version: 66.02
glider: 106
mission: 8
dive: 9
start: 10 2 107 5 44 33
data:
$ID,106
$MISSION,8
$DIVE,9
$D_SURF,5
$D_FLARE,2
$D_TGT,100
$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,30
$T_MISSION,70
$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,400
$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,-47783.109
$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,28
$R_STBD_OVSHOOT,38
$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
$GPS1,053833,4739.648,-12253.046,9,1.6,9,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.33
$_SM_ANGLEo,-56.7
$GPS2,054327,4739.689,-12252.996,11,1.7,11,18.3
$SPEED_LIMITS,0.192,0.269
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.135,-0.233
$KALMAN_X,319.2,119.1,47.6,-546.9,42.0
$KALMAN_Y,846.9,326.8,100.0,-899.1,98.0
$MHEAD_RNG_PITCHd_Wd,191.9,486,-19.9,-11.111
$D_GRID,119
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-1.71,-146.6,0.0,0.0,0,113,0.00,0.00,-84.85,0.000,2,0.000,0.000,462,1810,3466
$GC,116,-1.71,-146.6,2.2,-6.5,14,148,14.43,2.53,-9.15,0.000,4,0.208,0.063,2723,3192,3817
$GC,188,-1.71,-146.6,9.1,-8.3,25,194,0.00,2.47,0.00,0.000,6,0.000,0.038,2723,1799,3819
$GC,260,-1.71,-146.6,13.9,-7.1,36,266,0.00,2.65,0.00,0.000,4,0.000,0.075,2723,401,3819
$GC,384,-1.71,-146.6,24.5,-7.5,51,391,0.00,2.47,0.00,0.000,6,0.000,0.035,2723,1799,3820
$GC,580,-1.71,-146.6,37.4,-6.8,67,585,0.00,2.67,0.00,0.000,4,0.000,0.074,2723,395,3820
$GC,632,-1.71,-146.6,41.3,-7.8,70,639,0.00,2.47,0.00,0.000,6,0.000,0.035,2723,1799,3820
$GC,828,-1.71,-146.6,54.8,-6.7,86,832,0.00,2.50,0.00,0.000,4,0.000,0.051,2723,3194,3820
$GC,861,-1.71,-146.6,57.2,-7.2,88,865,0.00,2.47,0.00,0.000,6,0.000,0.039,2722,1794,3820
$GC,1056,-1.71,-146.6,70.7,-7.0,103,1060,0.00,2.53,0.00,0.000,4,0.000,0.049,2723,3193,3820
$GC,1107,-1.71,-146.6,74.4,-7.1,106,1115,0.00,2.47,0.00,0.000,6,0.000,0.038,2723,1806,3820
$GC,1304,-1.71,-146.6,87.4,-6.1,122,1305,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1807,3820
$GC,1494,-1.71,-146.6,99.8,-6.8,137,1495,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1807,3820
$STATE,1503,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1503,begin apogee
$GC,1509,-0.38,0.0,100.7,6.8,138,1630,1.45,0.00,116.40,0.680,6,0.104,0.000,3012,1720,3218
$STATE,1631,end apogee,CONTROL_FINISHED_OK
$STATE,1631,begin climb
$GC,1635,1.71,146.6,101.9,0.0,148,1756,2.05,0.00,113.18,0.647,6,0.054,0.000,3475,1720,2619
$GC,1944,1.71,146.6,65.8,13.8,173,1949,0.00,2.67,0.00,0.000,4,0.000,0.081,3475,333,2618
$GC,1990,1.71,146.6,59.4,14.5,176,1994,0.00,2.47,0.00,0.000,6,0.000,0.037,3475,1733,2619
$GC,2185,1.71,146.6,33.8,12.8,191,2186,0.00,0.00,0.00,0.000,6,0.000,0.000,3475,1733,2618
$GC,2378,1.71,147.2,10.8,11.1,212,2384,0.00,0.00,0.00,0.000,6,0.000,0.000,3475,1734,2618
$STATE,2428,end climb,SURFACE_DEPTH_REACHED
$STATE,2428,begin surface coast
$FINISH,-0.4,1.010808
$STATE,2471,end surface coast,CONTROL_FINISHED_OK
$STATE,2471,begin surface
$SM_CCo,2497,108.45,0.585,0,0,1586,400.08
$SM_GC,0.36,0.00,0.00,108.45,0.000,0.000,0.585,461,1806,1586,-12.14,0.17,400.08
$IRIDIUM_FIX,4722.92,-12254.47,021007,080815
$TT8_MAMPS,0.069797
$HUMID,2167
$INTERNAL_PRESSURE,8.45736
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.4,52.1
$24V_AH,23.9,0.889
$10V_AH,10.0,0.687
$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,31.425,30.650,229.575,108.450,0.000,41.074,43.044,107.178,0.500,0.000,2999.000,11.557,421.328,1350.911,448.178,404.017,304.562,33.332,698.095,0.000,382.926,0.000,5.486
$DEVICE_MAMPS,207.857,81.302,679.562,585.221,0.000,103.000,160.000,223.000,420.000,0.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,150.944,0.000,0.000,0.000,0.000,0.000,0.000,2999.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6463,226
$CFSIZE,260034560,256864256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021007,062908,4739.590,-12253.134,35,1.0,35,18.3