version: 66.02
glider: 106
mission: 8
dive: 244
start: 10 10 107 8 59 4
data:
$ID,106
$MISSION,8
$DIVE,244
$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,-53313.516
$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,31
$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,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
$GPS1,084835,4743.169,-12250.877,9,2.8,28,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.36
$_SM_ANGLEo,-61.5
$GPS2,085757,4743.231,-12250.845,14,1.4,14,18.3
$SPEED_LIMITS,0.148,0.232
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.035,-0.185
$KALMAN_X,3437.3,203.3,69.2,-1085.8,-39.9
$KALMAN_Y,7076.1,322.6,147.9,-608.9,53.0
$MHEAD_RNG_PITCHd_Wd,150.9,338,-21.8,-8.571
$D_GRID,166
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-1.78,-80.4,0.0,0.0,0,102,0.00,0.00,-72.97,0.000,2,0.000,0.000,462,1810,3386
$GC,106,-1.82,-114.7,2.0,-6.1,12,137,14.40,2.55,-8.10,0.000,4,0.212,0.061,2696,3194,3688
$GC,236,-1.83,-127.1,13.4,-7.1,32,243,0.00,2.45,-0.85,0.000,6,0.000,0.035,2697,1799,3741
$GC,311,-1.83,-127.1,19.1,-8.0,43,316,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,1799,3741
$GC,387,-1.83,-127.1,25.3,-8.0,50,391,0.00,2.65,0.00,0.000,4,0.000,0.072,2697,395,3741
$GC,419,-1.83,-127.1,28.1,-9.0,52,423,0.00,2.45,0.00,0.000,6,0.000,0.032,2697,1809,3742
$GC,615,-1.83,-127.1,43.4,-7.8,67,619,0.00,2.67,0.00,0.000,4,0.000,0.069,2697,394,3742
$GC,674,-1.83,-127.1,48.4,-8.4,71,679,0.00,2.45,0.00,0.000,6,0.000,0.032,2697,1803,3742
$GC,870,-1.83,-127.1,63.3,-7.8,86,874,0.00,2.47,0.00,0.000,4,0.000,0.048,2697,3191,3741
$GC,982,-1.83,-127.1,72.4,-8.3,94,987,0.00,2.45,0.00,0.000,6,0.000,0.035,2696,1796,3742
$GC,1178,-1.83,-127.1,87.2,-7.5,109,1179,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,1796,3742
$STATE,1213,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1213,begin apogee
$GC,1219,-0.38,0.0,90.1,7.4,112,1325,1.60,0.00,101.20,0.656,6,0.110,0.000,3010,1719,3218
$STATE,1326,end apogee,CONTROL_FINISHED_OK
$STATE,1326,begin climb
$GC,1329,1.83,127.1,91.5,0.0,121,1433,2.22,0.00,99.18,0.627,6,0.057,0.000,3498,1718,2699
$GC,1622,1.83,127.1,60.2,12.6,145,1626,0.00,2.65,0.00,0.000,4,0.000,0.078,3498,337,2697
$GC,1668,1.83,127.1,54.2,12.9,148,1672,0.00,2.45,0.00,0.000,6,0.000,0.032,3498,1735,2697
$GC,1863,1.83,127.1,29.4,12.6,163,1867,0.00,2.67,0.00,0.000,4,0.000,0.074,3498,341,2697
$GC,1937,1.83,127.1,19.7,13.2,168,1943,0.00,2.42,0.00,0.000,6,0.000,0.031,3498,1736,2696
$GC,2009,1.83,127.1,10.8,11.1,179,2015,0.00,0.00,0.00,0.000,6,0.000,0.000,3498,1740,2696
$STATE,2059,end climb,SURFACE_DEPTH_REACHED
$STATE,2059,begin surface coast
$FINISH,0.1,1.022077
$STATE,2107,end surface coast,CONTROL_FINISHED_OK
$STATE,2107,begin surface
$SM_CCo,2134,94.78,0.567,0,0,1790,350.04
$SM_GC,0.35,0.00,0.00,94.78,0.000,0.000,0.567,459,1816,1790,-12.15,0.45,350.04
$IRIDIUM_FIX,4726.11,-12250.84,101007,121244
$TT8_MAMPS,0.06903
$HUMID,2103
$INTERNAL_PRESSURE,8.47689
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.9,52.5
$24V_AH,23.9,19.910
$10V_AH,10.1,15.740
$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,31.750,30.575,200.375,94.775,0.000,71.378,141.835,156.896,0.500,0.000,2937.000,14.651,381.320,1160.969,393.516,369.662,515.266,33.329,621.360,0.000,344.001,0.000,5.488
$DEVICE_MAMPS,211.692,78.234,655.785,566.813,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,129.479,0.000,0.000,0.000,0.000,0.000,0.000,2937.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3324,194
$CFSIZE,260034560,249810944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,101007,093703,4743.043,-12250.806,14,1.5,14,18.3