version: 66.02
glider: 106
mission: 8
dive: 161
start: 10 8 107 7 55 38
data:
$ID,106
$MISSION,8
$DIVE,161
$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,-51586.758
$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,21
$R_STBD_OVSHOOT,38
$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
$GPS1,074807,4742.562,-12251.152,14,1.8,25,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.42
$_SM_ANGLEo,-62.5
$GPS2,075432,4742.538,-12251.196,14,1.8,31,18.3
$SPEED_LIMITS,0.183,0.213
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.117,0.178
$KALMAN_X,5409.9,-252.7,-153.6,-2818.0,-97.8
$KALMAN_Y,9776.9,-576.5,-421.5,-3125.6,-42.8
$MHEAD_RNG_PITCHd_Wd,15.0,1059,-13.5,-6.667
$D_GRID,148
$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,-127.1,0.0,0.0,0,101,0.00,0.00,-73.03,0.000,2,0.000,0.000,461,1807,3407
$GC,103,-1.20,-127.1,2.0,-4.4,12,135,14.98,2.67,-9.15,0.000,4,0.204,0.081,2834,400,3736
$GC,386,-1.20,-127.1,19.5,-5.1,55,393,0.00,2.45,0.00,0.000,6,0.000,0.031,2834,1814,3739
$GC,462,-1.20,-127.1,22.8,-4.1,62,466,0.00,2.67,0.00,0.000,4,0.000,0.067,2834,397,3739
$GC,526,-1.20,-127.1,25.7,-4.5,66,534,0.00,2.47,0.00,0.000,6,0.000,0.031,2834,1808,3739
$GC,723,-1.20,-127.1,34.2,-4.3,82,727,0.00,2.47,0.00,0.000,4,0.000,0.048,2834,3190,3739
$GC,822,-1.20,-127.1,38.9,-5.0,89,826,0.00,2.45,0.00,0.000,6,0.000,0.035,2834,1797,3739
$GC,1017,-1.20,-127.1,48.6,-5.1,104,1018,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1797,3739
$GC,1206,-1.20,-127.1,58.2,-5.0,119,1207,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1797,3739
$GC,1397,-1.20,-127.1,67.7,-4.6,134,1401,0.00,2.50,0.00,0.000,4,0.000,0.047,2834,3191,3739
$GC,1501,-1.20,-127.1,72.7,-4.6,141,1508,0.00,2.47,0.00,0.000,6,0.000,0.035,2834,1797,3739
$GC,1698,-1.20,-127.1,81.1,-4.2,157,1702,0.00,2.62,0.00,0.000,4,0.000,0.074,2834,394,3739
$GC,1736,-1.20,-127.1,83.0,-5.0,159,1743,0.00,2.45,0.00,0.000,6,0.000,0.031,2834,1800,3739
$STATE,1892,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1894,begin apogee
$GC,1899,-0.38,0.0,90.3,5.0,172,2004,0.88,0.00,100.43,0.665,6,0.084,0.000,3015,1726,3218
$STATE,2005,end apogee,CONTROL_FINISHED_OK
$STATE,2005,begin climb
$GC,2007,1.20,127.1,92.2,0.0,181,2118,1.55,2.72,97.97,0.632,4,0.054,0.074,3360,346,2699
$GC,2157,1.20,127.1,82.7,8.6,193,2161,0.00,2.42,0.00,0.000,6,0.000,0.031,3360,1730,2698
$GC,2359,1.20,127.1,65.9,8.5,209,2360,0.00,0.00,0.00,0.000,6,0.000,0.000,3360,1731,2697
$GC,2550,1.20,127.1,49.9,8.4,224,2554,0.00,2.53,0.00,0.000,4,0.000,0.049,3360,3130,2697
$GC,2569,1.20,127.1,48.3,8.3,225,2573,0.00,2.47,0.00,0.000,6,0.000,0.037,3361,1741,2697
$GC,2764,1.20,127.1,32.8,8.2,240,2765,0.00,0.00,0.00,0.000,6,0.000,0.000,3360,1741,2697
$GC,2954,1.20,127.1,17.3,8.0,257,2961,0.00,2.70,0.00,0.000,4,0.000,0.080,3360,328,2697
$GC,3047,1.20,127.1,10.4,7.8,271,3054,0.00,2.45,0.00,0.000,6,0.000,0.032,3361,1738,2696
$GC,3120,1.20,128.5,5.2,6.6,282,3126,0.00,2.47,0.00,0.000,4,0.000,0.048,3360,3125,2696
$STATE,3130,end climb,SURFACE_DEPTH_REACHED
$STATE,3130,begin surface coast
$FINISH,-0.4,1.022204
$STATE,3217,end surface coast,CONTROL_FINISHED_OK
$STATE,3217,begin surface
$SM_CCo,3245,95.15,0.578,0,0,1789,350.04
$SM_GC,0.31,0.00,0.00,95.15,0.000,0.000,0.578,461,1796,1789,-12.14,-0.11,350.04
$IRIDIUM_FIX,4722.92,-12249.11,081007,101040
$TT8_MAMPS,0.06903
$HUMID,2133
$INTERNAL_PRESSURE,8.47689
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.5,52.1
$24V_AH,23.9,14.012
$10V_AH,10.1,11.796
$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,30.575,45.550,198.400,95.150,0.000,38.441,39.467,167.408,0.500,0.000,3849.000,31.486,551.304,1859.060,400.336,557.157,383.996,33.334,713.796,0.000,509.534,0.000,5.488
$DEVICE_MAMPS,204.022,81.302,664.989,578.318,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,199.701,0.000,0.000,0.000,0.000,0.000,0.000,3849.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,9569,297
$CFSIZE,260034560,251990016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081007,085223,4742.784,-12251.049,11,5.1,30,18.3