version: 66.02
glider: 106
mission: 8
dive: 77
start: 10 5 107 7 54 12
data:
$ID,106
$MISSION,8
$DIVE,77
$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,-49370.109
$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,42
$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
$GPS1,074259,4743.257,-12250.909,13,2.2,32,18.3
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,0.36
$_SM_ANGLEo,-62.4
$GPS2,075307,4743.212,-12250.938,14,1.4,30,18.3
$SPEED_LIMITS,0.193,0.217
$TGT_NAME,ctd1
$TGT_LATLONG,4743.140,-12251.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.067,-0.182
$KALMAN_X,3745.1,-245.7,-12.2,-978.7,-14.1
$KALMAN_Y,2141.3,-353.5,-24.9,5143.5,39.0
$MHEAD_RNG_PITCHd_Wd,181.8,154,-16.6,-7.037
$D_GRID,165
$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,-97.8,0.0,0.0,0,102,0.00,0.00,-73.10,0.000,2,0.000,0.000,463,1809,3440
$GC,104,-1.43,-127.1,2.1,-5.0,12,136,14.73,2.55,-7.53,0.000,4,0.206,0.063,2783,3190,3740
$GC,385,-1.43,-127.1,22.9,-5.9,51,393,0.00,2.47,0.00,0.000,6,0.000,0.036,2783,1806,3741
$GC,582,-1.43,-127.1,33.6,-5.7,67,586,0.00,2.50,0.00,0.000,4,0.000,0.048,2783,3192,3741
$GC,840,-1.43,-127.1,48.1,-5.5,86,844,0.00,2.47,0.00,0.000,6,0.000,0.037,2783,1790,3741
$GC,1035,-1.43,-127.1,58.6,-5.6,101,1039,0.00,2.53,0.00,0.000,4,0.000,0.048,2783,3195,3741
$GC,1068,-1.43,-127.1,60.5,-5.7,103,1072,0.00,2.45,0.00,0.000,6,0.000,0.035,2783,1796,3742
$GC,1263,-1.43,-127.1,71.1,-5.6,118,1264,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1796,3741
$GC,1454,-1.43,-127.1,81.1,-5.2,133,1458,0.00,2.50,0.00,0.000,4,0.000,0.048,2783,3189,3742
$GC,1493,-1.43,-127.1,83.3,-5.6,136,1497,0.00,2.42,0.00,0.000,6,0.000,0.035,2783,1799,3741
$GC,1688,-1.43,-127.1,93.9,-5.5,151,1689,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1798,3742
$STATE,1711,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1711,begin apogee
$GC,1717,-0.38,0.0,95.2,5.3,153,1822,1.12,0.00,100.25,0.670,6,0.092,0.000,3012,1726,3217
$STATE,1823,end apogee,CONTROL_FINISHED_OK
$STATE,1823,begin climb
$GC,1826,1.43,127.1,96.8,0.0,162,1931,1.83,0.00,98.43,0.639,6,0.051,0.000,3414,1726,2699
$GC,2119,1.43,127.1,72.8,9.9,186,2124,0.00,2.67,0.00,0.000,4,0.000,0.080,3414,330,2698
$GC,2152,1.43,127.1,69.4,10.5,188,2156,0.00,2.45,0.00,0.000,6,0.000,0.034,3414,1737,2698
$GC,2354,1.43,127.1,49.0,10.4,204,2355,0.00,0.00,0.00,0.000,6,0.000,0.000,3414,1738,2697
$GC,2544,1.43,127.1,29.8,9.9,219,2546,0.00,0.00,0.00,0.000,6,0.000,0.000,3414,1738,2697
$GC,2737,1.43,127.2,12.2,7.0,241,2742,0.00,0.00,0.00,0.000,6,0.000,0.000,3414,1738,2697
$GC,2808,1.44,137.5,7.4,6.5,252,2822,0.00,2.75,7.57,0.670,4,0.000,0.074,3414,339,2656
$STATE,2846,end climb,SURFACE_DEPTH_REACHED
$STATE,2846,begin surface coast
$FINISH,0.7,1.022052
$STATE,2900,end surface coast,CONTROL_FINISHED_OK
$STATE,2900,begin surface
$SM_CCo,2929,90.28,0.581,0,0,1790,350.04
$SM_GC,0.34,0.00,0.00,90.28,0.000,0.000,0.581,461,1810,1790,-12.14,0.28,350.04
$IRIDIUM_FIX,4726.11,-12250.84,051007,111158
$TT8_MAMPS,0.06903
$HUMID,2126
$INTERNAL_PRESSURE,8.47689
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.4,52.3
$24V_AH,23.9,7.161
$10V_AH,10.1,6.233
$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,30.950,30.500,206.250,90.275,0.000,76.779,74.240,252.707,0.500,0.000,3759.000,30.263,497.866,1722.715,395.484,495.873,542.371,33.332,669.296,0.000,454.995,0.000,5.486
$DEVICE_MAMPS,206.323,79.768,670.358,581.386,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,178.717,0.000,0.000,0.000,0.000,0.000,0.000,3759.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6426,266
$CFSIZE,260034560,254582784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051007,084515,4742.986,-12251.184,9,1.7,9,18.3