version: 66.02
glider: 106
mission: 8
dive: 201
start: 10 9 107 7 52 47
data:
$ID,106
$MISSION,8
$DIVE,201
$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,130
$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,-52393.961
$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,35
$R_STBD_OVSHOOT,44
$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
$GPS1,074605,4743.022,-12250.783,8,2.5,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.38
$_SM_ANGLEo,-62.4
$GPS2,075138,4743.008,-12250.790,9,1.3,14,18.3
$SPEED_LIMITS,0.148,0.232
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.132,0.069
$KALMAN_X,3416.9,-445.2,-126.8,-152.7,43.8
$KALMAN_Y,6747.5,-603.3,-188.4,571.7,34.8
$MHEAD_RNG_PITCHd_Wd,279.3,84,-27.7,-8.571
$D_GRID,163
$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,-2.19,-50.1,0.0,0.0,0,104,0.00,0.00,-74.57,0.000,6,0.000,0.000,464,1816,3423
$GC,107,-2.23,-79.2,2.2,-5.3,13,132,13.77,2.50,-3.17,0.000,4,0.210,0.060,2611,3192,3543
$GC,384,-2.24,-94.5,26.4,-6.8,49,389,0.00,2.42,-0.75,0.000,6,0.000,0.034,2610,1810,3609
$GC,579,-2.26,-104.6,40.4,-7.4,64,584,0.00,2.45,-0.32,0.000,4,0.000,0.057,2610,3188,3647
$GC,638,-2.26,-107.2,45.1,-8.3,68,642,0.00,2.45,0.00,0.000,6,0.000,0.034,2610,1792,3647
$GC,833,-2.27,-113.3,60.6,-7.9,83,836,0.00,0.00,-0.30,0.000,6,0.000,0.000,2610,1792,3689
$GC,1022,-2.27,-113.3,77.8,-10.0,98,1027,0.00,2.50,0.00,0.000,4,0.000,0.046,2610,3188,3690
$GC,1062,-2.27,-113.3,81.7,-10.2,100,1068,0.00,2.42,0.00,0.000,6,0.000,0.033,2610,1797,3690
$STATE,1154,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1154,begin apogee
$GC,1160,-0.38,0.0,90.8,9.3,108,1257,2.10,0.00,91.32,0.656,6,0.120,0.000,3014,1722,3217
$STATE,1258,end apogee,CONTROL_FINISHED_OK
$STATE,1258,begin climb
$GC,1260,2.27,113.3,92.8,0.0,116,1354,2.60,0.00,87.43,0.627,6,0.049,0.000,3611,1722,2755
$GC,1540,2.27,113.3,55.5,16.3,139,1545,0.00,2.62,0.00,0.000,4,0.000,0.075,3611,340,2755
$GC,1586,2.27,113.3,47.4,17.6,142,1590,0.00,2.42,0.00,0.000,6,0.000,0.031,3611,1731,2755
$GC,1782,2.27,113.3,15.0,15.5,159,1789,0.00,2.65,0.00,0.000,4,0.000,0.071,3611,340,2755
$STATE,1846,end climb,SURFACE_DEPTH_REACHED
$STATE,1846,begin surface coast
$FINISH,2.5,1.022207
$STATE,1867,end surface coast,CONTROL_FINISHED_OK
$STATE,1867,begin surface
$SM_CCo,1897,101.05,0.562,0,0,1789,350.04
$SM_GC,0.31,0.00,0.00,101.05,0.000,0.000,0.562,463,1812,1789,-12.13,0.34,350.04
$IRIDIUM_FIX,4726.11,-12246.42,091007,111151
$TT8_MAMPS,0.06903
$HUMID,2115
$INTERNAL_PRESSURE,8.48665
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.6,52.3
$24V_AH,23.9,16.855
$10V_AH,10.1,13.701
$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,33.600,25.175,178.750,101.050,0.000,37.760,31.909,141.110,0.500,0.000,2455.000,14.982,339.350,996.767,377.418,323.506,328.664,33.314,572.887,0.000,298.699,0.000,5.485
$DEVICE_MAMPS,210.158,75.166,655.785,562.211,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,114.727,0.000,0.000,0.000,0.000,0.000,0.000,2455.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3334,172
$CFSIZE,260034560,250961920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091007,082651,4743.119,-12251.023,11,1.4,11,18.3