version: 66.02
glider: 106
mission: 8
dive: 136
start: 10 7 107 13 42 43
data:
$ID,106
$MISSION,8
$DIVE,136
$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,-51048.977
$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,24
$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
$GPS1,133535,4744.397,-12250.577,12,2.9,31,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.36
$_SM_ANGLEo,-58.9
$GPS2,134138,4744.475,-12250.581,10,1.6,15,18.3
$SPEED_LIMITS,0.184,0.248
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.018,-0.247
$KALMAN_X,5726.6,50.4,-36.8,-2787.5,-11.5
$KALMAN_Y,8445.3,1011.9,14.6,-237.6,74.8
$MHEAD_RNG_PITCHd_Wd,165.9,2655,-15.9,-8.571
$D_GRID,149
$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,-146.6,0.0,0.0,0,111,0.00,0.00,-84.93,0.000,2,0.000,0.000,462,1794,3661
$GC,114,-1.40,-146.6,2.5,-6.9,14,140,14.90,2.65,-3.62,0.000,4,0.209,0.082,2787,397,3818
$GC,187,-1.40,-146.6,10.6,-7.6,25,194,0.00,2.47,0.00,0.000,6,0.000,0.032,2786,1818,3819
$GC,259,-1.40,-146.6,15.9,-7.0,36,265,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,1817,3819
$GC,331,-1.40,-146.6,21.0,-6.6,46,335,0.00,2.70,0.00,0.000,4,0.000,0.071,2786,389,3819
$GC,356,-1.40,-146.6,22.6,-6.1,47,363,0.00,2.47,0.00,0.000,6,0.000,0.032,2786,1801,3819
$GC,552,-1.40,-146.6,34.3,-5.7,63,557,0.00,2.50,0.00,0.000,4,0.000,0.048,2786,3196,3819
$GC,643,-1.40,-146.6,40.2,-6.0,69,651,0.00,2.50,0.00,0.000,6,0.000,0.035,2786,1795,3819
$GC,840,-1.40,-146.6,51.2,-6.0,85,841,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1794,3819
$GC,1032,-1.40,-146.6,61.7,-5.2,100,1033,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1794,3819
$GC,1220,-1.40,-146.6,71.3,-4.7,115,1224,0.00,2.50,0.00,0.000,4,0.000,0.046,2787,3189,3819
$GC,1271,-1.40,-146.6,74.0,-5.0,118,1278,0.00,2.45,0.00,0.000,6,0.000,0.034,2786,1804,3819
$GC,1468,-1.40,-146.6,84.2,-5.7,134,1469,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1804,3819
$STATE,1566,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1567,begin apogee
$GC,1572,-0.38,0.0,90.1,5.8,142,1692,1.12,0.00,115.47,0.665,6,0.092,0.000,3016,1728,3218
$STATE,1693,end apogee,CONTROL_FINISHED_OK
$STATE,1693,begin climb
$GC,1697,1.40,146.6,91.9,0.0,152,1820,1.75,2.70,112.80,0.634,4,0.054,0.077,3404,341,2618
$GC,1852,1.40,146.6,80.1,10.9,164,1859,0.00,2.47,0.00,0.000,6,0.000,0.033,3403,1731,2617
$GC,2048,1.40,146.6,59.8,10.3,180,2049,0.00,0.00,0.00,0.000,6,0.000,0.000,3404,1733,2618
$GC,2241,1.40,146.6,40.8,10.2,195,2242,0.00,0.00,0.00,0.000,6,0.000,0.000,3404,1733,2617
$GC,2428,1.40,146.6,21.5,9.3,210,2432,0.00,2.53,0.00,0.000,4,0.000,0.050,3404,3131,2617
$GC,2521,1.40,146.6,12.6,10.3,222,2527,0.00,2.47,0.00,0.000,6,0.000,0.038,3404,1743,2617
$GC,2593,1.41,154.4,6.0,8.3,233,2606,0.00,2.72,5.35,0.674,4,0.000,0.080,3403,331,2588
$STATE,2610,end climb,SURFACE_DEPTH_REACHED
$STATE,2610,begin surface coast
$FINISH,-0.4,1.022260
$STATE,2684,end surface coast,CONTROL_FINISHED_OK
$STATE,2684,begin surface
$SM_CCo,2713,83.82,0.581,0,0,1791,350.04
$SM_GC,0.10,0.00,0.00,83.82,0.000,0.000,0.581,461,1829,1791,-12.14,0.82,350.04
$IRIDIUM_FIX,4726.11,-12250.84,071007,161644
$TT8_MAMPS,0.072098
$HUMID,2114
$INTERNAL_PRESSURE,8.46712
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.4,52.2
$24V_AH,23.9,12.005
$10V_AH,10.1,10.349
$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,30.725,35.900,233.625,83.825,0.000,40.277,37.132,162.924,0.500,4.150,3286.850,15.879,456.963,1487.134,419.798,449.356,374.360,33.338,694.786,0.000,419.327,0.000,5.484
$DEVICE_MAMPS,209.391,82.069,674.193,581.386,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,165.146,0.000,0.000,0.000,0.000,0.000,0.000,3291.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6441,247
$CFSIZE,260034560,252739584
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071007,143008,4744.318,-12250.599,8,1.4,13,18.3