version: 66.02
glider: 106
mission: 8
dive: 68
start: 10 4 107 21 0 57
data:
$ID,106
$MISSION,8
$DIVE,68
$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,-49197.402
$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,28
$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
$GPS1,204105,4743.608,-12250.838,13,4.5,32,18.3
$_CALLS,5
$_XMS_NAKs,13
$_XMS_TOUTs,2
$_SM_DEPTHo,0.25
$_SM_ANGLEo,-61.8
$GPS2,205951,4743.528,-12250.873,12,1.4,12,18.3
$SPEED_LIMITS,0.193,0.217
$TGT_NAME,6_EC
$TGT_LATLONG,4743.563,-12250.725
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.155,0.116
$KALMAN_X,4944.9,12.1,-29.5,-2337.9,-51.2
$KALMAN_Y,4332.8,-187.6,-45.7,3392.2,-114.5
$MHEAD_RNG_PITCHd_Wd,34.8,196,-16.6,-7.037
$D_GRID,167
$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,24,begin dive
$GC,26,-1.39,-97.8,0.0,0.0,0,119,0.00,0.00,-89.65,0.000,2,0.000,0.000,460,1816,3592
$GC,123,-1.43,-127.1,2.3,-5.3,15,148,14.55,2.53,-3.35,0.000,4,0.201,0.063,2781,3201,3739
$GC,399,-1.43,-127.1,24.6,-5.3,51,404,0.00,2.47,0.00,0.000,6,0.000,0.036,2782,1797,3741
$GC,595,-1.43,-127.1,34.1,-4.9,66,599,0.00,2.50,0.00,0.000,4,0.000,0.047,2781,3193,3741
$GC,818,-1.43,-127.1,46.4,-5.0,82,825,0.00,2.47,0.00,0.000,6,0.000,0.036,2781,1804,3741
$GC,1014,-1.43,-127.1,56.0,-4.9,98,1016,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1803,3741
$GC,1207,-1.43,-127.1,65.9,-5.2,113,1211,0.00,2.50,0.00,0.000,4,0.000,0.048,2781,3195,3741
$GC,1252,-1.43,-127.1,68.4,-5.3,116,1257,0.00,2.45,0.00,0.000,6,0.000,0.036,2781,1798,3741
$GC,1448,-1.43,-127.1,78.5,-5.1,131,1449,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1798,3741
$GC,1638,-1.43,-127.1,87.9,-5.2,146,1640,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1798,3741
$STATE,1786,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1786,begin apogee
$GC,1792,-0.38,0.0,95.5,5.0,158,1897,1.12,0.00,101.07,0.673,6,0.091,0.000,3011,1725,3218
$STATE,1898,end apogee,CONTROL_FINISHED_OK
$STATE,1898,begin climb
$GC,1901,1.43,127.1,96.5,0.0,167,2006,1.85,0.00,98.55,0.641,6,0.051,0.000,3419,1724,2699
$GC,2194,1.43,127.1,68.9,11.1,191,2199,0.00,2.67,0.00,0.000,4,0.000,0.080,3419,333,2699
$GC,2245,1.43,127.1,62.8,11.7,194,2253,0.00,2.47,0.00,0.000,6,0.000,0.033,3419,1730,2698
$GC,2442,1.43,127.1,41.5,10.9,210,2443,0.00,0.00,0.00,0.000,6,0.000,0.000,3419,1730,2698
$GC,2634,1.43,127.1,21.9,10.0,225,2638,0.00,2.65,0.00,0.000,4,0.000,0.074,3419,339,2698
$GC,2659,1.43,127.1,19.1,9.8,227,2666,0.00,2.45,0.00,0.000,6,0.000,0.034,3419,1745,2697
$GC,2731,1.43,127.1,11.7,9.5,238,2738,0.00,2.50,0.00,0.000,4,0.000,0.051,3419,3132,2698
$GC,2770,1.43,127.1,8.4,8.7,244,2777,0.00,2.47,0.00,0.000,6,0.000,0.038,3419,1741,2697
$STATE,2827,end climb,SURFACE_DEPTH_REACHED
$STATE,2827,begin surface coast
$FINISH,-0.4,1.003564
$STATE,2934,end surface coast,CONTROL_FINISHED_OK
$STATE,2934,begin surface
$SM_CCo,2961,116.65,0.578,0,0,1586,400.08
$SM_GC,0.29,0.00,0.00,116.65,0.000,0.000,0.578,460,1806,1586,-12.14,0.17,400.08
$IRIDIUM_FIX,4726.11,-12255.26,051007,000003
$TT8_MAMPS,0.072865
$HUMID,2114
$INTERNAL_PRESSURE,8.46712
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.5,52.0
$24V_AH,23.9,6.169
$10V_AH,10.1,5.401
$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,30.925,30.375,199.625,116.650,0.000,195.765,306.795,252.527,0.500,0.000,4336.000,12.285,500.380,1921.107,429.224,484.278,896.670,33.339,705.612,0.000,459.074,0.000,5.487
$DEVICE_MAMPS,200.954,79.768,672.659,578.318,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,180.537,0.000,0.000,0.000,0.000,0.000,0.000,4336.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6433,269
$CFSIZE,260034560,254881792
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041007,215320,4743.611,-12250.581,14,1.3,31,18.3