version: 66.02
glider: 106
mission: 8
dive: 252
start: 10 10 107 15 5 13
data:
$ID,106
$MISSION,8
$DIVE,252
$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,50
$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,-53503.176
$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,30
$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,3
$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
$GPS1,145147,4743.060,-12250.880,10,2.1,29,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.33
$_SM_ANGLEo,-62.3
$GPS2,150405,4743.066,-12250.879,10,2.1,29,18.3
$SPEED_LIMITS,0.148,0.232
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.148,0.003
$KALMAN_X,3566.1,72.6,-25.6,-1030.6,-31.4
$KALMAN_Y,7659.0,257.9,-42.6,-1240.9,-33.0
$MHEAD_RNG_PITCHd_Wd,70.4,83,-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,41,end surface,CONTROL_FINISHED_OK
$STATE,41,begin dive
$GC,44,-2.19,-50.1,0.0,0.0,0,122,0.00,0.00,-74.88,0.000,6,0.000,0.000,462,1810,3424
$GC,126,-2.22,-75.9,2.1,-5.6,13,150,13.82,2.55,-2.88,0.000,4,0.211,0.060,2612,3196,3530
$GC,402,-2.24,-92.8,25.7,-6.6,49,408,0.00,2.45,-0.85,0.000,6,0.000,0.035,2613,1802,3602
$GC,597,-2.25,-100.6,39.5,-7.7,64,602,0.00,2.53,-0.25,0.000,4,0.000,0.058,2611,3204,3634
$GC,688,-2.25,-100.6,47.5,-8.6,70,695,0.00,2.50,0.00,0.000,6,0.000,0.035,2611,1798,3633
$GC,885,-2.25,-101.6,63.8,-8.5,86,886,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,1797,3634
$GC,1074,-2.26,-103.6,79.8,-8.3,101,1079,0.00,2.62,0.00,0.000,4,0.000,0.071,2611,402,3633
$GC,1133,-2.26,-103.6,84.8,-8.8,105,1137,0.00,2.45,0.00,0.000,6,0.000,0.033,2611,1813,3634
$STATE,1200,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1200,begin apogee
$GC,1206,-0.38,0.0,90.3,8.1,110,1292,2.08,0.00,80.65,0.660,6,0.118,0.000,3012,1728,3218
$STATE,1293,end apogee,CONTROL_FINISHED_OK
$STATE,1293,begin climb
$GC,1296,2.26,103.6,91.4,0.0,117,1385,2.60,2.70,80.60,0.635,4,0.051,0.076,3605,342,2794
$GC,1425,2.26,103.6,76.7,16.6,127,1429,0.00,2.45,0.00,0.000,6,0.000,0.031,3604,1736,2793
$GC,1620,2.26,103.6,46.6,15.2,142,1625,0.00,2.67,0.00,0.000,4,0.000,0.073,3604,337,2792
$GC,1693,2.26,103.6,34.8,17.2,147,1697,0.00,2.45,0.00,0.000,6,0.000,0.031,3604,1739,2792
$GC,1892,2.26,103.6,6.3,11.9,169,1897,0.00,0.00,0.00,0.000,6,0.000,0.000,3605,1741,2792
$STATE,1902,end climb,SURFACE_DEPTH_REACHED
$STATE,1903,begin surface coast
$FINISH,0.4,1.022207
$STATE,1944,end surface coast,CONTROL_FINISHED_OK
$STATE,1944,begin surface
$SM_CCo,2044,105.12,0.565,0,0,1790,350.04
$SM_GC,0.41,0.00,0.00,105.12,0.000,0.000,0.565,461,1810,1790,-12.14,0.28,350.04
$IRIDIUM_FIX,4726.11,-12249.11,101007,181855
$TT8_MAMPS,0.131924
$HUMID,2043
$INTERNAL_PRESSURE,8.46712
$TCM_TEMP,19.60
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,51.0,53.2
$24V_AH,23.9,20.471
$10V_AH,10.0,16.214
$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,32.750,25.600,161.250,105.125,0.000,116.344,195.715,156.252,1.000,0.000,3022.000,30.495,335.917,1177.712,350.964,374.438,678.951,33.332,568.468,0.000,331.240,0.000,5.489
$DEVICE_MAMPS,210.925,81.302,659.620,564.512,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,118.382,0.000,0.000,0.000,0.000,0.000,0.000,3022.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3326,177
$CFSIZE,260034560,249593856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,101007,154151,4743.030,-12250.596,13,1.8,13,18.3