version: 66.02
glider: 106
mission: 8
dive: 47
start: 10 3 107 22 24 44
data:
$ID,106
$MISSION,8
$DIVE,47
$D_SURF,5
$D_FLARE,2
$D_TGT,95
$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,-48750.508
$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,29
$R_STBD_OVSHOOT,48
$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
$GPS1,220838,4743.525,-12250.888,40,1.7,40,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.21
$_SM_ANGLEo,-59.2
$GPS2,222338,4743.574,-12250.789,11,2.0,16,18.3
$SPEED_LIMITS,0.193,0.217
$TGT_NAME,6_EC
$TGT_LATLONG,4743.563,-12250.725
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.083,-0.175
$KALMAN_X,4246.1,-62.8,60.3,-1550.8,105.2
$KALMAN_Y,5943.8,-34.1,-25.4,1689.0,32.3
$MHEAD_RNG_PITCHd_Wd,187.0,82,-16.6,-7.037
$D_GRID,167
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-1.39,-97.8,0.0,0.0,0,120,0.00,0.00,-91.03,0.000,2,0.000,0.000,460,1822,3573
$GC,124,-1.43,-127.1,2.0,-5.1,15,148,14.65,0.00,-3.97,0.000,6,0.202,0.000,2784,1822,3738
$GC,215,-1.43,-127.1,11.1,-6.8,29,222,0.00,2.45,0.00,0.000,4,0.000,0.049,2785,3182,3740
$GC,309,-1.43,-127.1,16.5,-5.7,43,315,0.00,2.42,0.00,0.000,6,0.000,0.036,2785,1806,3740
$GC,387,-1.43,-127.1,20.8,-4.9,54,391,0.00,2.65,0.00,0.000,4,0.000,0.073,2785,398,3740
$GC,419,-1.43,-127.1,22.3,-5.1,56,424,0.00,2.40,0.00,0.000,6,0.000,0.033,2785,1800,3740
$GC,621,-1.43,-127.1,31.4,-4.5,72,623,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,1801,3740
$GC,812,-1.43,-127.1,40.5,-4.9,87,816,0.00,2.47,0.00,0.000,4,0.000,0.049,2785,3186,3740
$GC,956,-1.43,-127.1,48.1,-5.4,97,963,0.00,2.45,0.00,0.000,6,0.000,0.036,2785,1791,3741
$GC,1152,-1.43,-127.1,58.1,-5.0,113,1153,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,1791,3740
$GC,1343,-1.43,-127.1,67.9,-5.0,128,1344,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,1791,3740
$GC,1534,-1.43,-127.1,76.7,-4.5,143,1535,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,1790,3740
$GC,1722,-1.43,-127.1,85.5,-5.0,158,1723,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,1791,3740
$STATE,1909,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1909,begin apogee
$GC,1914,-0.38,0.0,95.3,5.1,173,2019,1.12,0.00,101.25,0.679,6,0.093,0.000,3014,1730,3218
$STATE,2020,end apogee,CONTROL_FINISHED_OK
$STATE,2020,begin climb
$GC,2023,1.43,127.1,96.5,0.0,182,2126,1.80,0.00,98.57,0.647,6,0.054,0.000,3410,1730,2699
$GC,2309,1.43,127.1,69.9,10.8,205,2313,0.00,2.67,0.00,0.000,4,0.000,0.077,3410,334,2696
$GC,2347,1.43,127.1,65.4,11.4,207,2354,0.00,2.47,0.00,0.000,6,0.000,0.033,3410,1731,2696
$GC,2543,1.43,127.1,45.1,10.2,223,2544,0.00,0.00,0.00,0.000,6,0.000,0.000,3410,1731,2696
$GC,2734,1.43,127.1,25.2,10.8,238,2735,0.00,0.00,0.00,0.000,6,0.000,0.000,3410,1731,2696
$GC,2929,1.43,127.1,6.1,8.8,264,2935,0.00,2.65,0.00,0.000,4,0.000,0.074,3410,340,2696
$STATE,2939,end climb,SURFACE_DEPTH_REACHED
$STATE,2939,begin surface coast
$FINISH,0.3,1.022083
$STATE,2993,end surface coast,CONTROL_FINISHED_OK
$STATE,2995,begin surface
$SM_CCo,3023,116.97,0.582,0,0,1587,400.08
$SM_GC,0.15,0.00,0.00,116.97,0.000,0.000,0.582,461,1802,1587,-12.14,0.06,400.08
$IRIDIUM_FIX,4726.11,-12252.58,041007,020254
$TT8_MAMPS,0.070564
$HUMID,2118
$INTERNAL_PRESSURE,8.45736
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.2,52.1
$24V_AH,23.2,4.208
$10V_AH,10.0,3.704
$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,30.575,25.350,199.825,116.975,0.000,115.369,114.986,407.481,0.500,8.300,4169.700,16.775,508.819,1867.644,416.322,485.444,789.246,33.336,698.190,0.000,454.863,0.000,5.488
$DEVICE_MAMPS,202.488,86.671,678.795,582.153,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,184.031,0.000,0.000,0.000,0.000,0.000,0.000,4178.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6437,274
$CFSIZE,260034560,255569920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031007,231807,4743.308,-12250.993,13,1.4,29,18.3