version: 66.02
glider: 106
mission: 8
dive: 170
start: 10 8 107 16 32 28
data:
$ID,106
$MISSION,8
$DIVE,170
$D_SURF,5
$D_FLARE,2
$D_TGT,80
$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,25
$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,25
$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,-51777.953
$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,31
$R_STBD_OVSHOOT,42
$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
$GPS1,161535,4743.001,-12250.758,13,2.3,32,18.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.38
$_SM_ANGLEo,-62.2
$GPS2,163123,4742.953,-12250.816,11,2.5,30,18.3
$SPEED_LIMITS,0.229,0.249
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.011,0.228
$KALMAN_X,4594.6,-148.9,56.2,-1842.0,-10.4
$KALMAN_Y,8360.6,-243.3,23.8,-1716.2,2.0
$MHEAD_RNG_PITCHd_Wd,344.5,180,-22.6,-10.667
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-1.87,-106.3,0.0,0.0,0,106,0.00,0.00,-77.65,0.000,2,0.000,0.000,463,1806,3518
$GC,109,-1.90,-127.1,2.2,-6.1,13,135,14.35,2.58,-5.60,0.000,4,0.213,0.059,2679,3197,3739
$GC,227,-1.90,-127.1,15.5,-8.9,31,234,0.00,2.45,0.00,0.000,6,0.000,0.035,2679,1806,3741
$GC,306,-1.90,-127.1,21.5,-8.2,42,310,0.00,2.50,0.00,0.000,4,0.000,0.045,2679,3196,3741
$GC,383,-1.90,-127.1,27.9,-8.2,47,390,0.00,2.47,0.00,0.000,6,0.000,0.034,2679,1806,3741
$GC,580,-1.90,-127.1,42.3,-7.5,63,581,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,1806,3741
$GC,769,-1.90,-127.1,56.6,-7.7,78,770,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,1805,3742
$GC,960,-1.90,-127.1,70.4,-7.2,93,964,0.00,2.65,0.00,0.000,4,0.000,0.071,2679,392,3741
$GC,998,-1.90,-127.1,73.5,-7.7,95,1005,0.00,2.45,0.00,0.000,6,0.000,0.031,2679,1795,3741
$STATE,1091,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1091,begin apogee
$GC,1097,-0.38,0.0,80.1,6.7,103,1202,1.70,0.00,100.55,0.651,6,0.112,0.000,3011,1725,3218
$STATE,1203,end apogee,CONTROL_FINISHED_OK
$STATE,1203,begin climb
$GC,1206,1.90,127.1,80.6,0.0,112,1317,2.22,2.70,97.72,0.621,4,0.051,0.072,3517,347,2698
$GC,1374,1.90,127.1,60.4,16.4,125,1382,0.00,2.45,0.00,0.000,6,0.000,0.031,3517,1728,2697
$GC,1571,1.90,127.1,32.1,14.0,141,1576,0.00,2.65,0.00,0.000,4,0.000,0.072,3517,343,2697
$GC,1663,1.90,127.1,19.0,13.2,148,1670,0.00,2.42,0.00,0.000,6,0.000,0.031,3517,1735,2697
$GC,1735,1.90,127.1,9.9,11.9,159,1741,0.00,2.53,0.00,0.000,4,0.000,0.048,3517,3136,2697
$STATE,1778,end climb,SURFACE_DEPTH_REACHED
$STATE,1779,begin surface coast
$FINISH,-0.1,1.022205
$STATE,1826,end surface coast,CONTROL_FINISHED_OK
$STATE,1826,begin surface
$SM_CCo,1855,94.97,0.564,0,0,1790,350.04
$SM_GC,0.43,0.00,0.00,94.97,0.000,0.000,0.564,461,1809,1790,-12.13,0.25,350.04
$IRIDIUM_FIX,4729.30,-12104.97,081007,202054
$TT8_MAMPS,0.072098
$HUMID,2092
$INTERNAL_PRESSURE,8.47689
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.9,52.4
$24V_AH,23.9,14.678
$10V_AH,10.1,12.417
$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,32.150,30.375,198.275,94.975,0.000,153.566,315.551,151.682,0.500,0.000,3027.000,31.301,333.613,1101.170,390.054,359.021,742.127,33.331,605.856,0.000,314.265,0.000,5.486
$DEVICE_MAMPS,213.226,72.098,651.183,563.745,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,114.919,0.000,0.000,0.000,0.000,0.000,0.000,3027.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3297,173
$CFSIZE,260034560,251736064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081007,170605,4743.127,-12250.807,13,2.9,32,18.3