version: 66.02
glider: 106
mission: 8
dive: 241
start: 10 10 107 6 46 0
data:
$ID,106
$MISSION,8
$DIVE,241
$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,-53254.945
$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,37
$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
$GPS1,063727,4743.084,-12250.816,11,1.9,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.17
$_SM_ANGLEo,-53.1
$GPS2,064451,4743.135,-12250.779,15,1.5,15,18.3
$SPEED_LIMITS,0.148,0.232
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.052,-0.139
$KALMAN_X,3457.8,178.7,89.3,-1021.2,51.6
$KALMAN_Y,6730.5,244.2,137.4,-355.0,109.5
$MHEAD_RNG_PITCHd_Wd,182.1,165,-27.7,-8.571
$D_GRID,165
$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,-2.19,-50.1,0.0,0.0,0,150,0.00,0.00,-122.00,0.000,6,0.000,0.000,461,1809,3423
$GC,153,-2.21,-69.4,1.9,-6.4,20,178,13.93,2.67,-2.05,0.000,4,0.213,0.077,2612,407,3503
$GC,198,-2.21,-69.4,7.5,-10.2,27,204,0.00,2.45,0.00,0.000,6,0.000,0.032,2612,1813,3504
$GC,270,-2.25,-96.3,12.2,-5.5,38,277,0.00,2.72,-1.95,0.000,4,0.000,0.077,2612,397,3614
$GC,304,-2.26,-108.1,14.5,-7.2,43,311,0.00,2.45,-0.77,0.000,6,0.000,0.032,2612,1808,3663
$GC,378,-2.27,-113.9,20.5,-7.9,54,383,0.00,2.47,-0.25,0.000,4,0.000,0.059,2612,3190,3685
$GC,456,-2.27,-113.9,27.7,-8.8,59,463,0.00,2.45,0.00,0.000,6,0.000,0.034,2612,1810,3687
$GC,652,-2.27,-113.9,45.3,-9.2,75,654,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,1810,3689
$GC,842,-2.27,-113.9,62.2,-8.9,90,843,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,1809,3690
$GC,1033,-2.27,-113.9,79.3,-9.1,105,1037,0.00,2.47,0.00,0.000,4,0.000,0.046,2612,3192,3690
$GC,1065,-2.27,-113.9,82.5,-9.8,107,1070,0.00,2.45,0.00,0.000,6,0.000,0.035,2612,1794,3690
$STATE,1157,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1157,begin apogee
$GC,1163,-0.38,0.0,91.0,9.0,114,1257,2.10,0.00,87.53,0.654,6,0.123,0.000,3014,1730,3219
$STATE,1258,end apogee,CONTROL_FINISHED_OK
$STATE,1258,begin climb
$GC,1260,2.27,113.9,92.7,0.0,122,1359,2.60,2.75,89.47,0.629,4,0.053,0.074,3601,337,2753
$GC,1392,2.27,113.9,78.3,16.1,132,1399,0.00,2.47,0.00,0.000,6,0.000,0.031,3602,1729,2754
$GC,1589,2.27,113.9,47.1,16.3,148,1593,0.00,2.67,0.00,0.000,4,0.000,0.073,3601,333,2754
$GC,1621,2.27,113.9,41.7,16.5,150,1626,0.00,2.45,0.00,0.000,6,0.000,0.031,3601,1739,2755
$GC,1819,2.27,113.9,11.2,14.8,169,1825,0.00,0.00,0.00,0.000,6,0.000,0.000,3602,1742,2754
$STATE,1862,end climb,SURFACE_DEPTH_REACHED
$STATE,1863,begin surface coast
$FINISH,-0.2,1.022098
$STATE,1899,end surface coast,CONTROL_FINISHED_OK
$STATE,1899,begin surface
$SM_CCo,1926,100.32,0.564,0,0,1791,350.04
$SM_GC,0.22,0.00,0.00,100.32,0.000,0.000,0.564,460,1803,1791,-12.14,0.08,350.04
$IRIDIUM_FIX,4726.11,-12250.84,101007,101019
$TT8_MAMPS,0.06903
$HUMID,2109
$INTERNAL_PRESSURE,8.47689
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.0,52.9
$24V_AH,23.9,19.700
$10V_AH,10.1,15.565
$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,32.725,30.675,177.000,100.325,0.000,38.539,49.459,225.482,0.500,0.000,2700.000,15.289,343.762,955.014,406.975,344.482,453.028,33.321,634.183,0.000,317.274,0.000,5.489
$DEVICE_MAMPS,213.226,85.137,654.251,563.745,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,119.945,0.000,0.000,0.000,0.000,0.000,0.000,2700.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3312,181
$CFSIZE,260034560,249901056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,101007,072033,4743.004,-12250.895,11,1.4,11,18.3