version: 66.02
glider: 106
mission: 8
dive: 285
start: 10 11 107 14 51 47
data:
$ID,106
$MISSION,8
$DIVE,285
$D_SURF,5
$D_FLARE,2
$D_TGT,90
$D_ABORT,1050
$D_NO_BLEED,200
$D_FINISH,20
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,30
$T_MISSION,80
$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,175
$COURSE_BIAS,0
$GLIDE_SLOPE,15
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51341
$NAV_MODE,0
$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,-54144.75
$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,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,0
$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
$GPS1,143801,4740.931,-12252.098,37,2.0,37,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.49
$_SM_ANGLEo,-63.1
$GPS2,145023,4740.897,-12252.061,14,2.2,33,18.3
$SPEED_LIMITS,0.373,0.383
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.068,0.377
$KALMAN_X,1831.3,126.7,134.4,-930.3,1442.0
$KALMAN_Y,8396.6,-2073.1,-1107.9,-3090.6,-12866.6
$MHEAD_RNG_PITCHd_Wd,170.8,2684,-11.1,-10.000
$D_GRID,101
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-1.07,-171.1,0.0,0.0,0,103,0.00,0.00,-78.22,0.000,2,0.000,0.000,465,1808,3542
$GC,107,-1.07,-171.1,2.1,-4.7,13,139,15.52,2.50,-9.12,0.000,4,0.213,0.059,2862,3194,3918
$GC,317,-1.07,-171.1,15.4,-6.5,45,324,0.00,2.47,0.00,0.000,6,0.000,0.034,2862,1792,3919
$GC,390,-1.07,-171.1,18.8,-3.8,56,396,0.00,2.62,0.00,0.000,4,0.000,0.071,2862,403,3920
$GC,435,-1.07,-171.1,20.1,-2.6,62,442,0.00,2.42,0.00,0.000,6,0.000,0.031,2862,1806,3919
$GC,632,-1.07,-171.1,25.4,-3.1,78,636,0.00,2.47,0.00,0.000,4,0.000,0.047,2862,3189,3920
$GC,670,-1.07,-171.1,27.0,-4.3,80,677,0.00,2.45,0.00,0.000,6,0.000,0.034,2862,1796,3920
$GC,867,-1.07,-171.1,37.8,-7.0,96,870,0.00,2.50,0.00,0.000,4,0.000,0.044,2862,3185,3920
$GC,938,-1.07,-171.1,42.8,-6.5,101,945,0.00,2.45,0.00,0.000,6,0.000,0.034,2862,1792,3920
$GC,1135,-1.07,-171.1,55.8,-6.4,117,1139,0.00,2.62,0.00,0.000,4,0.000,0.071,2862,395,3920
$GC,1255,-1.07,-171.1,62.5,-5.6,125,1261,0.00,2.42,0.00,0.000,6,0.000,0.031,2862,1806,3920
$GC,1451,-1.07,-171.1,73.4,-5.3,141,1452,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1808,3920
$GC,1644,-1.07,-171.1,84.2,-4.8,156,1648,0.00,2.47,0.00,0.000,4,0.000,0.047,2862,3191,3920
$GC,1703,-1.07,-171.1,87.0,-4.4,160,1707,0.00,2.45,0.00,0.000,6,0.000,0.035,2862,1797,3920
$STATE,1770,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1770,begin apogee
$GC,1777,-0.38,0.0,90.2,5.0,165,1917,0.75,0.00,135.93,0.655,6,0.085,0.000,3016,1729,3217
$STATE,1920,end apogee,CONTROL_FINISHED_OK
$STATE,1920,begin climb
$GC,1923,1.07,171.1,91.9,0.0,177,2071,1.45,2.75,132.98,0.621,4,0.061,0.073,3333,340,2519
$GC,2130,1.13,218.1,77.3,9.1,193,2173,0.00,2.42,36.33,0.615,6,0.000,0.031,3333,1730,2327
$GC,2363,1.24,314.4,58.1,8.2,212,2448,0.15,2.60,75.97,0.599,4,0.053,0.048,3374,3117,1936
$GC,2493,1.24,314.4,43.8,11.5,222,2500,0.00,2.47,0.00,0.000,6,0.000,0.035,3373,1747,1932
$GC,2690,1.27,334.0,23.9,9.6,238,2707,0.00,0.00,14.68,0.613,6,0.000,0.000,3374,1747,1856
$FREEZE,19.05,10.559,-1.664
$FREEZE,18.45,10.586,-1.661
$FREEZE,17.69,10.602,-1.659
$FREEZE,16.90,10.601,-1.658
$FREEZE,16.18,10.598,-1.656
$FREEZE,15.46,10.601,-1.655
$FREEZE,14.72,10.599,-1.655
$FREEZE,14.01,10.633,-1.653
$FREEZE,13.13,10.661,-1.651
$FREEZE,12.33,10.712,-1.647
$FREEZE,11.48,10.760,-1.642
$FREEZE,10.74,10.823,-1.638
$FREEZE,9.95,10.923,-1.633
$FREEZE,9.23,11.053,-1.625
$FREEZE,8.44,11.224,-1.615
$FREEZE,7.74,11.301,-1.611
$FREEZE,7.14,11.288,-1.608
$FREEZE,6.35,11.272,-1.606
$FREEZE,5.82,11.294,-1.604
$FREEZE,5.11,11.301,-1.603
$FREEZE,4.65,11.299,-1.601
$STATE,2872,end climb,SURFACE_DEPTH_REACHED
$STATE,2872,begin surface coast
$FREEZE,4.01,11.307,-1.600
$FREEZE,3.42,11.317,-1.599
$FREEZE,2.78,11.322,-1.599
$FREEZE,2.28,11.333,-1.597
$FREEZE,1.58,11.364,-1.596
$FREEZE,1.03,11.375,-1.595
$FREEZE,0.41,11.381,-1.594
$FREEZE,-0.16,11.235,-1.586
$FINISH,-0.2,1.022126
$STATE,2924,end surface coast,CONTROL_FINISHED_OK
$STATE,2924,begin surface
$SM_CCo,2949,5.95,0.637,0,0,1790,350.04
$SM_GC,0.80,0.00,0.00,5.95,0.000,0.000,0.637,463,1801,1790,-12.13,0.03,350.04
$IRIDIUM_FIX,4722.92,-12249.11,111007,181852
$TT8_MAMPS,0.029146
$HUMID,2123
$INTERNAL_PRESSURE,8.46712
$TCM_TEMP,19.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.0,51.6
$24V_AH,23.9,22.876
$10V_AH,10.2,17.918
$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,31.150,40.300,395.875,5.950,0.000,79.409,70.355,346.119,0.500,0.000,0.000,36.335,520.018,1512.749,467.545,522.153,722.592,33.338,800.446,0.000,490.893,0.000,5.487
$DEVICE_MAMPS,213.226,81.302,655.018,636.610,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,179.664,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6449,270
$CFSIZE,260034560,248610816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111007,154207,4740.637,-12252.074,12,1.6,28,18.3