version: 66.02
glider: 106
mission: 8
dive: 18
start: 10 2 107 14 43 15
data:
$ID,106
$MISSION,8
$DIVE,18
$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,-48002.895
$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,31
$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
$GPS1,143245,4739.520,-12252.683,9,1.6,9,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.25
$_SM_ANGLEo,-58.2
$GPS2,144209,4739.614,-12252.600,16,1.8,16,18.3
$SPEED_LIMITS,0.204,0.221
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.150,-0.137
$KALMAN_X,1221.2,145.8,-4.9,-928.5,-50.4
$KALMAN_Y,3001.1,302.1,-11.2,-3056.3,5.1
$MHEAD_RNG_PITCHd_Wd,114.2,368,-16.7,-7.407
$D_GRID,123
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.41,-105.5,0.0,0.0,0,119,0.00,0.00,-91.12,0.000,2,0.000,0.000,461,1809,3596
$GC,123,-1.44,-127.1,2.1,-5.0,15,148,14.57,2.55,-3.47,0.000,4,0.202,0.062,2781,3208,3739
$GC,306,-1.44,-127.1,17.8,-7.7,43,313,0.00,2.50,0.00,0.000,6,0.000,0.038,2781,1803,3740
$GC,384,-1.44,-127.1,21.9,-4.9,52,385,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1803,3741
$GC,574,-1.44,-127.1,30.4,-4.7,67,576,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1803,3741
$GC,763,-1.44,-127.1,40.1,-5.4,82,768,0.00,2.53,0.00,0.000,4,0.000,0.050,2781,3200,3740
$GC,822,-1.44,-127.1,43.8,-6.3,86,827,0.00,2.47,0.00,0.000,6,0.000,0.038,2781,1799,3741
$GC,1018,-1.44,-127.1,55.9,-6.2,101,1019,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1798,3740
$GC,1209,-1.44,-127.1,67.0,-5.7,116,1213,0.00,2.53,0.00,0.000,4,0.000,0.050,2781,3199,3741
$GC,1267,-1.44,-127.1,70.5,-5.8,120,1272,0.00,2.47,0.00,0.000,6,0.000,0.037,2781,1799,3740
$GC,1463,-1.44,-127.1,80.6,-4.6,135,1467,0.00,2.55,0.00,0.000,4,0.000,0.050,2781,3208,3741
$GC,1508,-1.44,-127.1,82.7,-4.8,138,1513,0.00,2.47,0.00,0.000,6,0.000,0.036,2781,1800,3740
$GC,1704,-1.44,-127.1,91.7,-4.5,153,1705,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1799,3740
$STATE,1879,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1880,begin apogee
$GC,1885,-0.38,0.0,100.2,4.9,167,1990,1.15,0.00,101.40,0.682,6,0.091,0.000,3015,1727,3217
$STATE,1991,end apogee,CONTROL_FINISHED_OK
$STATE,1991,begin climb
$GC,1993,1.44,127.1,102.0,0.0,176,2097,1.80,0.00,98.65,0.653,6,0.055,0.000,3411,1727,2698
$GC,2280,1.44,127.1,76.8,11.0,199,2281,0.00,0.00,0.00,0.000,6,0.000,0.000,3411,1727,2696
$GC,2470,1.44,127.1,55.2,11.2,214,2474,0.00,2.58,0.00,0.000,4,0.000,0.051,3411,3134,2696
$GC,2494,1.44,127.1,52.1,11.4,215,2502,0.00,2.53,0.00,0.000,6,0.000,0.038,3411,1740,2696
$GC,2691,1.44,127.1,30.3,11.2,231,2692,0.00,0.00,0.00,0.000,6,0.000,0.000,3411,1740,2696
$GC,2884,1.44,127.1,9.8,10.4,253,2891,0.00,2.55,0.00,0.000,4,0.000,0.049,3411,3142,2696
$STATE,2948,end climb,SURFACE_DEPTH_REACHED
$STATE,2948,begin surface coast
$FINISH,-0.3,1.021695
$STATE,3035,end surface coast,CONTROL_FINISHED_OK
$STATE,3035,begin surface
$SM_CCo,3064,117.18,0.588,0,0,1586,400.08
$SM_GC,0.05,0.00,0.00,117.18,0.000,0.000,0.588,461,1784,1586,-12.14,-0.45,400.08
$IRIDIUM_FIX,4722.92,-12256.21,021007,181843
$TT8_MAMPS,0.06903
$HUMID,2157
$INTERNAL_PRESSURE,8.46712
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.5,52.1
$24V_AH,23.8,1.636
$10V_AH,10.0,1.362
$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,30.875,30.300,200.050,117.175,0.000,81.254,77.743,219.666,0.500,33.200,3819.800,16.269,509.826,1851.949,419.432,477.748,515.015,33.332,696.864,0.000,452.697,0.000,5.485
$DEVICE_MAMPS,202.488,75.933,681.863,587.522,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,185.643,0.000,0.000,0.000,0.000,0.000,0.000,3853.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6430,276
$CFSIZE,260034560,256561152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021007,153723,4739.397,-12252.316,12,3.4,31,18.3