version: 66.02
glider: 106
mission: 8
dive: 145
start: 10 7 107 22 27 51
data:
$ID,106
$MISSION,8
$DIVE,145
$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,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,-51234.156
$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,30
$R_STBD_OVSHOOT,35
$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
$GPS1,222005,4743.404,-12250.739,11,2.5,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.33
$_SM_ANGLEo,-62.2
$GPS2,222644,4743.408,-12250.724,13,1.3,13,18.3
$SPEED_LIMITS,0.148,0.247
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.055,-0.241
$KALMAN_X,5961.5,-62.8,32.6,-3157.1,14.9
$KALMAN_Y,11105.2,430.6,239.4,-4510.4,-62.2
$MHEAD_RNG_PITCHd_Wd,174.4,674,-15.9,-8.571
$D_GRID,166
$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,-146.6,0.0,0.0,0,106,0.00,0.00,-79.03,0.000,2,0.000,0.000,464,1816,3530
$GC,110,-1.40,-146.6,2.2,-5.6,13,141,14.98,2.55,-7.40,0.000,4,0.211,0.061,2787,3195,3817
$GC,206,-1.40,-146.6,10.7,-6.7,28,213,0.00,2.47,0.00,0.000,6,0.000,0.035,2786,1799,3818
$GC,279,-1.40,-146.6,15.9,-6.8,39,285,0.00,2.65,0.00,0.000,4,0.000,0.072,2787,396,3819
$GC,350,-1.40,-146.6,20.8,-7.1,49,357,0.00,2.47,0.00,0.000,6,0.000,0.031,2787,1798,3819
$GC,546,-1.40,-146.6,33.9,-6.1,65,550,0.00,2.50,0.00,0.000,4,0.000,0.048,2787,3192,3819
$GC,611,-1.40,-146.6,37.9,-6.5,69,618,0.00,2.50,0.00,0.000,6,0.000,0.035,2787,1795,3818
$GC,807,-1.40,-146.6,48.6,-5.4,85,808,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,1795,3819
$GC,996,-1.40,-146.6,59.0,-5.5,100,997,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,1795,3819
$GC,1187,-1.40,-146.6,69.1,-5.4,115,1191,0.00,2.53,0.00,0.000,4,0.000,0.047,2787,3197,3819
$GC,1259,-1.40,-146.6,73.3,-5.8,120,1263,0.00,2.45,0.00,0.000,6,0.000,0.035,2787,1800,3819
$GC,1455,-1.40,-146.6,84.5,-5.9,135,1456,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,1800,3819
$STATE,1553,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1553,begin apogee
$GC,1559,-0.38,0.0,90.3,5.6,143,1679,1.12,0.00,115.75,0.662,6,0.094,0.000,3015,1725,3217
$STATE,1680,end apogee,CONTROL_FINISHED_OK
$STATE,1680,begin climb
$GC,1684,1.40,146.6,92.1,0.0,153,1807,1.77,2.70,112.55,0.631,4,0.055,0.076,3406,338,2619
$GC,1838,1.40,146.6,80.2,11.6,165,1846,0.00,2.47,0.00,0.000,6,0.000,0.032,3406,1728,2619
$GC,2035,1.40,146.6,58.9,10.4,181,2039,0.00,2.55,0.00,0.000,4,0.000,0.050,3406,3137,2617
$GC,2053,1.40,146.6,56.7,11.1,182,2061,0.00,2.53,0.00,0.000,6,0.000,0.036,3406,1741,2617
$GC,2250,1.40,146.6,36.4,10.4,198,2254,0.00,2.70,0.00,0.000,4,0.000,0.078,3406,328,2617
$GC,2307,1.40,146.6,29.7,11.9,202,2315,0.00,2.47,0.00,0.000,6,0.000,0.032,3406,1730,2616
$GC,2509,1.42,157.6,11.8,8.1,225,2522,0.00,2.78,7.85,0.659,4,0.000,0.074,3406,325,2574
$STATE,2580,end climb,SURFACE_DEPTH_REACHED
$STATE,2580,begin surface coast
$FINISH,-0.2,1.022259
$STATE,2628,end surface coast,CONTROL_FINISHED_OK
$STATE,2628,begin surface
$SM_CCo,2657,82.10,0.577,0,0,1790,350.04
$SM_GC,0.27,0.00,0.00,82.10,0.000,0.000,0.577,462,1803,1790,-12.13,0.08,350.04
$IRIDIUM_FIX,4726.11,-12250.84,081007,010154
$TT8_MAMPS,0.070564
$HUMID,2108
$INTERNAL_PRESSURE,8.47689
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.8,52.4
$24V_AH,23.9,12.788
$10V_AH,10.1,11.013
$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,30.900,41.075,236.150,82.100,0.000,39.766,34.881,196.255,0.500,0.000,3262.000,13.990,453.068,1439.268,422.546,445.133,407.532,33.332,694.700,0.000,415.640,0.000,5.486
$DEVICE_MAMPS,210.925,78.234,661.921,576.784,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,162.358,0.000,0.000,0.000,0.000,0.000,0.000,3262.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6431,243
$CFSIZE,260034560,252411904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071007,231434,4743.128,-12250.849,9,3.5,28,18.3