version: 66.02
glider: 106
mission: 8
dive: 132
start: 10 7 107 9 54 46
data:
$ID,106
$MISSION,8
$DIVE,132
$D_SURF,5
$D_FLARE,2
$D_TGT,90
$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,-50967.258
$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,17
$R_STBD_OVSHOOT,36
$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
$GPS1,094708,4744.820,-12250.354,9,1.7,14,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.29
$_SM_ANGLEo,-54.4
$GPS2,095309,4744.885,-12250.366,13,1.6,13,18.3
$SPEED_LIMITS,0.183,0.213
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.002,-0.213
$KALMAN_X,5653.1,301.4,-43.0,-2691.8,-113.9
$KALMAN_Y,6624.7,1413.9,430.2,1527.5,-84.4
$MHEAD_RNG_PITCHd_Wd,161.2,3445,-13.5,-6.667
$D_GRID,155
$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,25,-1.20,-127.1,0.0,0.0,0,111,0.00,0.00,-83.55,0.000,2,0.000,0.000,460,1800,3623
$GC,114,-1.20,-127.1,2.1,-4.8,14,140,15.27,2.53,-2.85,0.000,4,0.212,0.059,2834,3194,3739
$GC,298,-1.20,-127.1,14.3,-5.3,42,305,0.00,2.47,0.00,0.000,6,0.000,0.036,2834,1792,3740
$GC,371,-1.20,-127.1,17.4,-4.2,53,376,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1792,3740
$GC,448,-1.20,-127.1,20.8,-4.7,64,453,0.00,2.62,0.00,0.000,4,0.000,0.074,2834,394,3740
$GC,473,-1.20,-127.1,22.3,-5.9,65,480,0.00,2.47,0.00,0.000,6,0.000,0.033,2834,1802,3740
$GC,670,-1.20,-127.1,31.7,-5.2,81,674,0.00,2.50,0.00,0.000,4,0.000,0.048,2834,3201,3740
$GC,694,-1.20,-127.1,33.0,-4.9,82,701,0.00,2.50,0.00,0.000,6,0.000,0.035,2834,1797,3740
$GC,891,-1.20,-127.1,41.9,-4.7,98,895,0.00,2.65,0.00,0.000,4,0.000,0.074,2834,391,3740
$GC,929,-1.20,-127.1,43.7,-5.2,100,936,0.00,2.47,0.00,0.000,6,0.000,0.032,2834,1806,3740
$GC,1126,-1.20,-127.1,52.8,-4.2,116,1130,0.00,2.47,0.00,0.000,4,0.000,0.048,2834,3195,3741
$GC,1184,-1.20,-127.1,55.4,-4.1,120,1189,0.00,2.45,0.00,0.000,6,0.000,0.036,2834,1799,3740
$GC,1380,-1.20,-127.1,63.2,-4.1,135,1384,0.00,2.62,0.00,0.000,4,0.000,0.073,2834,401,3740
$GC,1426,-1.20,-127.1,65.4,-5.2,138,1430,0.00,2.42,0.00,0.000,6,0.000,0.033,2834,1807,3740
$GC,1621,-1.20,-127.1,74.3,-4.3,153,1625,0.00,2.45,0.00,0.000,4,0.000,0.048,2834,3188,3740
$GC,1685,-1.20,-127.1,77.1,-4.3,157,1693,0.00,2.45,0.00,0.000,6,0.000,0.035,2834,1803,3740
$GC,1882,-1.20,-127.1,84.8,-3.8,173,1886,0.00,2.47,0.00,0.000,4,0.000,0.048,2834,3187,3740
$GC,1928,-1.20,-127.1,86.5,-3.6,176,1932,0.00,2.42,0.00,0.000,6,0.000,0.035,2834,1798,3740
$STATE,2020,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2020,begin apogee
$GC,2026,-0.38,0.0,90.3,3.8,183,2131,0.88,0.00,100.22,0.668,6,0.088,0.000,3013,1723,3218
$STATE,2132,end apogee,CONTROL_FINISHED_OK
$STATE,2132,begin climb
$GC,2134,1.20,127.1,91.1,0.0,192,2241,1.60,2.65,98.25,0.638,4,0.058,0.048,3362,3127,2698
$GC,2267,1.20,127.1,82.8,8.0,203,2271,0.00,2.47,0.00,0.000,6,0.000,0.036,3362,1744,2697
$GC,2462,1.20,127.1,66.5,8.6,218,2463,0.00,0.00,0.00,0.000,6,0.000,0.000,3362,1744,2696
$GC,2654,1.20,127.1,50.9,7.7,233,2659,0.00,2.70,0.00,0.000,4,0.000,0.080,3362,333,2696
$GC,2693,1.20,127.1,47.6,8.4,235,2700,0.00,2.42,0.00,0.000,6,0.000,0.033,3361,1728,2696
$GC,2888,1.20,127.1,31.6,8.4,251,2893,0.00,2.67,0.00,0.000,4,0.000,0.075,3361,325,2696
$GC,2926,1.20,127.1,27.9,9.4,253,2934,0.00,2.47,0.00,0.000,6,0.000,0.032,3361,1735,2695
$GC,3127,1.20,127.1,13.5,7.4,276,3134,0.00,2.50,0.00,0.000,4,0.000,0.048,3362,3131,2695
$GC,3186,1.20,127.1,9.4,7.1,285,3192,0.00,2.47,0.00,0.000,6,0.000,0.037,3362,1733,2695
$STATE,3249,end climb,SURFACE_DEPTH_REACHED
$STATE,3249,begin surface coast
$FINISH,-0.3,1.003925
$STATE,3323,end surface coast,CONTROL_FINISHED_OK
$STATE,3323,begin surface
$SM_CCo,3350,95.18,0.581,0,0,1791,350.04
$SM_GC,0.12,0.00,0.00,95.18,0.000,0.000,0.581,462,1822,1791,-12.13,0.62,350.04
$IRIDIUM_FIX,4729.30,-12252.58,071007,121233
$TT8_MAMPS,0.06903
$HUMID,2126
$INTERNAL_PRESSURE,8.47689
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.0,51.3
$24V_AH,23.9,11.698
$10V_AH,10.1,10.077
$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,30.775,60.625,198.475,95.175,0.000,40.054,44.335,156.016,0.500,0.000,3954.000,13.734,591.416,1884.866,432.074,550.045,405.785,33.332,757.022,0.000,521.524,0.000,5.486
$DEVICE_MAMPS,211.692,79.768,668.057,581.386,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,205.587,0.000,0.000,0.000,0.000,0.000,0.000,3954.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,9584,306
$CFSIZE,260034560,252837888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071007,105325,4744.677,-12250.425,39,1.5,39,18.3