version: 66.02
glider: 106
mission: 8
dive: 21
start: 10 2 107 17 45 23
data:
$ID,106
$MISSION,8
$DIVE,21
$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,-48072.109
$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,24
$R_STBD_OVSHOOT,32
$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
$GPS1,173845,4739.438,-12252.159,12,1.7,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.28
$_SM_ANGLEo,-60.0
$GPS2,174415,4739.513,-12252.052,14,1.3,14,18.3
$SPEED_LIMITS,0.204,0.221
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.197,-0.051
$KALMAN_X,1557.3,73.8,-37.0,-478.9,55.2
$KALMAN_Y,3481.3,154.0,-14.7,-3570.1,44.4
$MHEAD_RNG_PITCHd_Wd,237.1,445,-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,-90.95,0.000,2,0.000,0.000,461,1794,3623
$GC,122,-1.44,-127.1,2.4,-5.6,15,147,14.65,2.67,-2.65,0.000,4,0.204,0.085,2781,398,3741
$GC,266,-1.44,-127.1,14.4,-5.5,37,272,0.00,2.47,0.00,0.000,6,0.000,0.035,2782,1815,3742
$GC,338,-1.44,-127.1,17.9,-4.7,48,345,0.00,2.47,0.00,0.000,4,0.000,0.051,2781,3193,3742
$GC,396,-1.44,-127.1,20.7,-5.0,56,403,0.00,2.50,0.00,0.000,6,0.000,0.037,2781,1800,3742
$GC,593,-1.44,-127.1,30.6,-5.0,72,597,0.00,2.65,0.00,0.000,4,0.000,0.073,2782,400,3742
$GC,719,-1.44,-127.1,37.6,-5.5,81,723,0.00,2.45,0.00,0.000,6,0.000,0.035,2782,1803,3742
$GC,914,-1.44,-127.1,46.6,-4.4,96,915,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1805,3743
$GC,1104,-1.44,-127.1,55.1,-4.8,111,1105,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1806,3743
$GC,1296,-1.44,-127.1,64.3,-4.7,126,1297,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1806,3742
$GC,1483,-1.44,-127.1,73.2,-4.6,141,1488,0.00,2.50,0.00,0.000,4,0.000,0.051,2781,3194,3742
$GC,1521,-1.44,-127.1,75.0,-4.6,143,1528,0.00,2.50,0.00,0.000,6,0.000,0.036,2781,1801,3742
$GC,1718,-1.44,-127.1,85.1,-5.7,159,1719,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1801,3743
$GC,1908,-1.44,-127.1,97.0,-6.8,174,1910,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1801,3742
$STATE,1955,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1955,begin apogee
$GC,1961,-0.38,0.0,100.7,7.3,178,2067,1.12,0.00,101.65,0.681,6,0.088,0.000,3012,1728,3217
$STATE,2068,end apogee,CONTROL_FINISHED_OK
$STATE,2068,begin climb
$GC,2070,1.44,127.1,101.8,0.0,187,2176,1.83,2.67,98.20,0.654,4,0.049,0.050,3416,3136,2698
$GC,2209,1.44,127.1,91.3,10.6,198,2217,0.00,2.53,0.00,0.000,6,0.000,0.038,3417,1747,2697
$GC,2405,1.44,127.1,70.0,11.4,214,2410,0.00,2.72,0.00,0.000,4,0.000,0.081,3416,334,2696
$GC,2506,1.44,127.1,57.8,12.3,221,2510,0.00,2.47,0.00,0.000,6,0.000,0.035,3416,1739,2696
$GC,2700,1.44,127.1,35.8,10.7,236,2705,0.00,2.58,0.00,0.000,4,0.000,0.050,3416,3135,2696
$GC,2725,1.44,127.1,32.9,11.3,237,2733,0.00,2.53,0.00,0.000,6,0.000,0.038,3416,1739,2696
$GC,2925,1.44,127.1,11.9,10.3,259,2932,0.00,2.72,0.00,0.000,4,0.000,0.084,3416,327,2696
$STATE,3002,end climb,SURFACE_DEPTH_REACHED
$STATE,3003,begin surface coast
$FINISH,-0.4,1.003905
$STATE,3076,end surface coast,CONTROL_FINISHED_OK
$STATE,3076,begin surface
$SM_CCo,3105,116.85,0.583,0,0,1587,400.08
$SM_GC,0.13,0.00,0.00,116.85,0.000,0.000,0.583,460,1815,1587,-12.15,0.45,400.08
$IRIDIUM_FIX,4722.92,-12253.53,021007,202033
$TT8_MAMPS,0.072098
$HUMID,2160
$INTERNAL_PRESSURE,8.45736
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.5,52.1
$24V_AH,23.9,1.902
$10V_AH,10.0,1.588
$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,30.900,41.200,199.850,116.850,0.000,40.001,35.217,140.172,0.500,45.660,3618.340,14.393,525.742,1770.954,433.667,504.789,345.928,33.345,730.570,0.000,478.753,0.000,5.488
$DEVICE_MAMPS,204.022,85.137,681.096,582.920,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,189.317,0.000,0.000,0.000,0.000,0.000,0.000,3664.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6468,282
$CFSIZE,260034560,256450560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021007,184005,4739.570,-12252.338,17,1.2,25,18.3