version: 66.02
glider: 106
mission: 8
dive: 54
start: 10 4 107 6 3 7
data:
$ID,106
$MISSION,8
$DIVE,54
$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,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,-48926.949
$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,23
$R_STBD_OVSHOOT,37
$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
$GPS1,055139,4743.623,-12250.868,10,2.0,10,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.27
$_SM_ANGLEo,-59.5
$GPS2,060202,4743.654,-12250.860,45,1.2,45,18.3
$SPEED_LIMITS,0.193,0.217
$TGT_NAME,6_EC
$TGT_LATLONG,4743.563,-12250.725
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.127,-0.146
$KALMAN_X,4435.0,136.1,-29.9,-1934.8,11.0
$KALMAN_Y,5703.3,54.6,-8.6,1973.7,9.1
$MHEAD_RNG_PITCHd_Wd,120.5,238,-16.6,-7.037
$D_GRID,169
$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,-91.00,0.000,2,0.000,0.000,462,1816,3599
$GC,124,-1.43,-127.1,2.2,-5.3,15,149,14.50,2.53,-3.25,0.000,4,0.199,0.064,2784,3195,3740
$GC,281,-1.43,-127.1,17.2,-6.4,39,288,0.00,2.47,0.00,0.000,6,0.000,0.037,2784,1800,3742
$GC,353,-1.43,-127.1,21.0,-5.3,49,357,0.00,2.65,0.00,0.000,4,0.000,0.074,2784,395,3742
$GC,425,-1.43,-127.1,24.9,-5.3,54,429,0.00,2.45,0.00,0.000,6,0.000,0.034,2786,1804,3742
$GC,620,-1.43,-127.1,34.8,-5.0,69,624,0.00,2.47,0.00,0.000,4,0.000,0.049,2784,3188,3742
$GC,711,-1.43,-127.1,39.7,-5.3,75,719,0.00,2.47,0.00,0.000,6,0.000,0.036,2784,1801,3742
$GC,908,-1.43,-127.1,49.5,-5.0,91,909,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1801,3742
$GC,1097,-1.43,-127.1,59.0,-4.9,106,1101,0.00,2.50,0.00,0.000,4,0.000,0.049,2784,3192,3742
$GC,1210,-1.43,-127.1,64.8,-5.3,114,1214,0.00,2.45,0.00,0.000,6,0.000,0.037,2784,1801,3742
$GC,1405,-1.43,-127.1,74.8,-5.2,129,1407,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1801,3742
$GC,1596,-1.43,-127.1,85.4,-5.8,144,1600,0.00,2.50,0.00,0.000,4,0.000,0.048,2784,3189,3742
$GC,1655,-1.43,-127.1,88.8,-5.7,148,1659,0.00,2.45,0.00,0.000,6,0.000,0.037,2784,1800,3742
$STATE,1772,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1772,begin apogee
$GC,1778,-0.38,0.0,95.3,5.2,157,1884,1.12,0.00,100.40,0.676,6,0.091,0.000,3013,1726,3218
$STATE,1884,end apogee,CONTROL_FINISHED_OK
$STATE,1885,begin climb
$GC,1887,1.43,127.1,96.6,0.0,166,1992,1.83,0.00,98.05,0.649,6,0.053,0.000,3413,1726,2699
$GC,2181,1.43,127.1,69.7,10.7,190,2182,0.00,0.00,0.00,0.000,6,0.000,0.000,3413,1726,2698
$GC,2371,1.43,127.1,50.5,10.0,205,2372,0.00,0.00,0.00,0.000,6,0.000,0.000,3413,1726,2698
$GC,2560,1.43,127.1,31.0,10.3,220,2564,0.00,2.55,0.00,0.000,4,0.000,0.051,3413,3127,2697
$GC,2592,1.43,127.1,27.4,11.4,222,2596,0.00,2.47,0.00,0.000,6,0.000,0.038,3413,1741,2697
$GC,2794,1.43,127.1,8.9,8.1,247,2799,0.00,0.00,0.00,0.000,6,0.000,0.000,3413,1741,2697
$STATE,2850,end climb,SURFACE_DEPTH_REACHED
$STATE,2850,begin surface coast
$FINISH,-0.4,1.011594
$STATE,2931,end surface coast,CONTROL_FINISHED_OK
$STATE,2931,begin surface
$SM_CCo,2958,116.45,0.583,0,0,1586,400.08
$SM_GC,0.25,0.00,0.00,116.45,0.000,0.000,0.583,461,1802,1586,-12.14,0.08,400.08
$IRIDIUM_FIX,4726.11,-12253.53,041007,090931
$TT8_MAMPS,0.073632
$HUMID,2126
$INTERNAL_PRESSURE,8.45736
$TCM_TEMP,19.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.2,51.9
$24V_AH,23.9,4.874
$10V_AH,10.1,4.278
$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,30.725,30.200,198.450,116.450,0.000,75.273,71.717,258.556,0.500,20.890,3786.110,45.544,500.421,1744.407,419.956,518.860,539.588,33.329,701.662,0.000,459.420,0.000,5.484
$DEVICE_MAMPS,199.420,75.933,675.727,582.920,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,179.997,0.000,0.000,0.000,0.000,0.000,0.000,3807.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6443,268
$CFSIZE,260034560,255328256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041007,065508,4743.407,-12250.584,8,1.5,13,18.3