version: 66.02
glider: 106
mission: 8
dive: 166
start: 10 8 107 12 55 16
data:
$ID,106
$MISSION,8
$DIVE,166
$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,-51684.816
$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
$GPS1,124103,4743.000,-12250.756,10,1.6,10,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.38
$_SM_ANGLEo,-63.0
$GPS2,125409,4742.977,-12250.801,14,1.9,14,18.3
$SPEED_LIMITS,0.183,0.213
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.034,0.180
$KALMAN_X,4880.1,-262.9,5.3,-1942.1,8.4
$KALMAN_Y,8721.4,-499.2,142.1,-1893.9,-27.3
$MHEAD_RNG_PITCHd_Wd,330.8,137,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.38,-90.2,0.0,0.0,0,107,0.00,0.00,-79.07,0.000,2,0.000,0.000,463,1812,3566
$GC,109,-1.42,-127.1,2.1,-4.8,13,135,15.07,2.50,-4.10,0.000,4,0.214,0.059,2786,3194,3738
$GC,386,-1.42,-127.1,22.7,-5.8,52,391,0.00,2.47,0.00,0.000,6,0.000,0.035,2786,1789,3739
$GC,582,-1.42,-127.1,32.4,-4.9,67,583,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1789,3739
$GC,772,-1.42,-127.1,42.1,-5.0,82,777,0.00,2.53,0.00,0.000,4,0.000,0.047,2786,3194,3739
$GC,844,-1.42,-127.1,45.9,-5.2,87,849,0.00,2.45,0.00,0.000,6,0.000,0.035,2786,1799,3739
$GC,1040,-1.42,-127.1,55.8,-5.0,102,1041,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1798,3739
$GC,1230,-1.42,-127.1,65.6,-5.2,117,1232,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1798,3739
$GC,1420,-1.42,-127.1,75.3,-5.1,132,1421,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1798,3739
$GC,1609,-1.42,-127.1,84.6,-5.2,147,1613,0.00,2.62,0.00,0.000,4,0.000,0.073,2786,397,3739
$GC,1655,-1.42,-127.1,87.1,-6.0,150,1659,0.00,2.42,0.00,0.000,6,0.000,0.032,2786,1809,3739
$STATE,1709,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1709,begin apogee
$GC,1715,-0.38,0.0,90.0,5.3,154,1820,1.12,0.00,100.32,0.662,6,0.092,0.000,3015,1726,3218
$STATE,1821,end apogee,CONTROL_FINISHED_OK
$STATE,1821,begin climb
$GC,1824,1.42,127.1,90.9,0.0,163,1935,1.77,2.72,97.88,0.631,4,0.052,0.073,3411,341,2698
$GC,1961,1.42,127.1,80.3,11.2,174,1965,0.00,2.45,0.00,0.000,6,0.000,0.032,3411,1737,2698
$GC,2163,1.42,127.1,59.5,10.0,190,2167,0.00,2.67,0.00,0.000,4,0.000,0.073,3411,343,2697
$GC,2217,1.42,127.1,53.9,10.6,194,2221,0.00,2.45,0.00,0.000,6,0.000,0.031,3410,1742,2697
$GC,2411,1.42,127.1,33.4,10.5,209,2413,0.00,0.00,0.00,0.000,6,0.000,0.000,3411,1743,2697
$GC,2603,1.42,127.1,13.9,9.9,228,2610,0.00,2.67,0.00,0.000,4,0.000,0.074,3410,343,2697
$GC,2635,1.42,127.1,11.0,8.9,233,2642,0.00,2.42,0.00,0.000,6,0.000,0.031,3411,1740,2697
$GC,2708,1.42,127.1,5.3,7.9,244,2714,0.00,2.47,0.00,0.000,4,0.000,0.048,3411,3125,2696
$STATE,2718,end climb,SURFACE_DEPTH_REACHED
$STATE,2718,begin surface coast
$FINISH,1.4,1.022209
$STATE,2759,end surface coast,CONTROL_FINISHED_OK
$STATE,2759,begin surface
$SM_CCo,2789,95.53,0.576,0,0,1791,350.04
$SM_GC,0.35,0.00,0.00,95.53,0.000,0.000,0.576,461,1808,1791,-12.14,0.23,350.04
$IRIDIUM_FIX,4722.92,-12249.11,081007,161601
$TT8_MAMPS,0.06903
$HUMID,2094
$INTERNAL_PRESSURE,8.47689
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.6,52.1
$24V_AH,23.9,14.385
$10V_AH,10.1,12.160
$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,31.900,35.400,198.200,95.525,0.000,111.395,267.828,159.650,0.500,0.000,3785.000,14.038,479.011,1701.582,386.100,458.178,675.177,33.351,659.507,0.000,429.551,0.000,5.485
$DEVICE_MAMPS,213.993,74.399,661.921,576.017,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,169.248,0.000,0.000,0.000,0.000,0.000,0.000,3785.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6448,252
$CFSIZE,260034560,251842560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081007,134429,4743.199,-12250.860,14,2.9,33,18.3