version: 66.02
glider: 106
mission: 8
dive: 20
start: 10 2 107 16 44 28
data:
$ID,106
$MISSION,8
$DIVE,20
$D_SURF,5
$D_FLARE,2
$D_TGT,100
$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,45
$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,130
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$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,400
$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,-48057.086
$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,18
$R_STBD_OVSHOOT,48
$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
$GPS1,163738,4739.408,-12252.706,31,1.3,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.20
$_SM_ANGLEo,-56.0
$GPS2,164321,4739.454,-12252.634,14,1.3,14,18.3
$SPEED_LIMITS,0.204,0.221
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.202,-0.021
$KALMAN_X,1395.3,88.0,-48.7,-1043.1,19.2
$KALMAN_Y,3311.7,194.8,-38.4,-3526.1,53.5
$MHEAD_RNG_PITCHd_Wd,77.6,291,-16.7,-7.407
$D_GRID,124
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.41,-105.5,0.0,0.0,0,118,0.00,0.00,-91.05,0.000,2,0.000,0.000,462,1819,3611
$GC,122,-1.44,-127.1,2.4,-6.3,15,147,14.55,2.50,-3.00,0.000,4,0.200,0.063,2781,3184,3740
$GC,398,-1.44,-127.1,20.9,-5.2,56,403,0.00,2.47,0.00,0.000,6,0.000,0.038,2780,1791,3741
$GC,594,-1.44,-127.1,31.4,-5.6,71,598,0.00,2.53,0.00,0.000,4,0.000,0.048,2781,3181,3742
$GC,712,-1.44,-127.1,37.8,-5.0,79,719,0.00,2.45,0.00,0.000,6,0.000,0.038,2781,1796,3742
$GC,908,-1.44,-127.1,48.0,-4.9,95,912,0.00,2.65,0.00,0.000,4,0.000,0.075,2781,401,3742
$GC,955,-1.44,-127.1,50.4,-5.3,98,959,0.00,2.42,0.00,0.000,6,0.000,0.036,2781,1795,3742
$GC,1150,-1.44,-127.1,60.2,-5.0,113,1154,0.00,2.53,0.00,0.000,4,0.000,0.051,2781,3198,3742
$GC,1196,-1.44,-127.1,62.5,-5.6,116,1200,0.00,2.47,0.00,0.000,6,0.000,0.038,2781,1800,3742
$GC,1391,-1.44,-127.1,72.1,-5.0,131,1395,0.00,2.53,0.00,0.000,4,0.000,0.049,2781,3197,3742
$GC,1455,-1.44,-127.1,75.9,-5.8,135,1463,0.00,2.50,0.00,0.000,6,0.000,0.037,2781,1800,3742
$GC,1652,-1.44,-127.1,88.5,-6.6,151,1653,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1800,3742
$STATE,1841,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1841,begin apogee
$GC,1846,-0.38,0.0,100.6,6.2,166,1952,1.15,0.00,102.05,0.683,6,0.090,0.000,3015,1727,3217
$STATE,1953,end apogee,CONTROL_FINISHED_OK
$STATE,1953,begin climb
$GC,1955,1.44,127.1,102.8,0.0,175,2067,1.80,2.75,98.43,0.654,4,0.052,0.080,3415,340,2698
$GC,2084,1.44,127.1,94.3,9.3,185,2092,0.00,2.50,0.00,0.000,6,0.000,0.036,3415,1731,2697
$GC,2281,1.44,127.1,74.9,10.0,201,2282,0.00,0.00,0.00,0.000,6,0.000,0.000,3415,1731,2696
$GC,2473,1.44,127.1,54.7,10.5,216,2475,0.00,0.00,0.00,0.000,6,0.000,0.000,3415,1731,2697
$GC,2661,1.44,127.1,34.8,11.3,231,2666,0.00,2.67,0.00,0.000,4,0.000,0.076,3415,339,2697
$GC,2693,1.44,127.1,30.9,11.6,233,2697,0.00,2.47,0.00,0.000,6,0.000,0.035,3415,1747,2697
$GC,2894,1.44,127.1,9.5,8.8,256,2900,0.00,2.50,0.00,0.000,4,0.000,0.051,3415,3133,2696
$STATE,2964,end climb,SURFACE_DEPTH_REACHED
$STATE,2964,begin surface coast
$FINISH,-0.4,1.008929
$STATE,3064,end surface coast,CONTROL_FINISHED_OK
$STATE,3064,begin surface
$SM_CCo,3094,117.15,0.588,0,0,1586,400.08
$SM_GC,0.17,0.00,0.00,117.15,0.000,0.000,0.588,461,1794,1586,-12.14,-0.20,400.08
$IRIDIUM_FIX,4722.92,-12249.11,021007,191918
$TT8_MAMPS,0.069797
$HUMID,2142
$INTERNAL_PRESSURE,8.44759
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.1,51.8
$24V_AH,23.8,1.814
$10V_AH,10.0,1.513
$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,30.900,40.500,200.475,117.150,0.000,37.950,38.100,152.843,0.500,49.820,3635.180,14.909,524.543,1763.562,423.447,512.830,358.203,33.338,723.393,0.000,486.850,0.000,5.484
$DEVICE_MAMPS,200.187,79.768,682.630,587.522,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,189.579,0.000,0.000,0.000,0.000,0.000,0.000,3685.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6451,282
$CFSIZE,260034560,256491520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021007,173845,4739.438,-12252.159,12,1.7,12,18.3