version: 66.02
glider: 106
mission: 8
dive: 288
start: 10 11 107 17 50 25
data:
$ID,106
$MISSION,8
$DIVE,288
$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,-54188.961
$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,19
$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,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
$GPS1,174317,4740.047,-12252.203,9,3.6,28,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.50
$_SM_ANGLEo,-63.0
$GPS2,174902,4740.040,-12252.193,10,1.2,15,18.3
$SPEED_LIMITS,0.373,0.383
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.071,-0.377
$KALMAN_X,2569.0,362.4,342.8,-2336.7,-85.3
$KALMAN_Y,2954.0,-4134.6,-2613.3,4804.0,853.1
$MHEAD_RNG_PITCHd_Wd,175.5,1092,-11.1,-10.000
$D_GRID,122
$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,22,begin dive
$GC,25,-1.07,-171.1,0.0,0.0,0,105,0.00,0.00,-76.82,0.000,2,0.000,0.000,462,1818,3502
$GC,108,-1.07,-171.1,2.2,-5.1,13,140,15.40,2.55,-10.20,0.000,4,0.209,0.060,2861,3190,3918
$GC,358,-1.07,-171.1,18.3,-5.3,51,365,0.00,2.47,0.00,0.000,6,0.000,0.034,2862,1788,3920
$GC,436,-1.07,-171.1,22.2,-5.4,60,440,0.00,2.62,0.00,0.000,4,0.000,0.072,2862,400,3920
$GC,461,-1.07,-171.1,23.7,-5.9,61,468,0.00,2.42,0.00,0.000,6,0.000,0.031,2862,1810,3920
$GC,658,-1.07,-171.1,35.0,-5.9,77,661,0.00,2.45,0.00,0.000,4,0.000,0.046,2861,3182,3921
$GC,792,-1.07,-171.1,43.2,-6.2,87,796,0.00,2.45,0.00,0.000,6,0.000,0.033,2862,1790,3920
$GC,988,-1.07,-171.1,55.6,-6.1,102,992,0.00,2.62,0.00,0.000,4,0.000,0.071,2862,395,3920
$GC,1102,-1.07,-171.1,62.2,-5.7,110,1107,0.00,2.42,0.00,0.000,6,0.000,0.031,2862,1801,3920
$GC,1298,-1.07,-171.1,73.3,-5.7,125,1302,0.00,2.47,0.00,0.000,4,0.000,0.047,2862,3185,3920
$GC,1437,-1.07,-171.1,81.0,-5.7,135,1441,0.00,2.45,0.00,0.000,6,0.000,0.034,2862,1790,3920
$STATE,1595,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1595,begin apogee
$GC,1601,-0.38,0.0,90.1,6.0,147,1743,0.70,0.00,137.68,0.653,6,0.075,0.000,3012,1726,3217
$STATE,1745,end apogee,CONTROL_FINISHED_OK
$STATE,1746,begin climb
$GC,1748,1.07,171.1,94.6,0.0,159,1896,1.45,2.60,133.88,0.621,4,0.058,0.044,3333,3115,2519
$GC,1955,1.22,298.5,81.9,7.6,175,2065,0.15,2.45,99.62,0.605,6,0.054,0.035,3370,1744,2000
$GC,2263,1.22,298.5,50.3,11.6,200,2264,0.00,0.00,0.00,0.000,6,0.000,0.000,3370,1744,1995
$GC,2452,1.22,298.5,28.9,11.1,215,2456,0.00,2.50,0.00,0.000,4,0.000,0.046,3370,3121,1995
$GC,2477,1.22,298.5,25.7,11.7,216,2484,0.00,2.47,0.00,0.000,6,0.000,0.035,3370,1731,1995
$FREEZE,19.41,10.551,-1.668
$FREEZE,18.67,10.449,-1.666
$FREEZE,17.90,10.456,-1.665
$FREEZE,17.28,10.491,-1.662
$FREEZE,16.53,10.516,-1.660
$FREEZE,15.77,10.535,-1.656
$FREEZE,14.99,10.535,-1.655
$FREEZE,14.15,10.537,-1.654
$FREEZE,13.61,10.553,-1.652
$FREEZE,12.89,10.561,-1.650
$FREEZE,12.08,10.591,-1.646
$FREEZE,11.53,10.712,-1.640
$FREEZE,10.79,10.766,-1.637
$FREEZE,10.12,10.834,-1.634
$FREEZE,9.48,10.900,-1.631
$FREEZE,8.86,10.956,-1.629
$FREEZE,8.27,11.100,-1.621
$FREEZE,7.65,11.232,-1.609
$FREEZE,7.02,11.278,-1.605
$FREEZE,6.41,11.287,-1.601
$FREEZE,5.89,11.298,-1.599
$FREEZE,5.28,11.295,-1.597
$FREEZE,4.67,11.285,-1.597
$STATE,2678,end climb,SURFACE_DEPTH_REACHED
$STATE,2678,begin surface coast
$FREEZE,3.97,11.265,-1.595
$FREEZE,3.44,11.257,-1.594
$FREEZE,2.88,11.241,-1.593
$FREEZE,2.10,11.273,-1.591
$FREEZE,1.58,11.250,-1.588
$FREEZE,0.90,11.142,-1.583
$FREEZE,0.33,11.113,-1.582
$FREEZE,-0.11,11.151,-1.543
$FREEZE,-0.28,11.020,-0.816
$FINISH,-0.3,1.011320
$STATE,2740,end surface coast,CONTROL_FINISHED_OK
$STATE,2740,begin surface
$SM_CCo,2765,21.42,0.595,0,0,1791,350.04
$SM_GC,0.70,0.00,0.00,21.42,0.000,0.000,0.595,462,1795,1791,-12.13,-0.14,350.04
$IRIDIUM_FIX,4722.92,-12253.53,111007,202059
$TT8_MAMPS,0.029146
$HUMID,2122
$INTERNAL_PRESSURE,8.46712
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.0,51.5
$24V_AH,23.9,23.124
$10V_AH,10.2,17.988
$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,30.975,35.175,371.175,21.425,0.000,38.083,35.962,174.739,0.500,0.000,0.000,15.192,497.747,1348.017,445.193,488.029,397.030,33.327,760.900,0.000,476.046,0.000,5.484
$DEVICE_MAMPS,209.391,80.535,653.484,595.192,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,167.951,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6430,252
$CFSIZE,260034560,248537088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111007,183808,4739.900,-12252.313,39,1.1,39,18.3