version: 66.02
glider: 106
mission: 8
dive: 69
start: 10 4 107 22 8 44
data:
$ID,106
$MISSION,8
$DIVE,69
$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,-49213.789
$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,20
$R_STBD_OVSHOOT,39
$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
$GPS1,215320,4743.611,-12250.581,14,1.3,31,18.3
$_CALLS,3
$_XMS_NAKs,12
$_XMS_TOUTs,3
$_SM_DEPTHo,0.30
$_SM_ANGLEo,-62.3
$GPS2,220738,4743.543,-12250.657,10,1.1,15,18.3
$SPEED_LIMITS,0.193,0.217
$TGT_NAME,6_EC
$TGT_LATLONG,4743.563,-12250.725
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.056,0.185
$KALMAN_X,4863.0,-4.8,-65.3,-1933.2,-47.2
$KALMAN_Y,4116.1,-209.1,-70.7,3683.2,-93.8
$MHEAD_RNG_PITCHd_Wd,324.8,92,-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,-97.8,0.0,0.0,0,114,0.00,0.00,-85.05,0.000,2,0.000,0.000,460,1806,3479
$GC,116,-1.43,-127.1,2.1,-5.2,14,147,14.57,2.58,-6.47,0.000,4,0.202,0.060,2783,3195,3740
$GC,392,-1.43,-127.1,21.7,-5.7,54,396,0.00,2.47,0.00,0.000,6,0.000,0.036,2782,1792,3742
$GC,587,-1.43,-127.1,31.8,-5.1,69,591,0.00,2.62,0.00,0.000,4,0.000,0.074,2783,400,3742
$GC,640,-1.43,-127.1,34.7,-5.5,72,646,0.00,2.42,0.00,0.000,6,0.000,0.033,2783,1803,3742
$GC,835,-1.43,-127.1,44.4,-5.0,88,839,0.00,2.47,0.00,0.000,4,0.000,0.048,2783,3188,3742
$GC,873,-1.43,-127.1,46.5,-5.3,90,880,0.00,2.47,0.00,0.000,6,0.000,0.035,2782,1797,3742
$GC,1070,-1.43,-127.1,56.4,-5.2,106,1071,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1797,3742
$GC,1260,-1.43,-127.1,66.4,-5.3,121,1261,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1797,3742
$GC,1450,-1.43,-127.1,76.7,-5.2,136,1451,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1797,3742
$GC,1640,-1.43,-127.1,86.2,-5.2,151,1644,0.00,2.50,0.00,0.000,4,0.000,0.048,2783,3191,3742
$GC,1731,-1.43,-127.1,91.1,-5.1,157,1738,0.00,2.47,0.00,0.000,6,0.000,0.036,2783,1799,3742
$STATE,1812,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1812,begin apogee
$GC,1817,-0.38,0.0,95.1,5.0,164,1923,1.12,0.00,101.20,0.670,6,0.091,0.000,3013,1725,3218
$STATE,1924,end apogee,CONTROL_FINISHED_OK
$STATE,1924,begin climb
$GC,1926,1.43,127.1,96.2,0.0,173,2030,1.80,0.00,98.28,0.639,6,0.051,0.000,3413,1725,2698
$GC,2213,1.43,127.1,69.9,10.8,196,2214,0.00,0.00,0.00,0.000,6,0.000,0.000,3413,1725,2697
$GC,2403,1.43,127.1,50.2,10.4,211,2407,0.00,2.65,0.00,0.000,4,0.000,0.080,3413,341,2697
$GC,2435,1.43,127.1,46.4,11.2,213,2439,0.00,2.42,0.00,0.000,6,0.000,0.034,3413,1728,2696
$GC,2637,1.43,127.1,26.1,9.7,229,2641,0.00,2.67,0.00,0.000,4,0.000,0.076,3413,337,2696
$GC,2670,1.43,127.1,22.7,10.6,231,2674,0.00,2.45,0.00,0.000,6,0.000,0.034,3413,1739,2697
$GC,2873,1.43,128.3,5.4,7.0,259,2880,0.00,2.50,0.00,0.000,4,0.000,0.050,3413,3132,2696
$STATE,2884,end climb,SURFACE_DEPTH_REACHED
$STATE,2884,begin surface coast
$FINISH,-0.4,1.010608
$STATE,2964,end surface coast,CONTROL_FINISHED_OK
$STATE,2964,begin surface
$SM_CCo,2992,116.70,0.579,0,0,1587,400.08
$SM_GC,0.18,0.00,0.00,116.70,0.000,0.000,0.579,462,1806,1587,-12.13,0.17,400.08
$IRIDIUM_FIX,4726.11,-12250.84,051007,010115
$TT8_MAMPS,0.069797
$HUMID,2135
$INTERNAL_PRESSURE,8.45736
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.6,52.2
$24V_AH,23.9,6.265
$10V_AH,10.1,5.486
$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,30.650,35.250,199.475,116.700,0.000,117.685,98.747,388.738,0.500,0.000,4095.000,15.760,511.907,1827.148,422.616,489.243,743.213,33.329,704.783,0.000,459.084,0.000,5.488
$DEVICE_MAMPS,201.721,79.768,670.358,579.085,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,183.423,0.000,0.000,0.000,0.000,0.000,0.000,4095.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6437,273
$CFSIZE,260034560,254844928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041007,230136,4743.754,-12250.834,14,1.4,29,18.3