version: 66.02
glider: 106
mission: 8
dive: 2
start: 10 2 107 0 7 16
data:
$ID,106
$MISSION,8
$DIVE,2
$D_SURF,5
$D_FLARE,2
$D_TGT,45
$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,15
$T_MISSION,35
$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,125
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$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,500
$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,1
$CAPMAXSIZE,150000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-47578.844
$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,29
$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
$GPS1,000056,4739.559,-12253.097,10,1.4,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-57.3
$GPS2,000615,4739.572,-12253.098,17,1.4,17,18.3
$SPEED_LIMITS,0.173,0.240
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.108,-0.214
$KALMAN_X,6.8,6.8,6.8,-207.8,9.6
$KALMAN_Y,44.9,44.9,44.9,22.8,63.3
$MHEAD_RNG_PITCHd_Wd,188.6,234,-20.0,-10.000
$D_GRID,116
$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,-1.69,-122.2,0.0,0.0,0,132,0.00,0.00,-103.57,0.000,2,0.000,0.000,462,1801,3440
$GC,136,-1.69,-122.2,2.2,-5.4,17,167,14.65,2.67,-8.25,0.000,4,0.215,0.084,2724,393,3719
$GC,186,-1.69,-122.2,5.9,-6.2,25,193,0.00,2.47,0.00,0.000,6,0.000,0.035,2724,1819,3720
$GC,259,-1.69,-122.2,11.2,-7.4,36,265,0.00,2.45,0.00,0.000,4,0.000,0.049,2724,3194,3721
$GC,311,-1.69,-122.2,14.9,-7.2,44,317,0.00,2.47,0.00,0.000,6,0.000,0.038,2724,1792,3721
$GC,383,-1.69,-122.2,19.9,-7.0,55,389,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,1792,3721
$GC,452,-1.69,-122.2,24.7,-7.0,61,456,0.00,2.53,0.00,0.000,4,0.000,0.048,2724,3196,3721
$GC,498,-1.69,-122.2,28.0,-7.4,64,502,0.00,2.45,0.00,0.000,6,0.000,0.038,2725,1800,3721
$GC,693,-1.69,-122.2,41.1,-6.4,79,698,0.00,2.50,0.00,0.000,4,0.000,0.048,2725,3193,3721
$STATE,756,end dive,TARGET_DEPTH_EXCEEDED
$STATE,756,begin apogee
$GC,763,-0.38,0.0,45.4,6.4,83,866,1.42,0.00,95.78,0.647,6,0.110,0.000,3008,1735,3217
$STATE,867,end apogee,CONTROL_FINISHED_OK
$STATE,867,begin climb
$GC,869,1.69,122.2,46.8,0.0,92,971,2.08,2.58,93.62,0.617,4,0.058,0.051,3471,3123,2719
$GC,989,1.69,122.2,36.6,12.0,101,997,0.00,2.53,0.00,0.000,6,0.000,0.040,3471,1735,2719
$GC,1188,1.69,122.2,14.5,10.8,120,1194,0.00,2.70,0.00,0.000,4,0.000,0.081,3471,327,2718
$GC,1220,1.69,122.2,10.6,11.7,125,1227,0.00,2.45,0.00,0.000,6,0.000,0.035,3471,1731,2719
$STATE,1270,end climb,SURFACE_DEPTH_REACHED
$STATE,1270,begin surface coast
$FINISH,0.1,1.022185
$STATE,1318,end surface coast,CONTROL_FINISHED_OK
$STATE,1318,begin surface
$SM_CCo,1345,161.20,0.567,0,0,1178,500.17
$SM_GC,0.53,0.00,0.00,161.20,0.000,0.000,0.567,463,1809,1178,-12.13,0.25,500.17
$IRIDIUM_FIX,4722.92,-12251.79,021007,030313
$TT8_MAMPS,0.069797
$HUMID,2072
$INTERNAL_PRESSURE,8.45736
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,27.0,28.2
$24V_AH,24.0,0.320
$10V_AH,10.1,0.231
$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,31.600,30.525,189.400,161.200,0.000,0.000,0.000,0.000,0.250,0.000,1496.000,16.997,264.188,530.731,478.535,251.710,65.819,30.182,662.703,0.000,245.095,0.000,2.483
$DEVICE_MAMPS,214.760,83.603,647.348,566.813,0.000,103.000,160.000,223.000,420.000,0.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,91.880,0.000,0.000,0.000,0.000,0.000,0.000,1496.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3312,140
$CFSIZE,260034560,257052672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021007,003326,4739.475,-12253.234,13,1.2,30,18.3