version: 66.02
glider: 106
mission: 8
dive: 160
start: 10 8 107 6 51 43
data:
$ID,106
$MISSION,8
$DIVE,160
$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,45
$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,130
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$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,-51554.645
$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,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
$GPS1,063233,4742.420,-12251.139,13,1.5,13,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.47
$_SM_ANGLEo,-61.8
$GPS2,065037,4742.336,-12251.275,11,1.7,27,18.3
$SPEED_LIMITS,0.183,0.213
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.108,0.184
$KALMAN_X,5517.3,-198.8,-122.9,-3105.7,-168.4
$KALMAN_Y,9863.9,-508.2,-437.5,-3629.5,-213.3
$MHEAD_RNG_PITCHd_Wd,12.1,1439,-13.5,-6.667
$D_GRID,141
$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,-1.20,-127.1,0.0,0.0,0,107,0.00,0.00,-79.07,0.000,2,0.000,0.000,464,1811,3571
$GC,109,-1.20,-127.1,2.2,-4.8,13,135,14.98,2.67,-3.95,0.000,4,0.204,0.081,2833,401,3737
$GC,386,-1.20,-127.1,22.0,-4.7,53,391,0.00,2.45,0.00,0.000,6,0.000,0.031,2833,1816,3739
$GC,582,-1.20,-127.1,30.2,-4.3,68,586,0.00,2.67,0.00,0.000,4,0.000,0.068,2833,398,3738
$GC,628,-1.20,-127.1,32.2,-5.0,71,632,0.00,2.42,0.00,0.000,6,0.000,0.031,2833,1802,3739
$GC,823,-1.20,-127.1,40.6,-4.3,86,827,0.00,2.47,0.00,0.000,4,0.000,0.048,2833,3189,3738
$GC,869,-1.20,-127.1,42.8,-4.9,89,873,0.00,2.45,0.00,0.000,6,0.000,0.035,2833,1797,3738
$GC,1064,-1.20,-127.1,51.7,-4.6,104,1065,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1796,3738
$GC,1255,-1.20,-127.1,60.2,-4.3,119,1256,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1796,3739
$GC,1444,-1.20,-127.1,68.4,-3.9,134,1448,0.00,2.50,0.00,0.000,4,0.000,0.047,2833,3197,3739
$GC,1508,-1.20,-127.1,71.2,-4.6,138,1515,0.00,2.47,0.00,0.000,6,0.000,0.035,2833,1806,3738
$GC,1705,-1.20,-127.1,79.1,-4.1,154,1706,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1806,3738
$GC,1896,-1.20,-127.1,87.4,-4.4,169,1897,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1806,3739
$STATE,1955,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1955,begin apogee
$GC,1960,-0.38,0.0,90.1,4.6,174,2066,0.88,0.00,100.03,0.667,6,0.086,0.000,3013,1730,3218
$STATE,2067,end apogee,CONTROL_FINISHED_OK
$STATE,2067,begin climb
$GC,2069,1.20,127.1,91.2,0.0,183,2172,1.55,0.00,97.78,0.632,6,0.054,0.000,3360,1730,2699
$GC,2355,1.20,127.1,69.2,8.8,206,2359,0.00,2.65,0.00,0.000,4,0.000,0.077,3360,340,2698
$GC,2393,1.20,127.1,65.6,9.3,208,2400,0.00,2.45,0.00,0.000,6,0.000,0.032,3359,1728,2698
$GC,2589,1.20,127.1,48.5,8.6,224,2593,0.00,2.53,0.00,0.000,4,0.000,0.050,3360,3127,2698
$GC,2635,1.20,127.1,44.5,8.5,227,2639,0.00,2.47,0.00,0.000,6,0.000,0.037,3360,1736,2697
$GC,2830,1.20,127.1,27.9,8.6,242,2834,0.00,2.67,0.00,0.000,4,0.000,0.078,3360,331,2697
$GC,2883,1.20,127.1,23.2,9.2,246,2887,0.00,2.45,0.00,0.000,6,0.000,0.032,3360,1742,2697
$GC,3086,1.20,127.1,7.6,7.4,273,3091,0.00,0.00,0.00,0.000,6,0.000,0.000,3360,1746,2697
$STATE,3122,end climb,SURFACE_DEPTH_REACHED
$STATE,3122,begin surface coast
$FINISH,-0.3,1.022178
$STATE,3203,end surface coast,CONTROL_FINISHED_OK
$STATE,3203,begin surface
$SM_CCo,3230,94.95,0.577,0,0,1790,350.04
$SM_GC,0.50,0.00,0.00,94.95,0.000,0.000,0.577,461,1807,1790,-12.14,0.20,350.04
$IRIDIUM_FIX,4726.11,-12253.53,081007,101038
$TT8_MAMPS,0.071331
$HUMID,2132
$INTERNAL_PRESSURE,8.47689
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.0,52.1
$24V_AH,23.9,13.939
$10V_AH,10.1,11.717
$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,30.500,35.550,197.800,94.950,0.000,196.632,368.406,144.655,0.500,0.000,4512.000,28.752,545.254,2120.045,385.207,539.332,850.053,33.320,689.431,0.000,496.938,0.000,6.802
$DEVICE_MAMPS,204.022,81.302,667.290,576.784,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,196.000,0.000,0.000,0.000,0.000,0.000,0.000,4512.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6432,291
$CFSIZE,260034560,252026880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081007,074807,4742.562,-12251.152,14,1.8,25,18.3