version: 66.02
glider: 106
mission: 8
dive: 117
start: 10 7 107 0 12 34
data:
$ID,106
$MISSION,8
$DIVE,117
$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,35
$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,-50588.344
$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,32
$R_STBD_OVSHOOT,32
$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
$GPS1,000120,4744.204,-12249.676,15,1.4,30,18.3
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,1
$_SM_DEPTHo,0.35
$_SM_ANGLEo,-55.4
$GPS2,001109,4744.312,-12249.578,10,1.6,10,18.3
$SPEED_LIMITS,0.286,0.296
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.146,-0.257
$KALMAN_X,5452.6,475.8,276.6,-2003.9,4.6
$KALMAN_Y,3747.2,546.2,363.6,4277.4,39.3
$MHEAD_RNG_PITCHd_Wd,191.3,2801,-32.7,-20.000
$D_GRID,172
$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,-2.65,-107.5,0.0,0.0,0,106,0.00,0.00,-79.05,0.000,2,0.000,0.000,461,1810,3549
$GC,108,-2.65,-107.5,2.1,-5.8,13,133,13.30,2.55,-2.72,0.000,4,0.213,0.061,2515,3192,3659
$GC,188,-2.65,-107.5,13.0,-12.2,25,194,0.00,2.45,0.00,0.000,6,0.000,0.036,2515,1807,3660
$GC,260,-2.65,-107.5,19.4,-9.5,36,266,0.00,2.65,0.00,0.000,4,0.000,0.068,2516,394,3660
$GC,299,-2.65,-107.5,23.1,-9.9,40,303,0.00,2.47,0.00,0.000,6,0.000,0.032,2515,1815,3660
$GC,494,-2.65,-107.5,41.6,-9.7,55,498,0.00,2.65,0.00,0.000,4,0.000,0.067,2515,397,3661
$GC,540,-2.65,-107.5,46.2,-10.2,58,544,0.00,2.42,0.00,0.000,6,0.000,0.032,2515,1801,3661
$GC,742,-2.65,-107.5,65.8,-9.7,74,743,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,1803,3661
$GC,934,-2.65,-107.5,84.3,-9.8,89,935,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,1803,3661
$STATE,992,end dive,TARGET_DEPTH_EXCEEDED
$STATE,992,begin apogee
$GC,998,-0.38,0.0,90.4,9.5,94,1091,2.65,0.00,85.30,0.670,6,0.131,0.000,3014,1720,3217
$STATE,1092,end apogee,CONTROL_FINISHED_OK
$STATE,1092,begin climb
$GC,1094,2.65,107.5,91.5,0.0,102,1187,2.97,0.00,82.25,0.644,6,0.046,0.000,3694,1720,2778
$GC,1377,2.65,111.2,45.0,19.6,125,1388,0.00,2.70,2.22,0.728,4,0.000,0.072,3694,336,2763
$GC,1495,2.65,111.2,20.7,20.8,134,1499,0.00,2.45,0.00,0.000,6,0.000,0.032,3694,1734,2763
$STATE,1571,end climb,SURFACE_DEPTH_REACHED
$STATE,1571,begin surface coast
$FINISH,0.6,1.022176
$STATE,1592,end surface coast,CONTROL_FINISHED_OK
$STATE,1592,begin surface
$SM_CCo,1619,101.88,0.573,0,0,1790,350.04
$SM_GC,0.26,0.00,0.00,101.88,0.000,0.000,0.573,463,1815,1790,-12.13,0.42,350.04
$IRIDIUM_FIX,4726.11,-12248.15,071007,040428
$TT8_MAMPS,0.070564
$HUMID,2083
$INTERNAL_PRESSURE,8.47689
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.0,51.7
$24V_AH,23.9,10.645
$10V_AH,10.1,9.276
$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,33.300,20.600,169.775,101.875,0.000,75.489,74.797,246.831,0.500,0.000,2458.000,10.982,318.390,864.356,373.541,278.860,522.655,33.357,552.982,0.000,258.753,0.000,5.484
$DEVICE_MAMPS,213.226,72.098,727.883,572.949,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,98.225,0.000,0.000,0.000,0.000,0.000,0.000,2458.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3319,148
$CFSIZE,260034560,253263872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071007,004203,4744.211,-12249.660,14,2.0,14,18.3