version: 66.02
glider: 106
mission: 8
dive: 110
start: 10 6 107 18 21 12
data:
$ID,106
$MISSION,8
$DIVE,110
$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,15
$T_MISSION,40
$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,100
$COURSE_BIAS,0
$GLIDE_SLOPE,25
$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,-50244.078
$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,34
$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
$GPS1,181337,4743.680,-12250.430,12,1.6,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.32
$_SM_ANGLEo,-55.0
$GPS2,181950,4743.730,-12250.356,10,1.6,15,18.3
$SPEED_LIMITS,0.429,0.439
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.162,-0.408
$KALMAN_X,4259.7,133.0,75.7,-1244.9,-4.4
$KALMAN_Y,2133.1,50.0,88.1,5581.3,34.4
$MHEAD_RNG_PITCHd_Wd,183.4,1385,-22.7,-20.000
$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,25,-1.87,-97.8,0.0,0.0,0,101,0.00,0.00,-73.68,0.000,2,0.000,0.000,462,1803,3452
$GC,105,-1.87,-97.8,2.0,-6.1,12,130,14.30,2.65,-4.28,0.000,4,0.211,0.079,2687,401,3619
$GC,156,-1.87,-97.8,7.8,-8.5,20,163,0.00,2.45,0.00,0.000,6,0.000,0.033,2687,1804,3619
$GC,229,-1.87,-97.8,12.8,-4.9,31,235,0.00,2.50,0.00,0.000,4,0.000,0.048,2687,3202,3619
$GC,366,-1.87,-97.8,22.0,-6.0,49,373,0.00,2.47,0.00,0.000,6,0.000,0.034,2687,1806,3619
$GC,562,-1.87,-97.8,33.5,-5.9,65,567,0.00,2.65,0.00,0.000,4,0.000,0.071,2687,397,3620
$GC,613,-1.87,-97.8,36.8,-6.5,68,621,0.00,2.47,0.00,0.000,6,0.000,0.032,2687,1809,3620
$GC,810,-1.87,-97.8,48.6,-6.1,84,814,0.00,2.45,0.00,0.000,4,0.000,0.048,2687,3191,3620
$GC,894,-1.87,-97.8,54.0,-6.5,90,901,0.00,2.47,0.00,0.000,6,0.000,0.035,2687,1799,3620
$GC,1090,-1.87,-97.8,65.8,-6.2,106,1091,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,1799,3620
$STATE,1214,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,1214,begin apogee
$GC,1220,-0.38,0.0,73.8,6.3,116,1303,1.67,0.00,78.55,0.657,6,0.114,0.000,3013,1724,3217
$STATE,1304,end apogee,CONTROL_FINISHED_OK
$STATE,1304,begin climb
$GC,1307,1.87,97.8,74.8,0.0,123,1391,2.20,0.00,76.30,0.627,6,0.051,0.000,3513,1724,2818
$GC,1581,2.06,255.8,45.8,12.6,145,1707,0.17,0.00,122.75,0.597,6,0.057,0.000,3552,1724,2174
$STATE,1822,end climb,SURFACE_DEPTH_REACHED
$STATE,1822,begin surface coast
$FINISH,-0.4,1.022132
$STATE,1850,end surface coast,CONTROL_FINISHED_OK
$STATE,1850,begin surface
$SM_CCo,1876,40.22,0.567,0,0,1790,350.04
$SM_GC,0.50,0.00,0.00,40.22,0.000,0.000,0.567,463,1808,1790,-12.13,0.23,350.04
$IRIDIUM_FIX,4726.11,-12252.58,061007,222242
$TT8_MAMPS,0.070564
$HUMID,2083
$INTERNAL_PRESSURE,8.48665
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.3,51.8
$24V_AH,23.9,10.002
$10V_AH,10.1,8.809
$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,32.450,20.375,277.600,40.225,0.000,0.000,0.000,0.000,0.500,0.000,2049.000,15.498,338.933,906.660,399.183,307.435,66.732,33.335,603.975,0.000,300.495,0.000,5.484
$DEVICE_MAMPS,210.925,79.001,656.552,566.813,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,115.929,0.000,0.000,0.000,0.000,0.000,0.000,2049.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3318,175
$CFSIZE,260034560,253493248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061007,185357,4743.618,-12250.383,14,1.3,14,18.3