version: 66.02
glider: 106
mission: 8
dive: 111
start: 10 6 107 19 3 4
data:
$ID,106
$MISSION,8
$DIVE,111
$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,-50260.492
$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,40
$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
$GPS1,185357,4743.618,-12250.383,14,1.3,14,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.43
$_SM_ANGLEo,-57.6
$GPS2,190139,4743.672,-12250.288,15,1.3,15,18.3
$SPEED_LIMITS,0.429,0.439
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.232,-0.373
$KALMAN_X,4404.3,159.4,87.6,-1338.3,53.6
$KALMAN_Y,2275.2,94.9,115.5,5265.2,63.2
$MHEAD_RNG_PITCHd_Wd,193.6,1328,-22.7,-20.000
$D_GRID,168
$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,24,-1.87,-97.8,0.0,0.0,0,106,0.00,0.00,-79.03,0.000,2,0.000,0.000,463,1808,3599
$GC,108,-1.87,-97.8,2.4,-6.0,13,133,14.45,2.70,-0.40,0.000,4,0.214,0.077,2687,406,3621
$GC,146,-1.87,-97.8,8.7,-13.7,19,152,0.00,2.45,0.00,0.000,6,0.000,0.033,2687,1809,3622
$GC,218,-1.87,-97.8,13.9,-7.3,30,225,0.00,2.50,0.00,0.000,4,0.000,0.048,2687,3201,3622
$GC,244,-1.87,-97.8,16.0,-8.1,34,250,0.00,2.47,0.00,0.000,6,0.000,0.035,2688,1794,3622
$GC,322,-1.87,-97.8,20.8,-5.6,45,323,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,1794,3622
$GC,513,-1.87,-97.8,31.9,-5.9,60,517,0.00,2.62,0.00,0.000,4,0.000,0.071,2687,400,3622
$GC,559,-1.87,-97.8,35.0,-7.0,63,563,0.00,2.45,0.00,0.000,6,0.000,0.033,2687,1811,3622
$GC,754,-1.87,-97.8,46.9,-6.3,78,758,0.00,2.47,0.00,0.000,4,0.000,0.048,2687,3200,3622
$GC,847,-1.87,-97.8,52.9,-6.6,85,851,0.00,2.47,0.00,0.000,6,0.000,0.035,2688,1797,3622
$GC,1042,-1.87,-97.8,65.1,-6.1,100,1044,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,1797,3622
$STATE,1204,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,1204,begin apogee
$GC,1210,-0.38,0.0,75.3,6.3,113,1292,1.67,0.00,78.62,0.657,6,0.113,0.000,3013,1721,3218
$STATE,1293,end apogee,CONTROL_FINISHED_OK
$STATE,1293,begin climb
$GC,1296,1.87,97.8,76.1,0.0,120,1381,2.20,2.60,76.12,0.632,4,0.052,0.048,3509,3125,2819
$GC,1408,2.08,266.7,66.6,12.1,129,1547,0.20,2.50,131.23,0.603,6,0.054,0.038,3553,1733,2130
$GC,1739,2.15,324.4,8.2,17.3,160,1758,0.00,0.00,17.12,0.600,2,0.000,0.000,3553,1733,2038
$STATE,1759,end climb,SURFACE_DEPTH_REACHED
$STATE,1759,begin surface coast
$FINISH,-0.1,1.022072
$STATE,1784,end surface coast,CONTROL_FINISHED_OK
$STATE,1784,begin surface
$SM_CCo,1811,25.65,0.574,0,0,1790,350.04
$SM_GC,0.59,0.00,0.00,25.65,0.000,0.000,0.574,460,1815,1790,-12.15,0.42,350.04
$IRIDIUM_FIX,4726.11,-12250.84,061007,222210
$TT8_MAMPS,0.069797
$HUMID,2102
$INTERNAL_PRESSURE,8.48665
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.4,51.8
$24V_AH,23.9,10.083
$10V_AH,10.1,8.862
$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,32.400,25.500,303.100,25.650,0.000,38.565,40.438,241.890,0.500,0.000,2447.000,15.781,332.807,843.157,381.017,338.717,450.320,33.339,611.994,0.000,309.147,0.000,5.485
$DEVICE_MAMPS,213.993,77.467,657.319,573.716,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,110.180,0.000,0.000,0.000,0.000,0.000,0.000,2447.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3300,167
$CFSIZE,260034560,253485056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061007,193427,4743.592,-12250.396,12,1.9,12,18.3