version: 66.02
glider: 106
mission: 8
dive: 123
start: 10 7 107 3 46 30
data:
$ID,106
$MISSION,8
$DIVE,123
$D_SURF,5
$D_FLARE,2
$D_TGT,60
$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,10
$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,-50750.828
$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,23
$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
$GPS1,033847,4744.195,-12249.975,14,3.5,33,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.37
$_SM_ANGLEo,-56.9
$GPS2,034507,4744.267,-12249.967,37,1.0,41,18.3
$SPEED_LIMITS,0.286,0.296
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.093,-0.281
$KALMAN_X,5668.5,507.9,174.5,-2632.3,-26.4
$KALMAN_Y,4477.5,794.9,383.3,3195.6,-6.0
$MHEAD_RNG_PITCHd_Wd,180.0,2491,-32.7,-20.000
$D_GRID,173
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-2.65,-107.5,0.0,0.0,0,112,0.00,0.00,-83.78,0.000,6,0.000,0.000,461,1797,3657
$GC,115,-2.65,-107.5,2.5,-5.8,14,134,13.25,2.65,0.00,0.000,4,0.212,0.067,2514,396,3662
$GC,220,-2.65,-107.5,17.9,-12.4,30,226,0.00,2.47,0.00,0.000,6,0.000,0.032,2514,1814,3663
$GC,296,-2.65,-107.5,24.5,-8.2,38,300,0.00,2.67,0.00,0.000,4,0.000,0.067,2514,398,3664
$GC,321,-2.65,-107.5,26.8,-9.0,39,328,0.00,2.47,0.00,0.000,6,0.000,0.032,2514,1803,3664
$GC,517,-2.65,-107.5,44.5,-8.7,55,521,0.00,2.50,0.00,0.000,4,0.000,0.048,2514,3198,3664
$GC,551,-2.65,-107.5,47.5,-9.5,57,556,0.00,2.47,0.00,0.000,6,0.000,0.036,2515,1796,3663
$STATE,681,end dive,TARGET_DEPTH_EXCEEDED
$STATE,681,begin apogee
$GC,687,-0.38,0.0,60.1,9.2,67,780,2.65,0.00,85.50,0.645,6,0.133,0.000,3009,1720,3217
$STATE,781,end apogee,CONTROL_FINISHED_OK
$STATE,781,begin climb
$GC,783,2.65,107.5,60.7,0.0,75,876,3.00,0.00,82.43,0.621,6,0.050,0.000,3689,1720,2777
$GC,1067,2.65,107.5,11.5,20.9,101,1073,0.00,2.65,0.00,0.000,4,0.000,0.075,3689,333,2777
$STATE,1104,end climb,SURFACE_DEPTH_REACHED
$STATE,1104,begin surface coast
$FINISH,-0.3,1.022374
$STATE,1139,end surface coast,CONTROL_FINISHED_OK
$STATE,1139,begin surface
$SM_CCo,1169,103.15,0.564,0,0,1791,350.04
$SM_GC,0.20,0.00,0.00,103.15,0.000,0.000,0.564,463,1812,1791,-12.13,0.34,350.04
$IRIDIUM_FIX,4726.11,-12313.90,071007,070738
$TT8_MAMPS,0.069797
$HUMID,2075
$INTERNAL_PRESSURE,8.47689
$TCM_TEMP,19.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,35.6,37.1
$24V_AH,23.9,11.035
$10V_AH,10.1,9.549
$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,33.425,20.625,167.925,103.150,0.000,39.818,34.855,162.081,0.250,0.000,1794.000,42.945,245.611,507.253,374.956,238.288,334.027,33.326,518.171,0.000,189.844,0.000,2.490
$DEVICE_MAMPS,211.692,76.700,645.047,563.745,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,73.632,0.000,0.000,0.000,0.000,0.000,0.000,1794.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3333,112
$CFSIZE,260034560,253120512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071007,040844,4744.234,-12250.039,10,1.3,27,18.3