version: 66.02
glider: 106
mission: 8
dive: 163
start: 10 8 107 10 1 29
data:
$ID,106
$MISSION,8
$DIVE,163
$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,-51635.68
$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,45
$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
$GPS1,095437,4742.944,-12250.819,14,1.2,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.40
$_SM_ANGLEo,-62.2
$GPS2,100021,4742.924,-12250.854,13,1.2,13,18.3
$SPEED_LIMITS,0.183,0.213
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.090,0.160
$KALMAN_X,5181.2,-303.2,-118.7,-2145.6,-15.9
$KALMAN_Y,9437.2,-629.6,-156.6,-2277.2,122.2
$MHEAD_RNG_PITCHd_Wd,11.1,237,-16.5,-6.667
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.38,-90.2,0.0,0.0,0,106,0.00,0.00,-79.07,0.000,2,0.000,0.000,460,1813,3570
$GC,109,-1.41,-117.7,2.4,-5.3,13,134,14.85,2.53,-3.00,0.000,4,0.207,0.061,2788,3195,3701
$GC,385,-1.42,-127.1,24.7,-5.7,49,390,0.00,2.47,-0.47,0.000,6,0.000,0.035,2788,1796,3740
$GC,580,-1.42,-127.1,34.6,-4.8,64,585,0.00,2.50,0.00,0.000,4,0.000,0.045,2788,3189,3742
$GC,777,-1.42,-127.1,45.8,-6.1,78,784,0.00,2.47,0.00,0.000,6,0.000,0.035,2788,1801,3742
$GC,974,-1.42,-127.1,56.3,-5.4,94,975,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,1801,3742
$GC,1165,-1.42,-127.1,66.5,-5.3,109,1166,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,1801,3742
$GC,1354,-1.42,-127.1,77.1,-5.5,124,1358,0.00,2.50,0.00,0.000,4,0.000,0.046,2788,3192,3742
$GC,1480,-1.42,-127.1,83.9,-5.1,133,1485,0.00,2.45,0.00,0.000,6,0.000,0.035,2788,1798,3742
$STATE,1598,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1598,begin apogee
$GC,1603,-0.38,0.0,90.1,5.1,142,1709,1.10,0.00,101.32,0.663,6,0.094,0.000,3011,1723,3218
$STATE,1710,end apogee,CONTROL_FINISHED_OK
$STATE,1710,begin climb
$GC,1712,1.42,127.1,91.1,0.0,151,1817,1.85,0.00,98.80,0.630,6,0.055,0.000,3415,1723,2699
$GC,2006,1.42,127.1,64.5,10.6,175,2010,0.00,2.55,0.00,0.000,4,0.000,0.048,3415,3123,2697
$GC,2043,1.42,127.1,60.2,11.1,177,2051,0.00,2.50,0.00,0.000,6,0.000,0.036,3415,1743,2697
$GC,2240,1.42,127.1,39.8,10.2,193,2244,0.00,2.72,0.00,0.000,4,0.000,0.080,3415,325,2697
$GC,2312,1.42,127.1,31.9,11.4,198,2317,0.00,2.45,0.00,0.000,6,0.000,0.031,3415,1735,2697
$GC,2511,1.42,127.1,12.2,8.9,219,2517,0.00,0.00,0.00,0.000,6,0.000,0.000,3415,1738,2696
$GC,2583,1.42,127.1,6.0,8.2,230,2590,0.00,2.50,0.00,0.000,4,0.000,0.048,3415,3130,2696
$STATE,2600,end climb,SURFACE_DEPTH_REACHED
$STATE,2600,begin surface coast
$FINISH,-0.3,1.022210
$STATE,2664,end surface coast,CONTROL_FINISHED_OK
$STATE,2664,begin surface
$SM_CCo,2692,95.32,0.574,0,0,1789,350.04
$SM_GC,0.41,0.00,0.00,95.32,0.000,0.000,0.574,465,1795,1789,-12.12,-0.17,350.04
$IRIDIUM_FIX,4722.92,-12249.11,081007,121220
$TT8_MAMPS,0.070564
$HUMID,2130
$INTERNAL_PRESSURE,8.47689
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.2,51.9
$24V_AH,23.9,14.154
$10V_AH,10.1,11.941
$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,31.225,30.200,200.125,95.325,0.000,40.699,34.406,147.243,0.500,0.000,3262.000,13.737,460.536,1496.432,398.781,458.315,346.316,33.324,660.942,0.000,433.041,0.000,5.485
$DEVICE_MAMPS,207.090,79.768,663.455,573.716,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,162.311,0.000,0.000,0.000,0.000,0.000,0.000,3262.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6421,242
$CFSIZE,260034560,251936768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081007,104845,4743.084,-12250.648,14,1.8,14,18.3