version: 66.02
glider: 106
mission: 8
dive: 4
start: 10 2 107 1 40 27
data:
$ID,106
$MISSION,8
$DIVE,4
$D_SURF,5
$D_FLARE,2
$D_TGT,100
$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,30
$T_MISSION,70
$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,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,-47690.211
$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,27
$R_STBD_OVSHOOT,33
$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
$GPS1,013344,4739.564,-12253.029,10,1.6,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.49
$_SM_ANGLEo,-57.2
$GPS2,013923,4739.601,-12252.997,12,2.6,31,18.3
$SPEED_LIMITS,0.192,0.247
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.228,-0.095
$KALMAN_X,-0.7,16.7,14.7,-93.8,-4.8
$KALMAN_Y,196.7,109.1,99.5,-192.7,38.2
$MHEAD_RNG_PITCHd_Wd,94.4,783,-21.8,-11.111
$D_GRID,120
$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,-1.83,-122.2,0.0,0.0,0,113,0.00,0.00,-85.70,0.000,2,0.000,0.000,461,1814,3453
$GC,116,-1.83,-122.2,2.1,-5.8,14,147,14.52,2.55,-7.53,0.000,4,0.216,0.061,2697,3201,3719
$GC,379,-1.83,-122.2,22.1,-7.6,52,383,0.00,2.47,0.00,0.000,6,0.000,0.038,2697,1803,3720
$GC,574,-1.83,-122.2,34.9,-6.5,67,578,0.00,2.65,0.00,0.000,4,0.000,0.075,2697,397,3721
$GC,652,-1.83,-122.2,40.9,-7.6,72,659,0.00,2.47,0.00,0.000,6,0.000,0.034,2697,1811,3721
$GC,848,-1.83,-122.2,54.2,-6.5,88,853,0.00,2.67,0.00,0.000,4,0.000,0.071,2697,392,3721
$GC,881,-1.83,-122.2,56.6,-7.7,90,885,0.00,2.45,0.00,0.000,6,0.000,0.035,2697,1807,3721
$GC,1076,-1.83,-122.2,69.5,-6.6,105,1080,0.00,2.47,0.00,0.000,4,0.000,0.049,2697,3193,3721
$GC,1127,-1.83,-122.2,73.1,-7.0,108,1135,0.00,2.47,0.00,0.000,6,0.000,0.038,2697,1802,3721
$GC,1324,-1.83,-122.2,85.9,-6.6,124,1328,0.00,2.50,0.00,0.000,4,0.000,0.048,2697,3197,3721
$GC,1442,-1.83,-122.2,93.9,-6.6,132,1449,0.00,2.47,0.00,0.000,6,0.000,0.038,2697,1791,3721
$STATE,1534,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1535,begin apogee
$GC,1540,-0.38,0.0,100.6,7.2,140,1646,1.60,0.00,96.85,0.690,6,0.110,0.000,3012,1732,3217
$STATE,1647,end apogee,CONTROL_FINISHED_OK
$STATE,1647,begin climb
$GC,1649,1.83,122.2,102.1,0.0,149,1748,2.17,0.00,94.22,0.658,6,0.054,0.000,3502,1732,2719
$GC,1934,1.83,122.2,68.9,13.7,172,1939,0.00,2.55,0.00,0.000,4,0.000,0.051,3502,3124,2716
$GC,1972,1.83,122.2,63.6,14.3,174,1980,0.00,2.50,0.00,0.000,6,0.000,0.040,3502,1745,2716
$GC,2169,1.83,122.2,37.7,12.9,190,2173,0.00,2.72,0.00,0.000,4,0.000,0.082,3502,326,2716
$GC,2241,1.83,122.2,27.1,16.0,195,2245,0.00,2.45,0.00,0.000,6,0.000,0.035,3503,1733,2716
$STATE,2415,end climb,SURFACE_DEPTH_REACHED
$STATE,2415,begin surface coast
$FINISH,1.0,1.021731
$STATE,2466,end surface coast,CONTROL_FINISHED_OK
$STATE,2466,begin surface
$SM_CCo,2492,118.28,0.581,0,0,1586,400.08
$SM_GC,0.34,0.00,0.00,118.28,0.000,0.000,0.581,462,1810,1586,-12.13,0.28,400.08
$IRIDIUM_FIX,4719.74,-12217.25,021007,050558
$TT8_MAMPS,0.070564
$HUMID,2149
$INTERNAL_PRESSURE,8.47689
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.1,51.6
$24V_AH,23.9,0.513
$10V_AH,10.0,0.381
$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,32.075,35.625,191.075,118.275,0.000,0.000,0.000,0.000,0.500,0.000,2664.000,32.544,426.859,1351.834,417.022,438.257,77.521,32.333,677.398,0.000,410.874,0.000,5.484
$DEVICE_MAMPS,215.527,86.671,689.533,581.386,0.000,103.000,160.000,223.000,420.000,0.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,150.632,0.000,0.000,0.000,0.000,0.000,0.000,2664.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6427,225
$CFSIZE,260034560,256991232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021007,022444,4739.496,-12252.700,8,1.8,13,18.3