version: 66.02
glider: 106
mission: 8
dive: 251
start: 10 10 107 14 15 42
data:
$ID,106
$MISSION,8
$DIVE,251
$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,-53472.051
$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,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
$GPS1,140829,4742.917,-12250.920,14,3.9,33,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.37
$_SM_ANGLEo,-61.9
$GPS2,141435,4742.913,-12250.887,12,3.6,31,18.3
$SPEED_LIMITS,0.148,0.232
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.047,0.141
$KALMAN_X,3628.9,98.3,-34.2,-1121.2,-10.2
$KALMAN_Y,7620.5,288.1,-20.3,-1539.0,-34.3
$MHEAD_RNG_PITCHd_Wd,0.2,268,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-2.19,-50.1,0.0,0.0,0,106,0.00,0.00,-74.85,0.000,6,0.000,0.000,461,1809,3423
$GC,110,-2.22,-71.3,2.3,-6.2,13,135,13.80,2.72,-2.25,0.000,4,0.210,0.082,2613,401,3512
$GC,386,-2.24,-87.2,25.4,-6.8,50,392,0.00,2.45,-0.80,0.000,6,0.000,0.032,2613,1808,3579
$GC,582,-2.25,-97.7,38.9,-7.4,65,587,0.00,2.65,-0.35,0.000,4,0.000,0.079,2613,405,3620
$GC,781,-2.25,-98.4,55.7,-8.5,79,787,0.00,2.42,0.00,0.000,6,0.000,0.031,2613,1803,3621
$GC,976,-2.25,-100.7,71.4,-8.3,95,977,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,1803,3621
$GC,1167,-2.26,-105.5,86.5,-8.0,110,1173,0.00,2.62,-0.20,0.000,4,0.000,0.079,2614,407,3656
$STATE,1203,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1203,begin apogee
$GC,1211,-0.38,0.0,90.2,9.4,112,1302,2.00,0.00,85.82,0.660,6,0.116,0.000,3011,1743,3218
$STATE,1303,end apogee,CONTROL_FINISHED_OK
$STATE,1303,begin climb
$GC,1306,2.26,105.5,92.1,0.0,120,1397,2.58,2.75,82.22,0.632,4,0.050,0.074,3602,334,2787
$GC,1425,2.26,105.5,80.4,14.7,129,1430,0.00,2.47,0.00,0.000,6,0.000,0.031,3602,1739,2786
$GC,1621,2.26,105.5,50.0,15.3,144,1625,0.00,2.67,0.00,0.000,4,0.000,0.073,3602,341,2786
$GC,1699,2.26,105.5,37.4,16.0,149,1706,0.00,2.45,0.00,0.000,6,0.000,0.031,3602,1729,2785
$GC,1899,2.26,105.5,8.2,12.6,171,1905,0.00,2.67,0.00,0.000,4,0.000,0.073,3602,333,2786
$STATE,1929,end climb,SURFACE_DEPTH_REACHED
$STATE,1929,begin surface coast
$FINISH,-0.2,1.022217
$STATE,1963,end surface coast,CONTROL_FINISHED_OK
$STATE,1965,begin surface
$SM_CCo,1995,104.50,0.565,0,0,1791,350.04
$SM_GC,0.41,0.00,0.00,104.50,0.000,0.000,0.565,462,1810,1791,-12.13,0.28,350.04
$IRIDIUM_FIX,4726.11,-12250.84,101007,171701
$TT8_MAMPS,0.070564
$HUMID,2089
$INTERNAL_PRESSURE,8.47689
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.5,52.5
$24V_AH,23.9,20.397
$10V_AH,10.1,16.148
$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,32.550,30.875,168.050,104.500,0.000,39.174,35.855,140.283,0.500,0.000,2600.000,32.342,359.669,1029.681,363.502,388.660,352.956,33.329,585.964,0.000,344.069,0.000,5.485
$DEVICE_MAMPS,210.158,82.069,660.387,565.279,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,120.936,0.000,0.000,0.000,0.000,0.000,0.000,2600.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3312,181
$CFSIZE,260034560,249618432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,101007,145147,4743.060,-12250.880,10,2.1,29,18.3