version: 66.02
glider: 106
mission: 8
dive: 286
start: 10 11 107 15 48 25
data:
$ID,106
$MISSION,8
$DIVE,286
$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,-54160.48
$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,41
$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
$GPS1,154207,4740.637,-12252.074,12,1.6,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.51
$_SM_ANGLEo,-62.6
$GPS2,154702,4740.618,-12252.065,10,1.9,15,18.3
$SPEED_LIMITS,0.373,0.383
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.069,0.377
$KALMAN_X,2588.9,29.5,63.0,-1550.4,1235.7
$KALMAN_Y,1661.1,-1375.9,-426.5,1975.5,-11083.3
$MHEAD_RNG_PITCHd_Wd,172.8,2173,-11.1,-10.000
$D_GRID,100
$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,-171.1,0.0,0.0,0,104,0.00,0.00,-78.70,0.000,2,0.000,0.000,463,1801,3554
$GC,108,-1.07,-171.1,2.3,-5.0,13,139,15.50,2.67,-8.70,0.000,4,0.212,0.081,2861,397,3918
$GC,390,-1.07,-171.1,20.6,-6.1,55,397,0.00,2.45,0.00,0.000,6,0.000,0.031,2861,1809,3919
$GC,586,-1.07,-171.1,29.4,-4.0,71,591,0.00,2.67,0.00,0.000,4,0.000,0.067,2861,391,3920
$GC,625,-1.07,-171.1,31.4,-5.0,73,632,0.00,2.45,0.00,0.000,6,0.000,0.031,2861,1807,3920
$GC,821,-1.07,-171.1,40.8,-4.9,89,826,0.00,2.47,0.00,0.000,4,0.000,0.047,2861,3191,3920
$GC,873,-1.07,-171.1,43.2,-5.0,92,880,0.00,2.45,0.00,0.000,6,0.000,0.034,2861,1794,3920
$GC,1070,-1.07,-171.1,51.8,-4.4,108,1074,0.00,2.50,0.00,0.000,4,0.000,0.045,2861,3185,3920
$GC,1103,-1.07,-171.1,53.2,-4.5,110,1107,0.00,2.45,0.00,0.000,6,0.000,0.033,2861,1790,3920
$GC,1299,-1.07,-171.1,60.8,-3.8,125,1300,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1789,3919
$GC,1492,-1.07,-171.1,68.8,-4.2,140,1496,0.00,2.53,0.00,0.000,4,0.000,0.046,2861,3192,3920
$GC,1538,-1.07,-171.1,70.9,-4.6,143,1542,0.00,2.45,0.00,0.000,6,0.000,0.033,2861,1796,3920
$GC,1734,-1.07,-171.1,79.5,-4.7,158,1738,0.00,2.50,0.00,0.000,4,0.000,0.045,2861,3189,3919
$GC,1772,-1.07,-171.1,81.5,-4.8,160,1779,0.00,2.45,0.00,0.000,6,0.000,0.033,2861,1792,3919
$GC,1971,-1.07,-171.1,89.6,-3.4,176,1972,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1792,3920
$STATE,1979,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1979,begin apogee
$GC,1985,-0.38,0.0,90.2,3.8,177,2126,0.75,0.00,136.77,0.655,6,0.085,0.000,3014,1731,3218
$STATE,2130,end apogee,CONTROL_FINISHED_OK
$STATE,2130,begin climb
$GC,2132,1.07,171.1,92.5,0.0,189,2274,1.45,0.00,134.25,0.620,6,0.058,0.000,3334,1731,2519
$GC,2462,1.22,295.2,69.4,7.7,216,2563,0.15,0.00,97.70,0.603,6,0.053,0.000,3370,1731,2013
$GC,2747,1.22,295.2,38.5,11.4,239,2751,0.00,2.53,0.00,0.000,4,0.000,0.047,3370,3117,2010
$GC,2780,1.22,295.2,34.9,11.6,241,2784,0.00,2.45,0.00,0.000,6,0.000,0.035,3370,1742,2009
$FREEZE,19.97,10.771,-1.671
$FREEZE,19.25,10.738,-1.669
$FREEZE,18.52,10.641,-1.668
$FREEZE,17.85,10.647,-1.666
$FREEZE,17.12,10.650,-1.665
$FREEZE,16.44,10.655,-1.662
$FREEZE,15.70,10.615,-1.659
$FREEZE,14.93,10.725,-1.650
$FREEZE,14.19,10.764,-1.646
$FREEZE,13.60,10.786,-1.643
$FREEZE,12.97,10.829,-1.640
$GC,2979,1.22,295.2,13.0,10.1,261,2984,0.00,0.00,0.00,0.000,6,0.000,0.000,3370,1742,2009
$FREEZE,11.71,10.890,-1.636
$FREEZE,11.23,10.914,-1.634
$FREEZE,10.53,11.151,-1.619
$FREEZE,9.94,11.250,-1.610
$FREEZE,9.27,11.251,-1.609
$FREEZE,8.76,11.276,-1.607
$FREEZE,8.09,11.271,-1.604
$FREEZE,7.49,11.253,-1.602
$FREEZE,6.93,11.286,-1.600
$FREEZE,6.35,11.388,-1.597
$FREEZE,5.51,11.324,-1.592
$FREEZE,4.74,11.309,-1.590
$GC,3054,1.29,353.5,6.4,8.9,272,3070,0.00,0.00,14.52,0.614,2,0.000,0.000,3369,1742,1935
$STATE,3071,end climb,SURFACE_DEPTH_REACHED
$STATE,3071,begin surface coast
$FREEZE,3.73,11.314,-1.590
$FREEZE,3.23,11.315,-1.589
$FREEZE,2.53,11.323,-1.589
$FREEZE,1.89,11.327,-1.588
$FREEZE,1.28,11.330,-1.587
$FREEZE,0.74,11.206,-1.575
$FREEZE,0.04,11.110,-1.569
$FREEZE,-0.23,11.058,-1.568
$FINISH,-0.2,1.021908
$STATE,3122,end surface coast,CONTROL_FINISHED_OK
$STATE,3123,begin surface
$SM_CCo,3146,14.65,0.600,0,0,1790,350.04
$SM_GC,0.12,0.00,0.00,14.65,0.000,0.000,0.600,464,1799,1790,-12.13,-0.03,350.04
$IRIDIUM_FIX,4722.92,-12249.11,111007,181822
$TT8_MAMPS,0.029146
$HUMID,2131
$INTERNAL_PRESSURE,8.47689
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.1,51.9
$24V_AH,23.9,22.958
$10V_AH,10.2,17.941
$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,30.950,35.200,383.250,14.650,0.000,38.156,31.437,131.390,0.500,0.000,0.000,15.102,545.990,1643.653,480.830,476.189,354.414,33.324,783.765,0.000,466.359,0.000,7.422
$DEVICE_MAMPS,211.692,83.603,655.018,599.794,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,188.211,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6459,282
$CFSIZE,260034560,248586240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111007,164214,4740.347,-12252.092,15,1.4,31,18.3