version: 66.02
glider: 106
mission: 8
dive: 144
start: 10 7 107 21 34 43
data:
$ID,106
$MISSION,8
$DIVE,144
$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,35
$T_MISSION,90
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$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,-51219.535
$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,19
$R_STBD_OVSHOOT,36
$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
$GPS1,212039,4743.627,-12250.752,8,1.9,8,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.28
$_SM_ANGLEo,-60.4
$GPS2,213337,4743.660,-12250.711,13,1.3,29,18.3
$SPEED_LIMITS,0.148,0.247
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.035,-0.245
$KALMAN_X,5918.4,-78.4,43.2,-3093.3,7.2
$KALMAN_Y,10966.6,489.8,286.9,-4013.8,-47.8
$MHEAD_RNG_PITCHd_Wd,169.8,1138,-15.9,-8.571
$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,25,-1.40,-146.6,0.0,0.0,0,112,0.00,0.00,-83.75,0.000,2,0.000,0.000,462,1818,3657
$GC,114,-1.40,-146.6,2.2,-4.6,14,140,14.90,2.50,-3.72,0.000,4,0.209,0.060,2788,3193,3817
$GC,206,-1.40,-146.6,12.5,-7.2,28,212,0.00,2.47,0.00,0.000,6,0.000,0.035,2786,1795,3817
$GC,278,-1.40,-146.6,17.4,-7.3,39,284,0.00,2.65,0.00,0.000,4,0.000,0.074,2787,397,3818
$GC,403,-1.40,-146.6,26.7,-6.7,51,409,0.00,2.45,0.00,0.000,6,0.000,0.031,2786,1805,3818
$GC,598,-1.40,-146.6,38.8,-5.7,67,602,0.00,2.47,0.00,0.000,4,0.000,0.048,2786,3193,3818
$GC,657,-1.40,-146.6,42.1,-5.6,71,661,0.00,2.45,0.00,0.000,6,0.000,0.035,2786,1800,3818
$GC,853,-1.40,-146.6,53.0,-5.2,86,854,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1798,3818
$GC,1043,-1.40,-146.6,63.5,-5.7,101,1044,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1798,3818
$GC,1233,-1.40,-146.6,74.4,-6.0,116,1237,0.00,2.50,0.00,0.000,4,0.000,0.048,2786,3192,3818
$GC,1310,-1.40,-146.6,79.1,-5.7,121,1317,0.00,2.47,0.00,0.000,6,0.000,0.035,2786,1800,3818
$GC,1507,-1.40,-146.6,90.0,-5.5,137,1508,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1800,3818
$STATE,1517,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1517,begin apogee
$GC,1523,-0.38,0.0,90.6,5.2,138,1642,1.12,0.00,115.45,0.663,6,0.095,0.000,3014,1725,3218
$STATE,1643,end apogee,CONTROL_FINISHED_OK
$STATE,1643,begin climb
$GC,1647,1.40,146.6,91.7,0.0,148,1767,1.77,2.70,112.90,0.630,4,0.058,0.077,3408,339,2619
$GC,1795,1.40,146.6,79.8,11.5,160,1799,0.00,2.45,0.00,0.000,6,0.000,0.032,3409,1732,2618
$GC,1997,1.40,146.6,57.8,11.0,176,1998,0.00,0.00,0.00,0.000,6,0.000,0.000,3409,1733,2617
$GC,2189,1.40,146.6,37.6,10.4,191,2190,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,1733,2617
$GC,2378,1.43,171.5,18.9,7.6,207,2402,0.00,0.00,18.98,0.634,6,0.000,0.000,3408,1734,2517
$GC,2468,1.43,171.5,11.1,8.6,221,2475,0.00,2.67,0.00,0.000,4,0.000,0.074,3408,339,2516
$STATE,2525,end climb,SURFACE_DEPTH_REACHED
$STATE,2525,begin surface coast
$FINISH,1.7,1.022252
$STATE,2553,end surface coast,CONTROL_FINISHED_OK
$STATE,2553,begin surface
$SM_CCo,2581,76.07,0.577,0,0,1791,350.04
$SM_GC,0.40,0.00,0.00,76.07,0.000,0.000,0.577,463,1816,1791,-12.13,0.45,350.04
$IRIDIUM_FIX,4726.11,-12250.84,081007,010149
$TT8_MAMPS,0.069797
$HUMID,2125
$INTERNAL_PRESSURE,8.47689
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.4,52.1
$24V_AH,23.9,12.710
$10V_AH,10.1,10.945
$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,31.475,30.550,247.325,76.075,0.000,117.637,205.645,188.296,0.500,0.000,3556.000,30.685,433.431,1525.439,423.199,435.329,645.666,33.331,674.879,0.000,391.350,0.000,5.484
$DEVICE_MAMPS,209.391,76.700,663.455,576.784,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,156.198,0.000,0.000,0.000,0.000,0.000,0.000,3556.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6465,234
$CFSIZE,260034560,252448768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071007,222005,4743.404,-12250.739,11,2.5,30,18.3