version: 66.02
glider: 106
mission: 8
dive: 165
start: 10 8 107 11 54 34
data:
$ID,106
$MISSION,8
$DIVE,165
$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,-51670.148
$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,37
$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
$GPS1,114737,4742.996,-12251.098,11,1.7,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.43
$_SM_ANGLEo,-62.8
$GPS2,115326,4742.992,-12251.114,11,1.7,16,18.3
$SPEED_LIMITS,0.183,0.213
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.172,0.062
$KALMAN_X,5013.2,-289.0,-40.8,-2394.8,21.7
$KALMAN_Y,8976.1,-540.5,99.1,-2037.8,-18.9
$MHEAD_RNG_PITCHd_Wd,51.9,385,-16.5,-6.667
$D_GRID,161
$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,-90.2,0.0,0.0,0,99,0.00,0.00,-73.03,0.000,2,0.000,0.000,460,1815,3409
$GC,102,-1.42,-127.1,2.1,-4.6,12,134,15.05,2.50,-9.10,0.000,4,0.212,0.058,2783,3195,3737
$GC,383,-1.42,-127.1,24.2,-7.4,51,391,0.00,2.50,0.00,0.000,6,0.000,0.035,2784,1797,3739
$GC,580,-1.42,-127.1,35.5,-5.5,67,585,0.00,2.53,0.00,0.000,4,0.000,0.045,2784,3201,3739
$GC,707,-1.42,-127.1,42.7,-5.6,76,711,0.00,2.47,0.00,0.000,6,0.000,0.035,2784,1796,3739
$GC,902,-1.42,-127.1,53.2,-5.4,91,903,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1795,3739
$GC,1093,-1.42,-127.1,64.0,-5.4,106,1097,0.00,2.53,0.00,0.000,4,0.000,0.046,2784,3202,3739
$GC,1180,-1.42,-127.1,68.7,-5.0,112,1184,0.00,2.47,0.00,0.000,6,0.000,0.035,2784,1794,3739
$GC,1375,-1.42,-127.1,78.9,-5.2,127,1376,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1793,3739
$GC,1566,-1.42,-127.1,88.3,-5.4,142,1570,0.00,2.53,0.00,0.000,4,0.000,0.047,2784,3200,3740
$STATE,1596,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1596,begin apogee
$GC,1604,-0.38,0.0,90.1,5.3,144,1708,1.10,0.00,100.45,0.659,6,0.096,0.000,3008,1734,3218
$STATE,1709,end apogee,CONTROL_FINISHED_OK
$STATE,1709,begin climb
$GC,1711,1.42,127.1,91.8,0.0,153,1822,1.83,2.78,97.90,0.630,4,0.056,0.078,3410,333,2698
$GC,1867,1.42,127.1,79.9,11.1,165,1874,0.00,2.47,0.00,0.000,6,0.000,0.031,3409,1732,2697
$GC,2063,1.42,127.1,58.5,10.8,181,2068,0.00,2.53,0.00,0.000,4,0.000,0.048,3409,3133,2697
$GC,2103,1.42,127.1,54.2,11.0,183,2109,0.00,2.47,0.00,0.000,6,0.000,0.036,3411,1738,2696
$GC,2298,1.42,127.1,33.9,10.1,199,2302,0.00,2.70,0.00,0.000,4,0.000,0.080,3409,327,2696
$GC,2357,1.42,127.1,27.5,11.0,203,2361,0.00,2.45,0.00,0.000,6,0.000,0.031,3409,1738,2696
$GC,2558,1.42,127.1,9.4,7.9,227,2564,0.00,2.70,0.00,0.000,4,0.000,0.074,3410,328,2696
$STATE,2608,end climb,SURFACE_DEPTH_REACHED
$STATE,2608,begin surface coast
$FINISH,3.8,1.022260
$STATE,2616,end surface coast,CONTROL_FINISHED_OK
$STATE,2616,begin surface
$SM_CCo,2645,98.70,0.576,0,0,1790,350.04
$SM_GC,0.37,0.00,0.00,98.70,0.000,0.000,0.576,463,1812,1790,-12.13,0.34,350.04
$IRIDIUM_FIX,4726.11,-12250.84,081007,141451
$TT8_MAMPS,0.070564
$HUMID,2126
$INTERNAL_PRESSURE,8.46712
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.5,51.8
$24V_AH,23.9,14.301
$10V_AH,10.1,12.081
$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,31.900,40.875,198.350,98.700,0.000,38.188,34.677,152.837,0.500,0.000,3219.000,16.040,451.927,1463.752,395.480,459.203,352.247,33.342,665.773,0.000,429.632,0.000,5.483
$DEVICE_MAMPS,212.459,79.768,658.853,576.017,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,158.207,0.000,0.000,0.000,0.000,0.000,0.000,3219.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6444,236
$CFSIZE,260034560,251875328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081007,124103,4743.000,-12250.756,10,1.6,10,18.3