version: 66.02
glider: 106
mission: 8
dive: 139
start: 10 7 107 16 40 35
data:
$ID,106
$MISSION,8
$DIVE,139
$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,30
$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,-51108.578
$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,43
$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
$GPS1,162015,4744.188,-12250.686,13,1.6,13,18.3
$_CALLS,5
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,0.28
$_SM_ANGLEo,-58.9
$GPS2,163929,4744.367,-12250.682,14,2.6,33,18.3
$SPEED_LIMITS,0.148,0.247
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.013,-0.247
$KALMAN_X,5752.9,-64.6,33.3,-2893.9,-2.8
$KALMAN_Y,9737.1,789.6,119.7,-1614.1,87.5
$MHEAD_RNG_PITCHd_Wd,164.7,2445,-15.9,-8.571
$D_GRID,143
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.40,-146.6,0.0,0.0,0,113,0.00,0.00,-84.97,0.000,2,0.000,0.000,461,1810,3679
$GC,116,-1.40,-146.6,2.4,-5.3,14,141,14.88,2.53,-3.15,0.000,4,0.209,0.061,2789,3197,3818
$GC,175,-1.40,-146.6,9.9,-7.8,23,181,0.00,2.47,0.00,0.000,6,0.000,0.035,2789,1797,3819
$GC,247,-1.40,-146.6,15.1,-7.7,34,253,0.00,2.65,0.00,0.000,4,0.000,0.072,2789,392,3819
$GC,299,-1.40,-146.6,18.7,-6.6,42,306,0.00,2.45,0.00,0.000,6,0.000,0.033,2790,1804,3819
$GC,376,-1.40,-146.6,23.6,-6.5,50,380,0.00,2.47,0.00,0.000,4,0.000,0.048,2789,3187,3819
$GC,501,-1.40,-146.6,30.9,-6.4,59,507,0.00,2.45,0.00,0.000,6,0.000,0.035,2790,1794,3819
$GC,696,-1.40,-146.6,42.4,-5.8,75,698,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,1794,3820
$GC,886,-1.40,-146.6,52.9,-5.4,90,887,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,1794,3819
$GC,1077,-1.40,-146.6,62.8,-5.4,105,1081,0.00,2.53,0.00,0.000,4,0.000,0.047,2789,3196,3819
$GC,1135,-1.40,-146.6,66.1,-5.4,109,1140,0.00,2.47,0.00,0.000,6,0.000,0.035,2790,1791,3820
$GC,1331,-1.40,-146.6,75.7,-5.0,124,1332,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,1791,3819
$GC,1523,-1.40,-146.6,86.1,-5.7,139,1527,0.00,2.53,0.00,0.000,4,0.000,0.048,2790,3195,3819
$STATE,1585,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1585,begin apogee
$GC,1593,-0.38,0.0,90.0,5.2,143,1713,1.08,0.00,115.40,0.665,6,0.097,0.000,3009,1733,3218
$STATE,1713,end apogee,CONTROL_FINISHED_OK
$STATE,1714,begin climb
$GC,1717,1.40,146.6,90.8,0.0,153,1838,1.80,0.00,112.88,0.630,6,0.059,0.000,3403,1733,2619
$GC,2027,1.40,146.6,61.7,10.8,178,2028,0.00,0.00,0.00,0.000,6,0.000,0.000,3403,1733,2617
$GC,2217,1.40,146.6,42.3,10.1,193,2218,0.00,0.00,0.00,0.000,6,0.000,0.000,3403,1733,2618
$GC,2406,1.40,146.6,24.2,8.9,208,2407,0.00,0.00,0.00,0.000,6,0.000,0.000,3403,1733,2618
$GC,2601,1.40,146.6,6.4,8.7,234,2607,0.00,2.65,0.00,0.000,4,0.000,0.076,3403,335,2618
$STATE,2618,end climb,SURFACE_DEPTH_REACHED
$STATE,2618,begin surface coast
$FINISH,-0.1,1.022244
$STATE,2665,end surface coast,CONTROL_FINISHED_OK
$STATE,2667,begin surface
$SM_CCo,2695,206.40,0.561,0,0,736,609.08
$SM_GC,0.28,0.00,0.00,206.40,0.000,0.000,0.561,460,1815,736,-12.14,0.42,609.08
$IRIDIUM_FIX,4726.11,-12250.84,071007,202036
$TT8_MAMPS,0.072098
$HUMID,2088
$INTERNAL_PRESSURE,8.37923
$TCM_TEMP,19.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.1,51.8
$24V_AH,23.9,12.278
$10V_AH,10.1,10.574
$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,30.800,30.425,228.275,206.400,0.000,186.004,395.143,180.406,0.500,0.000,4047.000,34.059,453.655,1738.169,539.071,451.412,900.594,33.335,792.610,0.000,403.968,0.000,5.484
$DEVICE_MAMPS,208.624,75.933,664.989,560.677,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,163.421,0.000,0.000,0.000,0.000,0.000,0.000,4047.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6454,244
$CFSIZE,260034560,252633088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071007,173005,4744.204,-12250.688,14,2.5,33,18.3