version: 66.02
glider: 106
mission: 8
dive: 102
start: 10 6 107 10 25 28
data:
$ID,106
$MISSION,8
$DIVE,102
$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,350
$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,-49948.125
$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
$GPS1,100707,4743.487,-12250.980,11,1.4,27,18.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.40
$_SM_ANGLEo,-63.3
$GPS2,102420,4743.447,-12250.924,12,1.3,12,18.3
$SPEED_LIMITS,0.193,0.217
$TGT_NAME,6_EC
$TGT_LATLONG,4743.563,-12250.725
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.144,0.129
$KALMAN_X,3461.9,43.7,30.4,-1011.5,46.8
$KALMAN_Y,1739.2,-116.9,-13.8,5730.1,33.0
$MHEAD_RNG_PITCHd_Wd,29.7,328,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.39,-97.8,0.0,0.0,0,99,0.00,0.00,-73.00,0.000,2,0.000,0.000,461,1808,3465
$GC,102,-1.43,-127.1,2.2,-5.1,12,133,15.15,2.55,-6.70,0.000,4,0.216,0.061,2784,3189,3739
$GC,383,-1.43,-127.1,23.7,-6.4,50,391,0.00,2.47,0.00,0.000,6,0.000,0.036,2784,1806,3741
$GC,580,-1.43,-127.1,34.2,-5.8,66,584,0.00,2.50,0.00,0.000,4,0.000,0.048,2784,3194,3742
$GC,811,-1.43,-127.1,47.6,-5.6,83,815,0.00,2.47,0.00,0.000,6,0.000,0.036,2784,1793,3742
$GC,1008,-1.43,-127.1,58.4,-5.6,98,1012,0.00,2.53,0.00,0.000,4,0.000,0.047,2784,3196,3742
$GC,1054,-1.43,-127.1,61.0,-6.2,101,1058,0.00,2.47,0.00,0.000,6,0.000,0.035,2784,1792,3742
$GC,1249,-1.43,-127.1,71.5,-5.3,116,1250,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1792,3742
$GC,1440,-1.43,-127.1,81.4,-5.0,131,1441,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1792,3742
$GC,1631,-1.43,-127.1,91.1,-5.2,146,1635,0.00,2.62,0.00,0.000,4,0.000,0.047,2784,3199,3742
$GC,1690,-1.43,-127.1,94.3,-5.6,150,1694,0.00,2.47,0.00,0.000,6,0.000,0.035,2784,1798,3742
$STATE,1706,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1706,begin apogee
$GC,1712,-0.38,0.0,95.3,5.0,151,1818,1.12,0.00,101.50,0.672,6,0.094,0.000,3011,1725,3218
$STATE,1819,end apogee,CONTROL_FINISHED_OK
$STATE,1819,begin climb
$GC,1821,1.43,127.1,96.4,0.0,160,1930,1.85,2.78,99.45,0.639,4,0.053,0.078,3419,328,2698
$GC,1951,1.43,127.1,86.9,10.7,171,1955,0.00,2.47,0.00,0.000,6,0.000,0.034,3420,1734,2697
$GC,2153,1.43,127.1,65.8,10.1,187,2154,0.00,0.00,0.00,0.000,6,0.000,0.000,3419,1734,2697
$GC,2345,1.43,127.1,46.8,9.9,202,2349,0.00,2.67,0.00,0.000,4,0.000,0.074,3419,337,2697
$GC,2377,1.43,127.1,43.1,10.7,204,2381,0.00,2.45,0.00,0.000,6,0.000,0.033,3419,1738,2696
$GC,2579,1.43,127.1,22.9,9.6,220,2580,0.00,0.00,0.00,0.000,6,0.000,0.000,3419,1739,2697
$STATE,2774,end climb,SURFACE_DEPTH_REACHED
$STATE,2774,begin surface coast
$FINISH,-0.3,1.004866
$STATE,2855,end surface coast,CONTROL_FINISHED_OK
$STATE,2855,begin surface
$SM_CCo,2882,94.68,0.581,0,0,1791,350.04
$SM_GC,0.24,0.00,0.00,94.68,0.000,0.000,0.581,463,1806,1791,-12.13,0.17,350.04
$IRIDIUM_FIX,4726.11,-12252.58,061007,141422
$TT8_MAMPS,0.06903
$HUMID,2122
$INTERNAL_PRESSURE,8.48665
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.6,52.1
$24V_AH,23.3,9.343
$10V_AH,10.1,8.226
$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,31.550,30.675,200.950,94.675,0.000,156.666,208.126,336.902,0.500,29.050,4107.950,11.995,494.006,1812.969,389.264,476.545,866.688,33.335,660.299,0.000,452.473,0.000,5.486
$DEVICE_MAMPS,216.294,85.137,671.892,580.619,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,174.175,0.000,0.000,0.000,0.000,0.000,0.000,4137.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6430,259
$CFSIZE,260034560,253767680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061007,111607,4743.544,-12250.534,12,1.3,28,18.3