version: 66.02
glider: 106
mission: 8
dive: 146
start: 10 7 107 23 21 47
data:
$ID,106
$MISSION,8
$DIVE,146
$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,90
$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,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,-51248.648
$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,20
$R_STBD_OVSHOOT,29
$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
$GPS1,231434,4743.128,-12250.849,9,3.5,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.33
$_SM_ANGLEo,-61.3
$GPS2,232039,4743.119,-12250.833,13,1.3,13,18.3
$SPEED_LIMITS,0.148,0.247
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.005,-0.148
$KALMAN_X,5954.0,-53.5,16.7,-3277.9,17.4
$KALMAN_Y,11192.5,372.6,176.7,-5011.2,-91.2
$MHEAD_RNG_PITCHd_Wd,159.6,130,-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,-50.1,0.0,0.0,0,105,0.00,0.00,-74.80,0.000,6,0.000,0.000,462,1803,3423
$GC,108,-2.21,-66.7,2.3,-6.7,13,133,13.85,2.70,-1.80,0.000,4,0.211,0.080,2614,401,3493
$GC,384,-2.23,-84.9,27.6,-6.5,48,390,0.00,2.47,-0.85,0.000,6,0.000,0.032,2614,1822,3568
$GC,580,-2.25,-102.8,40.9,-6.5,63,585,0.00,2.67,-0.65,0.000,4,0.000,0.078,2614,397,3643
$GC,836,-2.25,-102.8,61.8,-8.6,82,841,0.00,2.45,0.00,0.000,6,0.000,0.032,2614,1807,3643
$GC,1032,-2.26,-104.1,77.9,-8.4,97,1033,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,1807,3644
$STATE,1181,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1181,begin apogee
$GC,1187,-0.38,0.0,90.7,8.4,109,1275,2.05,0.00,82.40,0.667,6,0.117,0.000,3010,1722,3217
$STATE,1276,end apogee,CONTROL_FINISHED_OK
$STATE,1276,begin climb
$GC,1278,2.26,104.1,92.3,0.0,116,1369,2.60,0.00,80.40,0.637,6,0.051,0.000,3602,1721,2792
$GC,1557,2.26,104.1,53.6,16.0,139,1562,0.00,2.62,0.00,0.000,4,0.000,0.075,3602,345,2791
$GC,1629,2.26,104.1,41.3,17.5,144,1634,0.00,2.42,0.00,0.000,6,0.000,0.031,3602,1736,2791
$GC,1827,2.26,104.1,14.1,11.9,162,1833,0.00,2.67,0.00,0.000,4,0.000,0.074,3602,338,2791
$STATE,1897,end climb,SURFACE_DEPTH_REACHED
$STATE,1897,begin surface coast
$FINISH,2.9,1.022293
$STATE,1911,end surface coast,CONTROL_FINISHED_OK
$STATE,1911,begin surface
$SM_CCo,1941,105.60,0.570,0,0,1790,350.04
$SM_GC,0.35,0.00,0.00,105.60,0.000,0.000,0.570,461,1806,1790,-12.14,0.17,350.04
$IRIDIUM_FIX,4726.11,-12246.42,081007,020211
$TT8_MAMPS,0.069797
$HUMID,2107
$INTERNAL_PRESSURE,8.47689
$TCM_TEMP,19.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.2,52.2
$24V_AH,23.9,12.854
$10V_AH,10.1,11.067
$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,33.625,20.775,162.800,105.600,0.000,37.157,42.143,162.571,0.500,0.000,2518.000,13.869,344.611,1029.293,367.347,346.391,353.679,33.324,567.854,0.000,323.348,0.000,5.486
$DEVICE_MAMPS,210.925,79.768,666.523,569.881,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,116.976,0.000,0.000,0.000,0.000,0.000,0.000,2518.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3328,175
$CFSIZE,260034560,252399616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071007,235639,4742.941,-12250.780,11,1.4,11,18.3