version: 66.02
glider: 106
mission: 8
dive: 134
start: 10 7 107 11 54 15
data:
$ID,106
$MISSION,8
$DIVE,134
$D_SURF,5
$D_FLARE,2
$D_TGT,90
$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,35
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,25
$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,-50998.785
$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,15
$R_STBD_OVSHOOT,36
$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
$GPS1,114659,4744.527,-12250.499,14,3.1,33,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.25
$_SM_ANGLEo,-53.4
$GPS2,115309,4744.586,-12250.505,14,1.9,14,18.3
$SPEED_LIMITS,0.184,0.248
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.016,-0.247
$KALMAN_X,5678.0,162.1,-69.0,-2723.5,-47.4
$KALMAN_Y,7475.4,1226.4,124.7,614.0,-75.1
$MHEAD_RNG_PITCHd_Wd,165.5,2872,-15.9,-8.571
$D_GRID,151
$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,-1.40,-146.6,0.0,0.0,0,105,0.00,0.00,-79.00,0.000,2,0.000,0.000,461,1794,3512
$GC,108,-1.40,-146.6,2.1,-6.1,13,139,14.88,0.00,-8.43,0.000,6,0.209,0.000,2787,1794,3819
$GC,204,-1.40,-146.6,9.4,-6.6,28,210,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,1794,3820
$GC,276,-1.40,-146.6,15.8,-10.5,39,283,0.00,2.53,0.00,0.000,4,0.000,0.049,2787,3194,3820
$GC,334,-1.40,-146.6,21.2,-7.1,46,342,0.00,2.50,0.00,0.000,6,0.000,0.035,2787,1793,3820
$GC,531,-1.40,-146.6,31.3,-6.4,62,532,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,1793,3819
$GC,722,-1.40,-146.6,42.4,-5.4,77,726,0.00,2.53,0.00,0.000,4,0.000,0.048,2787,3204,3820
$GC,799,-1.40,-146.6,47.8,-7.0,82,806,0.00,2.50,0.00,0.000,6,0.000,0.035,2787,1798,3820
$GC,996,-1.40,-146.6,59.3,-5.4,98,997,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,1798,3819
$GC,1186,-1.40,-146.6,69.7,-5.5,113,1190,0.00,2.53,0.00,0.000,4,0.000,0.048,2787,3204,3820
$GC,1237,-1.40,-146.6,72.6,-5.5,116,1244,0.00,2.47,0.00,0.000,6,0.000,0.034,2788,1804,3820
$GC,1434,-1.40,-146.6,83.5,-5.7,132,1438,0.00,2.50,0.00,0.000,4,0.000,0.048,2787,3197,3820
$GC,1466,-1.40,-146.6,85.5,-6.1,134,1470,0.00,2.45,0.00,0.000,6,0.000,0.035,2787,1792,3820
$STATE,1552,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1553,begin apogee
$GC,1558,-0.38,0.0,90.3,5.4,141,1678,1.12,0.00,116.00,0.662,6,0.097,0.000,3014,1730,3218
$STATE,1679,end apogee,CONTROL_FINISHED_OK
$STATE,1679,begin climb
$GC,1683,1.40,146.6,91.4,0.0,151,1804,1.77,0.00,113.03,0.629,6,0.060,0.000,3402,1730,2618
$GC,1993,1.40,146.6,64.4,10.0,176,1994,0.00,0.00,0.00,0.000,6,0.000,0.000,3402,1730,2617
$GC,2183,1.40,146.6,45.3,10.6,191,2188,0.00,2.65,0.00,0.000,4,0.000,0.077,3402,341,2616
$GC,2215,1.40,146.6,41.5,11.3,193,2219,0.00,2.45,0.00,0.000,6,0.000,0.032,3402,1746,2616
$GC,2411,1.40,146.6,19.3,8.7,209,2418,0.00,2.47,0.00,0.000,4,0.000,0.049,3402,3126,2616
$GC,2536,1.40,146.6,7.4,9.1,228,2543,0.00,2.47,0.00,0.000,6,0.000,0.039,3402,1738,2616
$STATE,2561,end climb,SURFACE_DEPTH_REACHED
$STATE,2561,begin surface coast
$FINISH,-0.4,1.008761
$STATE,2616,end surface coast,CONTROL_FINISHED_OK
$STATE,2616,begin surface
$SM_CCo,2642,87.00,0.577,0,0,1790,350.04
$SM_GC,0.40,0.00,0.00,87.00,0.000,0.000,0.577,461,1791,1790,-12.14,-0.28,350.04
$IRIDIUM_FIX,4729.30,-12252.58,071007,141422
$TT8_MAMPS,0.06903
$HUMID,2127
$INTERNAL_PRESSURE,8.46712
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.5,52.5
$24V_AH,23.9,11.852
$10V_AH,10.1,10.212
$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,30.950,30.250,229.025,87.000,0.000,37.859,39.101,171.122,0.500,4.150,3217.850,14.277,444.681,1453.044,422.209,428.627,378.318,33.335,683.036,0.000,401.906,0.000,5.488
$DEVICE_MAMPS,208.624,85.137,661.921,576.784,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,160.493,0.000,0.000,0.000,0.000,0.000,0.000,3222.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6439,240
$CFSIZE,260034560,252796928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071007,124047,4744.435,-12250.533,9,4.2,28,18.3