version: 66.02
glider: 106
mission: 8
dive: 104
start: 10 6 107 12 21 10
data:
$ID,106
$MISSION,8
$DIVE,104
$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,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,-50000.355
$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,29
$R_STBD_OVSHOOT,38
$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
$GPS1,121303,4743.555,-12250.889,12,1.6,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.44
$_SM_ANGLEo,-63.6
$GPS2,122005,4743.539,-12250.888,13,2.2,32,18.3
$SPEED_LIMITS,0.193,0.217
$TGT_NAME,6_EC
$TGT_LATLONG,4743.563,-12250.725
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.164,0.102
$KALMAN_X,3604.8,47.5,48.5,-1130.8,36.7
$KALMAN_Y,1516.6,-118.5,3.9,6108.4,-60.7
$MHEAD_RNG_PITCHd_Wd,39.7,208,-16.6,-7.037
$D_GRID,167
$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,25,-1.39,-97.8,0.0,0.0,0,101,0.00,0.00,-73.60,0.000,2,0.000,0.000,461,1807,3488
$GC,104,-1.43,-127.1,2.2,-4.9,12,135,15.10,2.72,-5.85,0.000,4,0.215,0.082,2783,405,3740
$GC,385,-1.43,-127.1,24.5,-6.1,50,393,0.00,2.45,0.00,0.000,6,0.000,0.032,2783,1800,3742
$GC,582,-1.43,-127.1,35.4,-5.1,66,583,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1800,3742
$GC,773,-1.43,-127.1,46.0,-5.7,81,777,0.00,2.50,0.00,0.000,4,0.000,0.049,2783,3198,3742
$GC,818,-1.43,-127.1,48.7,-5.8,84,823,0.00,2.45,0.00,0.000,6,0.000,0.035,2783,1804,3742
$GC,1014,-1.43,-127.1,59.0,-5.0,99,1015,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1804,3742
$GC,1206,-1.43,-127.1,68.9,-5.1,114,1210,0.00,2.50,0.00,0.000,4,0.000,0.048,2784,3192,3742
$GC,1252,-1.43,-127.1,71.5,-5.2,117,1256,0.00,2.45,0.00,0.000,6,0.000,0.035,2785,1800,3742
$GC,1447,-1.43,-127.1,81.4,-5.2,132,1448,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1800,3742
$GC,1638,-1.43,-127.1,91.4,-5.2,147,1642,0.00,2.50,0.00,0.000,4,0.000,0.048,2783,3195,3742
$GC,1670,-1.43,-127.1,93.2,-5.6,149,1674,0.00,2.45,0.00,0.000,6,0.000,0.035,2784,1796,3742
$STATE,1712,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1712,begin apogee
$GC,1717,-0.38,0.0,95.6,5.7,152,1823,1.12,0.00,101.22,0.668,6,0.096,0.000,3011,1720,3218
$STATE,1824,end apogee,CONTROL_FINISHED_OK
$STATE,1824,begin climb
$GC,1826,1.43,127.1,96.8,0.0,161,1933,1.85,2.75,98.47,0.639,4,0.054,0.077,3416,340,2698
$GC,1964,1.43,127.1,86.7,10.4,172,1972,0.00,2.47,0.00,0.000,6,0.000,0.032,3416,1731,2698
$GC,2160,1.43,127.1,66.6,10.0,188,2162,0.00,0.00,0.00,0.000,6,0.000,0.000,3416,1732,2696
$GC,2351,1.43,127.1,47.5,10.1,203,2352,0.00,0.00,0.00,0.000,6,0.000,0.000,3416,1732,2696
$GC,2540,1.43,127.1,28.6,9.9,218,2541,0.00,0.00,0.00,0.000,6,0.000,0.000,3416,1732,2696
$GC,2733,1.43,127.1,10.6,8.7,240,2739,0.00,2.65,0.00,0.000,4,0.000,0.074,3416,341,2696
$STATE,2796,end climb,SURFACE_DEPTH_REACHED
$STATE,2796,begin surface coast
$FINISH,2.3,1.022026
$STATE,2830,end surface coast,CONTROL_FINISHED_OK
$STATE,2830,begin surface
$SM_CCo,2859,95.07,0.580,0,0,1791,350.04
$SM_GC,0.36,0.00,0.00,95.07,0.000,0.000,0.580,460,1812,1791,-12.14,0.34,350.04
$IRIDIUM_FIX,4729.30,-12249.89,061007,151502
$TT8_MAMPS,0.06903
$HUMID,2113
$INTERNAL_PRESSURE,8.47689
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.5,51.9
$24V_AH,23.9,9.497
$10V_AH,10.1,8.369
$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,32.025,30.625,199.700,95.075,0.000,38.505,38.450,201.038,0.500,0.000,3484.000,33.383,477.829,1654.001,397.807,463.788,409.690,33.338,652.174,0.000,417.813,0.000,5.484
$DEVICE_MAMPS,214.760,82.069,668.057,579.852,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,171.268,0.000,0.000,0.000,0.000,0.000,0.000,3484.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6450,255
$CFSIZE,260034560,253706240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061007,131129,4743.707,-12250.559,10,3.3,29,18.3