version: 66.02
glider: 106
mission: 8
dive: 74
start: 10 5 107 4 34 16
data:
$ID,106
$MISSION,8
$DIVE,74
$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,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,-49294.496
$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,35
$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
$GPS1,041535,4743.722,-12250.610,11,3.0,31,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.14
$_SM_ANGLEo,-55.2
$GPS2,043309,4743.612,-12250.676,15,1.7,15,18.3
$SPEED_LIMITS,0.193,0.217
$TGT_NAME,6_EC
$TGT_LATLONG,4743.563,-12250.725
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.103,-0.164
$KALMAN_X,4077.0,-172.8,-118.4,-949.6,-18.8
$KALMAN_Y,2563.0,-350.5,-222.8,5657.9,-23.7
$MHEAD_RNG_PITCHd_Wd,193.8,109,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-1.39,-97.8,0.0,0.0,0,151,0.00,0.00,-122.85,0.000,2,0.000,0.000,461,1804,3520
$GC,154,-1.43,-127.1,2.1,-5.0,20,180,14.75,2.60,-5.12,0.000,4,0.207,0.061,2781,3206,3739
$GC,431,-1.43,-127.1,24.1,-5.3,57,436,0.00,2.47,0.00,0.000,6,0.000,0.035,2781,1793,3743
$GC,627,-1.43,-127.1,35.0,-6.1,72,631,0.00,2.53,0.00,0.000,4,0.000,0.048,2781,3195,3743
$GC,885,-1.43,-127.1,50.8,-5.9,91,889,0.00,2.47,0.00,0.000,6,0.000,0.037,2781,1791,3743
$GC,1080,-1.43,-127.1,61.9,-5.8,106,1084,0.00,2.53,0.00,0.000,4,0.000,0.048,2781,3198,3743
$GC,1152,-1.43,-127.1,65.9,-5.6,111,1156,0.00,2.45,0.00,0.000,6,0.000,0.035,2781,1794,3743
$GC,1354,-1.43,-127.1,76.5,-5.0,127,1356,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1794,3743
$GC,1545,-1.43,-127.1,87.2,-5.6,142,1549,0.00,2.53,0.00,0.000,4,0.000,0.048,2781,3201,3743
$GC,1596,-1.43,-127.1,90.3,-5.7,145,1603,0.00,2.47,0.00,0.000,6,0.000,0.035,2781,1800,3743
$STATE,1689,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1689,begin apogee
$GC,1695,-0.38,0.0,95.6,5.4,153,1801,1.15,0.00,99.15,0.668,6,0.093,0.000,3015,1726,3218
$STATE,1801,end apogee,CONTROL_FINISHED_OK
$STATE,1802,begin climb
$GC,1804,1.43,127.1,96.9,0.0,162,1909,1.83,0.00,99.43,0.641,6,0.054,0.000,3418,1726,2699
$GC,2098,1.43,127.1,71.3,10.2,186,2099,0.00,0.00,0.00,0.000,6,0.000,0.000,3418,1725,2701
$GC,2288,1.43,127.1,52.2,10.2,201,2289,0.00,0.00,0.00,0.000,6,0.000,0.000,3418,1726,2701
$GC,2477,1.43,127.1,33.0,10.0,216,2479,0.00,0.00,0.00,0.000,6,0.000,0.000,3418,1726,2701
$GC,2668,1.43,127.1,14.5,8.6,235,2673,0.00,0.00,0.00,0.000,6,0.000,0.000,3418,1726,2701
$GC,2739,1.43,127.1,9.4,7.1,246,2746,0.00,2.55,0.00,0.000,4,0.000,0.050,3418,3130,2701
$GC,2765,1.43,127.1,7.6,7.3,250,2771,0.00,2.45,0.00,0.000,6,0.000,0.037,3418,1743,2701
$STATE,2802,end climb,SURFACE_DEPTH_REACHED
$STATE,2802,begin surface coast
$FINISH,-0.4,1.021994
$STATE,2882,end surface coast,CONTROL_FINISHED_OK
$STATE,2882,begin surface
$SM_CCo,2909,213.70,0.568,0,0,735,609.08
$SM_GC,0.23,0.00,0.00,213.70,0.000,0.000,0.568,461,1812,735,-12.13,0.34,609.08
$IRIDIUM_FIX,4726.11,-12250.84,051007,080855
$TT8_MAMPS,0.069797
$HUMID,2091
$INTERNAL_PRESSURE,8.38899
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.0,51.6
$24V_AH,23.9,6.886
$10V_AH,10.1,5.981
$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,31.125,25.275,198.575,213.700,0.000,188.796,404.807,94.934,0.500,0.000,4311.000,15.813,489.436,1860.733,545.466,480.854,828.686,33.332,825.939,0.000,460.749,0.000,5.489
$DEVICE_MAMPS,207.090,75.166,668.057,568.347,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,179.448,0.000,0.000,0.000,0.000,0.000,0.000,4311.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6448,268
$CFSIZE,260034560,254660608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051007,052723,4743.420,-12250.969,10,3.8,29,18.3