version: 66.02
glider: 106
mission: 8
dive: 112
start: 10 6 107 19 47 56
data:
$ID,106
$MISSION,8
$DIVE,112
$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,110
$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,-50275.164
$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,20
$R_STBD_OVSHOOT,42
$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
$GPS1,193427,4743.592,-12250.396,12,1.9,12,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.35
$_SM_ANGLEo,-55.7
$GPS2,194633,4743.676,-12250.245,14,1.6,14,18.3
$SPEED_LIMITS,0.429,0.439
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.245,-0.364
$KALMAN_X,4536.5,206.6,126.5,-1502.3,61.6
$KALMAN_Y,2440.4,161.6,165.9,4989.5,68.6
$MHEAD_RNG_PITCHd_Wd,195.7,1362,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-1.88,-107.5,0.0,0.0,0,107,0.00,0.00,-78.93,0.000,2,0.000,0.000,460,1816,3589
$GC,110,-1.88,-107.5,2.4,-6.0,13,135,14.43,2.72,-1.62,0.000,4,0.214,0.080,2684,398,3660
$GC,142,-1.88,-107.5,7.6,-15.9,18,148,0.00,2.45,0.00,0.000,6,0.000,0.032,2684,1808,3660
$GC,214,-1.88,-107.5,13.8,-7.7,29,219,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,1809,3660
$GC,286,-1.88,-107.5,18.7,-6.5,40,291,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,1809,3660
$GC,362,-1.88,-107.5,23.4,-6.2,48,363,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,1809,3661
$GC,553,-1.88,-107.5,35.8,-6.4,63,554,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,1810,3661
$GC,742,-1.88,-107.5,48.5,-6.5,78,743,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,1809,3660
$GC,930,-1.88,-107.5,61.6,-6.6,93,934,0.00,2.47,0.00,0.000,4,0.000,0.047,2684,3198,3661
$GC,962,-1.88,-107.5,63.8,-6.6,95,967,0.00,2.47,0.00,0.000,6,0.000,0.035,2684,1789,3661
$GC,1158,-1.88,-107.5,77.4,-7.0,110,1159,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,1789,3661
$STATE,1206,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,1206,begin apogee
$GC,1211,-0.38,0.0,80.8,6.8,114,1305,1.67,0.00,86.10,0.663,6,0.111,0.000,3013,1728,3217
$STATE,1306,end apogee,CONTROL_FINISHED_OK
$STATE,1306,begin climb
$GC,1308,1.88,107.5,82.0,0.0,122,1401,2.28,0.00,83.22,0.637,6,0.051,0.000,3516,1727,2778
$GC,1590,2.06,254.6,50.8,13.1,145,1713,0.15,2.72,111.97,0.607,4,0.057,0.076,3550,345,2179
$GC,1745,2.08,269.1,25.2,19.3,157,1765,0.00,2.45,10.77,0.614,6,0.000,0.032,3550,1726,2121
$STATE,1854,end climb,SURFACE_DEPTH_REACHED
$STATE,1854,begin surface coast
$FINISH,-0.0,1.022080
$STATE,1882,end surface coast,CONTROL_FINISHED_OK
$STATE,1882,begin surface
$SM_CCo,1909,34.53,0.574,0,0,1790,350.04
$SM_GC,0.18,0.00,0.00,34.53,0.000,0.000,0.574,460,1796,1790,-12.14,-0.11,350.04
$IRIDIUM_FIX,4726.11,-12248.15,061007,232325
$TT8_MAMPS,0.073632
$HUMID,2096
$INTERNAL_PRESSURE,8.47689
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.5,51.9
$24V_AH,23.9,10.168
$10V_AH,10.1,8.923
$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,32.375,15.500,292.075,34.525,0.000,118.759,198.281,169.554,0.500,0.000,2788.000,14.044,341.532,1047.670,404.364,323.725,599.280,33.333,619.972,0.000,298.590,0.000,5.485
$DEVICE_MAMPS,213.993,82.836,663.455,574.483,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,116.344,0.000,0.000,0.000,0.000,0.000,0.000,2788.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3297,176
$CFSIZE,260034560,253456384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061007,202109,4743.554,-12250.354,14,1.4,14,18.3