version: 66.02
glider: 106
mission: 8
dive: 76
start: 10 5 107 6 52 2
data:
$ID,106
$MISSION,8
$DIVE,76
$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,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,-49339.219
$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,29
$R_STBD_OVSHOOT,36
$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
$GPS1,063402,4743.065,-12250.954,8,1.5,13,18.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.33
$_SM_ANGLEo,-63.1
$GPS2,065056,4743.002,-12251.039,11,1.0,11,18.3
$SPEED_LIMITS,0.193,0.217
$TGT_NAME,ctd1
$TGT_LATLONG,4743.140,-12251.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.069,0.181
$KALMAN_X,3815.4,-230.3,-43.8,-1158.8,-25.4
$KALMAN_Y,2307.3,-362.5,-105.6,4678.7,59.5
$MHEAD_RNG_PITCHd_Wd,2.5,259,-16.6,-7.037
$D_GRID,162
$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,26,-1.39,-97.8,0.0,0.0,0,101,0.00,0.00,-73.10,0.000,2,0.000,0.000,460,1806,3438
$GC,104,-1.43,-127.1,2.0,-5.0,12,135,14.68,2.55,-7.70,0.000,4,0.205,0.061,2782,3192,3739
$GC,201,-1.43,-127.1,11.2,-8.0,27,208,0.00,2.45,0.00,0.000,6,0.000,0.036,2782,1802,3741
$GC,273,-1.43,-127.1,15.8,-6.2,38,279,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1802,3741
$GC,345,-1.43,-127.1,19.4,-4.8,49,351,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1802,3741
$GC,421,-1.43,-127.1,23.4,-5.2,56,422,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1802,3741
$GC,611,-1.43,-127.1,33.7,-5.3,71,616,0.00,2.53,0.00,0.000,4,0.000,0.049,2782,3204,3741
$GC,676,-1.43,-127.1,37.4,-5.7,75,683,0.00,2.50,0.00,0.000,6,0.000,0.036,2782,1800,3741
$GC,872,-1.43,-127.1,48.0,-5.6,91,874,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1800,3741
$GC,1062,-1.43,-127.1,58.3,-5.5,106,1066,0.00,2.50,0.00,0.000,4,0.000,0.049,2782,3194,3742
$GC,1113,-1.43,-127.1,61.3,-5.8,109,1120,0.00,2.47,0.00,0.000,6,0.000,0.037,2782,1800,3741
$GC,1309,-1.43,-127.1,72.4,-5.7,125,1310,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1800,3742
$GC,1500,-1.43,-127.1,83.5,-6.0,140,1504,0.00,2.50,0.00,0.000,4,0.000,0.049,2782,3195,3741
$GC,1551,-1.43,-127.1,86.9,-6.2,143,1558,0.00,2.47,0.00,0.000,6,0.000,0.035,2782,1800,3741
$STATE,1695,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1695,begin apogee
$GC,1701,-0.38,0.0,95.4,5.9,155,1806,1.15,0.00,99.82,0.673,6,0.094,0.000,3015,1726,3218
$STATE,1807,end apogee,CONTROL_FINISHED_OK
$STATE,1807,begin climb
$GC,1809,1.43,127.1,97.4,0.0,164,1920,1.80,2.75,97.80,0.641,4,0.053,0.078,3414,338,2699
$GC,1938,1.43,127.1,89.0,9.6,174,1946,0.00,2.47,0.00,0.000,6,0.000,0.034,3414,1728,2699
$GC,2135,1.43,127.1,69.4,10.2,190,2136,0.00,0.00,0.00,0.000,6,0.000,0.000,3414,1730,2698
$GC,2327,1.43,127.1,49.8,10.5,205,2328,0.00,0.00,0.00,0.000,6,0.000,0.000,3414,1730,2698
$GC,2515,1.43,127.1,30.9,10.0,220,2516,0.00,0.00,0.00,0.000,6,0.000,0.000,3414,1730,2698
$GC,2707,1.43,127.1,11.9,9.4,241,2713,0.00,2.65,0.00,0.000,4,0.000,0.075,3414,340,2698
$GC,2785,1.43,127.1,5.4,7.8,253,2792,0.00,2.42,0.00,0.000,6,0.000,0.033,3414,1741,2698
$STATE,2796,end climb,SURFACE_DEPTH_REACHED
$STATE,2796,begin surface coast
$FINISH,-0.4,1.012615
$STATE,2870,end surface coast,CONTROL_FINISHED_OK
$STATE,2870,begin surface
$SM_CCo,2895,94.53,0.580,0,0,1791,350.04
$SM_GC,0.20,0.00,0.00,94.53,0.000,0.000,0.580,463,1809,1791,-12.13,0.25,350.04
$IRIDIUM_FIX,4726.11,-12253.53,051007,101045
$TT8_MAMPS,0.071331
$HUMID,2133
$INTERNAL_PRESSURE,8.47689
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.1,51.7
$24V_AH,23.9,7.079
$10V_AH,10.1,6.155
$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,30.950,30.475,197.625,94.525,0.000,155.508,205.600,319.988,0.500,0.000,4121.000,11.975,493.359,1824.027,400.740,466.708,846.342,33.325,680.901,0.000,440.766,0.000,5.486
$DEVICE_MAMPS,204.789,82.836,672.659,579.852,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,178.315,0.000,0.000,0.000,0.000,0.000,0.000,4121.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6424,266
$CFSIZE,260034560,254611456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051007,074259,4743.257,-12250.909,13,2.2,32,18.3