version: 66.02
glider: 106
mission: 8
dive: 70
start: 10 4 107 23 36 3
data:
$ID,106
$MISSION,8
$DIVE,70
$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,609.0799
$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,-49230.008
$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,19
$R_STBD_OVSHOOT,34
$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
$GPS1,230136,4743.754,-12250.834,14,1.4,29,18.3
$_CALLS,5
$_XMS_NAKs,9
$_XMS_TOUTs,2
$_SM_DEPTHo,0.20
$_SM_ANGLEo,-59.1
$GPS2,233457,4743.495,-12250.984,15,1.4,15,18.3
$SPEED_LIMITS,0.193,0.217
$TGT_NAME,6_EC
$TGT_LATLONG,4743.563,-12250.725
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.164,0.102
$KALMAN_X,4686.4,-28.7,-92.1,-2112.0,-61.5
$KALMAN_Y,3663.2,-241.4,-104.5,4119.6,-118.7
$MHEAD_RNG_PITCHd_Wd,40.0,347,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-1.39,-97.8,0.0,0.0,0,120,0.00,0.00,-90.53,0.000,6,0.000,0.000,463,1805,3618
$GC,124,-1.43,-123.2,2.5,-5.8,15,149,14.62,2.67,-2.33,0.000,4,0.202,0.082,2786,394,3725
$GC,208,-1.43,-123.2,12.9,-8.2,28,215,0.00,2.45,0.00,0.000,6,0.000,0.033,2785,1805,3726
$GC,281,-1.43,-127.1,17.2,-5.2,39,288,0.00,2.47,-0.17,0.000,4,0.000,0.060,2786,3190,3739
$GC,307,-1.43,-127.1,18.6,-5.0,43,314,0.00,2.45,0.00,0.000,6,0.000,0.035,2786,1794,3739
$GC,377,-1.43,-127.1,22.2,-5.1,51,382,0.00,2.62,0.00,0.000,4,0.000,0.071,2786,397,3739
$GC,429,-1.43,-127.1,24.8,-5.1,54,436,0.00,2.47,0.00,0.000,6,0.000,0.031,2786,1808,3739
$GC,625,-1.43,-127.1,34.8,-5.4,70,626,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1808,3739
$GC,816,-1.43,-127.1,44.6,-5.0,85,817,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1808,3739
$GC,1004,-1.43,-127.1,54.8,-5.4,100,1008,0.00,2.47,0.00,0.000,4,0.000,0.049,2786,3195,3739
$GC,1042,-1.43,-127.1,57.0,-5.9,102,1049,0.00,2.47,0.00,0.000,6,0.000,0.035,2786,1799,3740
$GC,1238,-1.43,-127.1,67.5,-5.3,118,1239,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1798,3739
$GC,1429,-1.43,-127.1,77.5,-5.2,133,1430,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,1798,3739
$GC,1618,-1.43,-127.1,87.6,-5.5,148,1619,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1798,3739
$STATE,1753,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1753,begin apogee
$GC,1759,-0.38,0.0,95.0,5.2,159,1865,1.12,0.00,101.05,0.669,6,0.091,0.000,3017,1723,3218
$STATE,1866,end apogee,CONTROL_FINISHED_OK
$STATE,1866,begin climb
$GC,1868,1.43,127.1,96.1,0.0,168,1972,1.77,0.00,98.40,0.638,6,0.051,0.000,3414,1723,2698
$GC,2155,1.43,127.1,70.4,10.7,191,2159,0.00,2.65,0.00,0.000,4,0.000,0.078,3414,339,2697
$GC,2200,1.43,127.1,65.2,11.7,194,2205,0.00,2.42,0.00,0.000,6,0.000,0.033,3414,1728,2697
$GC,2396,1.43,127.1,45.3,10.0,209,2397,0.00,0.00,0.00,0.000,6,0.000,0.000,3414,1730,2696
$GC,2586,1.43,127.1,26.0,10.2,224,2591,0.00,2.65,0.00,0.000,4,0.000,0.074,3414,340,2696
$GC,2652,1.43,127.1,18.7,10.9,229,2658,0.00,2.45,0.00,0.000,6,0.000,0.033,3414,1743,2696
$GC,2724,1.43,127.1,11.7,9.2,240,2730,0.00,2.50,0.00,0.000,4,0.000,0.051,3414,3133,2696
$GC,2802,1.43,127.1,5.4,7.4,252,2809,0.00,2.47,0.00,0.000,6,0.000,0.038,3414,1739,2695
$STATE,2813,end climb,SURFACE_DEPTH_REACHED
$STATE,2813,begin surface coast
$FINISH,-0.4,1.009406
$STATE,2893,end surface coast,CONTROL_FINISHED_OK
$STATE,2893,begin surface
$SM_CCo,2919,213.85,0.565,0,0,735,609.08
$SM_GC,0.18,0.00,0.00,213.85,0.000,0.000,0.565,458,1799,735,-12.15,-0.03,609.08
$IRIDIUM_FIX,4729.30,-12257.00,051007,030343
$TT8_MAMPS,0.06903
$HUMID,2073
$INTERNAL_PRESSURE,8.38899
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.2,51.8
$24V_AH,23.9,6.434
$10V_AH,10.1,5.601
$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,30.650,35.475,199.450,213.850,0.000,196.746,220.335,1184.513,0.500,0.000,5168.000,15.590,495.111,1897.913,524.308,471.498,1772.060,33.337,806.836,0.000,440.623,0.000,5.488
$DEVICE_MAMPS,202.488,82.069,668.824,565.279,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,178.247,0.000,0.000,0.000,0.000,0.000,0.000,5168.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6440,266
$CFSIZE,260034560,254750720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051007,002923,4743.572,-12250.702,12,2.2,32,18.3