version: 66.02
glider: 106
mission: 8
dive: 174
start: 10 8 107 19 2 32
data:
$ID,106
$MISSION,8
$DIVE,174
$D_SURF,5
$D_FLARE,2
$D_TGT,45
$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,15
$T_MISSION,30
$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,609.0799
$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,-51839.867
$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,29
$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
$GPS1,184402,4743.006,-12250.810,16,2.0,33,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.18
$_SM_ANGLEo,-53.0
$GPS2,190126,4742.956,-12250.929,11,1.3,16,18.3
$SPEED_LIMITS,0.214,0.244
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.158,0.186
$KALMAN_X,4433.7,-134.8,-20.4,-1755.2,-11.6
$KALMAN_Y,8182.2,-149.5,-94.1,-1506.6,-1.5
$MHEAD_RNG_PITCHd_Wd,22.1,223,-19.6,-10.000
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.66,-127.1,0.0,0.0,0,156,0.00,0.00,-127.72,0.000,2,0.000,0.000,460,1817,3608
$GC,159,-1.66,-127.1,2.1,-4.4,21,184,14.52,2.50,-3.20,0.000,4,0.209,0.061,2734,3192,3739
$GC,257,-1.66,-127.1,12.6,-7.3,36,263,0.00,2.45,0.00,0.000,6,0.000,0.035,2734,1807,3742
$GC,329,-1.66,-127.1,17.5,-7.2,47,334,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1807,3743
$GC,405,-1.66,-127.1,22.8,-6.7,56,406,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1807,3743
$GC,596,-1.66,-127.1,34.8,-6.4,71,600,0.00,2.65,0.00,0.000,4,0.000,0.071,2734,397,3743
$GC,674,-1.66,-127.1,40.5,-7.2,76,681,0.00,2.45,0.00,0.000,6,0.000,0.031,2734,1811,3743
$STATE,741,end dive,TARGET_DEPTH_EXCEEDED
$STATE,742,begin apogee
$GC,747,-0.38,0.0,45.3,6.7,82,853,1.40,0.00,96.62,0.622,6,0.104,0.000,3011,1727,3219
$STATE,854,end apogee,CONTROL_FINISHED_OK
$STATE,854,begin climb
$GC,856,1.66,127.1,46.4,0.0,91,966,2.03,2.72,97.90,0.596,4,0.052,0.074,3469,340,2699
$GC,998,1.66,127.1,34.3,12.6,102,1006,0.00,2.47,0.00,0.000,6,0.000,0.031,3469,1731,2701
$GC,1198,1.66,127.1,10.9,12.1,123,1204,0.00,2.67,0.00,0.000,4,0.000,0.074,3469,339,2702
$STATE,1255,end climb,SURFACE_DEPTH_REACHED
$STATE,1255,begin surface coast
$FINISH,3.1,1.022232
$STATE,1270,end surface coast,CONTROL_FINISHED_OK
$STATE,1271,begin surface
$SM_CCo,1299,214.93,0.544,0,0,736,609.08
$SM_GC,0.19,0.00,0.00,214.93,0.000,0.000,0.544,464,1807,736,-12.13,0.20,609.08
$IRIDIUM_FIX,4722.92,-12253.53,081007,222240
$TT8_MAMPS,0.073632
$HUMID,2051
$INTERNAL_PRESSURE,8.37923
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,27.5,29.0
$24V_AH,23.9,15.004
$10V_AH,10.1,12.611
$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,32.250,20.675,194.525,214.925,0.000,188.906,502.710,0.000,0.250,0.000,2690.000,16.038,246.625,752.804,536.720,255.048,798.184,33.336,722.034,0.000,239.327,0.000,2.480
$DEVICE_MAMPS,208.624,73.632,622.037,543.803,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,87.568,0.000,0.000,0.000,0.000,0.000,0.000,2690.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3320,134
$CFSIZE,260034560,251609088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081007,192833,4743.019,-12250.874,12,1.7,12,18.3