version: 66.02
glider: 106
mission: 8
dive: 52
start: 10 4 107 3 47 43
data:
$ID,106
$MISSION,8
$DIVE,52
$D_SURF,5
$D_FLARE,2
$D_TGT,95
$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,609.0799
$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,-48847.105
$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,35
$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
$GPS1,032805,4743.604,-12250.868,9,2.1,28,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.16
$_SM_ANGLEo,-57.7
$GPS2,034638,4743.667,-12250.752,15,1.9,20,18.3
$SPEED_LIMITS,0.193,0.217
$TGT_NAME,6_EC
$TGT_LATLONG,4743.563,-12250.725
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.016,-0.193
$KALMAN_X,4448.4,116.7,15.2,-1843.0,17.9
$KALMAN_Y,5754.6,65.0,-66.5,1993.8,21.3
$MHEAD_RNG_PITCHd_Wd,156.8,196,-16.6,-7.037
$D_GRID,168
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-1.39,-97.8,0.0,0.0,0,120,0.00,0.00,-91.07,0.000,2,0.000,0.000,462,1813,3574
$GC,124,-1.43,-127.1,2.1,-5.4,15,149,14.62,2.50,-3.95,0.000,4,0.203,0.061,2782,3204,3739
$GC,255,-1.43,-127.1,14.0,-6.1,35,261,0.00,2.47,0.00,0.000,6,0.000,0.036,2784,1795,3741
$GC,327,-1.43,-127.1,18.0,-5.6,46,333,0.00,2.65,0.00,0.000,4,0.000,0.073,2784,393,3741
$GC,426,-1.43,-127.1,22.9,-5.0,57,432,0.00,2.45,0.00,0.000,6,0.000,0.033,2783,1808,3741
$GC,621,-1.43,-127.1,32.4,-4.5,73,625,0.00,2.47,0.00,0.000,4,0.000,0.048,2784,3192,3741
$GC,748,-1.43,-127.1,39.2,-5.5,82,752,0.00,2.47,0.00,0.000,6,0.000,0.036,2784,1793,3742
$GC,943,-1.43,-127.1,48.3,-4.5,97,944,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1792,3742
$GC,1132,-1.43,-127.1,57.8,-5.1,112,1136,0.00,2.53,0.00,0.000,4,0.000,0.048,2784,3195,3742
$GC,1197,-1.43,-127.1,61.1,-5.1,116,1204,0.00,2.50,0.00,0.000,6,0.000,0.036,2784,1794,3742
$GC,1393,-1.43,-127.1,70.7,-4.7,132,1397,0.00,2.53,0.00,0.000,4,0.000,0.048,2784,3194,3742
$GC,1431,-1.43,-127.1,72.6,-4.7,134,1438,0.00,2.47,0.00,0.000,6,0.000,0.035,2783,1803,3742
$GC,1628,-1.43,-127.1,81.9,-4.8,150,1632,0.00,2.50,0.00,0.000,4,0.000,0.048,2784,3191,3742
$GC,1660,-1.43,-127.1,83.6,-4.9,152,1664,0.00,2.45,0.00,0.000,6,0.000,0.035,2784,1798,3742
$GC,1855,-1.43,-127.1,92.6,-4.9,167,1860,0.00,2.62,0.00,0.000,4,0.000,0.072,2784,401,3741
$STATE,1904,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1904,begin apogee
$GC,1912,-0.38,0.0,95.0,4.8,170,2017,1.10,0.00,101.85,0.676,6,0.087,0.000,3013,1745,3218
$STATE,2018,end apogee,CONTROL_FINISHED_OK
$STATE,2018,begin climb
$GC,2020,1.43,127.1,95.5,0.0,179,2124,1.75,0.00,99.12,0.646,6,0.049,0.000,3415,1746,2698
$GC,2312,1.43,127.1,67.1,11.1,203,2316,0.00,2.70,0.00,0.000,4,0.000,0.075,3415,334,2696
$GC,2363,1.43,127.1,60.7,12.2,206,2370,0.00,2.47,0.00,0.000,6,0.000,0.032,3415,1736,2696
$GC,2559,1.43,127.1,38.8,11.4,222,2560,0.00,0.00,0.00,0.000,6,0.000,0.000,3415,1737,2696
$GC,2751,1.43,127.1,19.0,10.0,237,2757,0.00,0.00,0.00,0.000,6,0.000,0.000,3415,1737,2696
$GC,2823,1.43,127.1,11.6,9.8,248,2829,0.00,0.00,0.00,0.000,6,0.000,0.000,3415,1738,2696
$GC,2895,1.43,127.1,5.7,7.8,259,2902,0.00,2.67,0.00,0.000,4,0.000,0.074,3415,331,2696
$STATE,2906,end climb,SURFACE_DEPTH_REACHED
$STATE,2906,begin surface coast
$FINISH,2.2,1.022096
$STATE,2933,end surface coast,CONTROL_FINISHED_OK
$STATE,2933,begin surface
$SM_CCo,2963,214.18,0.568,0,0,735,609.08
$SM_GC,0.19,0.00,0.00,214.18,0.000,0.000,0.568,462,1813,735,-12.13,0.37,609.08
$IRIDIUM_FIX,4726.11,-12250.84,041007,070748
$TT8_MAMPS,0.070564
$HUMID,2088
$INTERNAL_PRESSURE,8.36946
$TCM_TEMP,19.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.2,51.8
$24V_AH,23.9,4.675
$10V_AH,10.1,4.108
$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,31.350,45.450,200.975,214.175,0.000,195.374,357.638,192.821,0.500,20.900,4300.100,20.105,498.423,1899.614,545.767,484.458,888.327,33.336,832.470,0.000,457.500,0.000,5.485
$DEVICE_MAMPS,203.255,75.166,676.494,567.580,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,177.440,0.000,0.000,0.000,0.000,0.000,0.000,4321.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6447,265
$CFSIZE,260034560,255389696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041007,044147,4743.359,-12250.733,12,3.3,32,18.3