0.00,0.00,116.97,0.000,0.000,0.584,464,1801,1586,-12.13,0.03,400.08
$IRIDIUM_FIX,4722.92,-12251.79,021007,151507
$TT8_MAMPS,0.069797
$HUMID,2147
$INTERNAL_PRESSURE,8.45736
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.6,52.2
$24V_AH,23.9,1.457
$10V_AH,10.0,1.209
$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,31.625,25.275,200.000,116.975,0.000,40.375,44.842,144.141,0.500,41.500,3747.500,32.762,529.384,1882.142,424.734,505.808,352.926,33.334,702.267,0.000,463.124,0.000,5.491
$DEVICE_MAMPS,202.488,75.166,681.863,584.454,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,193.782,0.000,0.000,0.000,0.000,0.000,0.000,3789.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6428,288
$CFSIZE,260034560,256638976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021007,133307,4739.386,-12252.251,32,1.2,42,18.3