version: 66.02
glider: 106
mission: 8
dive: 61
start: 10 4 107 13 35 47
data:
$ID,106
$MISSION,8
$DIVE,61
$D_SURF,5
$D_FLARE,2
$D_TGT,95
$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,400
$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,-49053.727
$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,16
$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
$GPS1,132903,4743.612,-12250.894,30,2.0,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.30
$_SM_ANGLEo,-61.1
$GPS2,133439,4743.614,-12250.893,13,1.7,13,18.3
$SPEED_LIMITS,0.193,0.217
$TGT_NAME,6_EC
$TGT_LATLONG,4743.563,-12250.725
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.188,-0.046
$KALMAN_X,4783.4,48.5,41.8,-2310.2,95.0
$KALMAN_Y,5373.8,-72.1,-48.4,2395.5,-67.0
$MHEAD_RNG_PITCHd_Wd,85.5,230,-16.6,-7.037
$D_GRID,169
$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,-1.39,-97.8,0.0,0.0,0,117,0.00,0.00,-90.35,0.000,6,0.000,0.000,464,1792,3618
$GC,121,-1.43,-125.5,2.6,-5.7,15,146,14.82,2.58,-2.47,0.000,4,0.208,0.062,2782,3202,3733
$GC,397,-1.43,-127.1,26.4,-5.6,49,402,0.00,2.50,0.00,0.000,6,0.000,0.037,2782,1785,3734
$GC,593,-1.43,-127.1,37.1,-5.4,64,597,0.00,2.55,0.00,0.000,4,0.000,0.048,2782,3201,3735
$GC,744,-1.43,-127.1,45.6,-5.5,75,749,0.00,2.50,0.00,0.000,6,0.000,0.036,2782,1795,3735
$GC,940,-1.43,-127.1,56.3,-5.5,90,941,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1794,3734
$GC,1132,-1.43,-127.1,66.7,-5.7,105,1133,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1796,3734
$GC,1320,-1.43,-127.1,76.9,-5.4,120,1321,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1794,3735
$GC,1509,-1.43,-127.1,87.2,-5.6,135,1510,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1794,3735
$STATE,1644,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1644,begin apogee
$GC,1650,-0.38,0.0,95.1,5.4,146,1755,1.15,0.00,99.65,0.673,6,0.091,0.000,3016,1731,3218
$STATE,1756,end apogee,CONTROL_FINISHED_OK
$STATE,1756,begin climb
$GC,1759,1.43,127.1,96.2,0.0,155,1870,1.77,2.75,98.00,0.644,4,0.052,0.079,3411,340,2698
$GC,1909,1.43,127.1,84.8,11.0,167,1913,0.00,2.45,0.00,0.000,6,0.000,0.034,3411,1735,2697
$GC,2104,1.43,127.1,64.8,10.3,182,2105,0.00,0.00,0.00,0.000,6,0.000,0.000,3411,1736,2696
$GC,2295,1.43,127.1,44.9,10.5,197,2299,0.00,2.67,0.00,0.000,4,0.000,0.075,3411,339,2696
$GC,2345,1.43,127.1,39.2,11.1,200,2353,0.00,2.47,0.00,0.000,6,0.000,0.034,3411,1736,2696
$GC,2542,1.43,127.1,19.8,9.7,216,2547,0.00,0.00,0.00,0.000,6,0.000,0.000,3412,1736,2696
$GC,2614,1.43,127.1,13.5,8.3,227,2620,0.00,2.67,0.00,0.000,4,0.000,0.075,3411,338,2696
$STATE,2717,end climb,SURFACE_DEPTH_REACHED
$STATE,2717,begin surface coast
$FINISH,3.7,1.022069
$STATE,2731,end surface coast,CONTROL_FINISHED_OK
$STATE,2732,begin surface
$SM_CCo,2761,119.82,0.581,0,0,1587,400.08
$SM_GC,0.29,0.00,0.00,119.82,0.000,0.000,0.581,462,1809,1587,-12.13,0.25,400.08
$IRIDIUM_FIX,4726.11,-12253.53,041007,161639
$TT8_MAMPS,0.072865
$HUMID,2111
$INTERNAL_PRESSURE,8.45736
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.2,52.0
$24V_AH,23.9,5.544
$10V_AH,10.1,4.841
$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,31.600,25.850,197.650,119.825,0.000,40.980,33.525,145.966,0.500,19.150,3319.850,13.429,456.410,1574.853,416.012,457.253,341.581,33.333,682.891,0.000,429.317,0.000,5.484
$DEVICE_MAMPS,207.857,85.904,673.426,580.619,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,164.280,0.000,0.000,0.000,0.000,0.000,0.000,3339.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6473,245
$CFSIZE,260034560,255107072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041007,142433,4743.489,-12250.487,11,1.9,11,18.3