version: 66.02
glider: 106
mission: 8
dive: 78
start: 10 5 107 9 4 5
data:
$ID,106
$MISSION,8
$DIVE,78
$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,-49386.207
$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,27
$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
$GPS1,084515,4742.986,-12251.184,9,1.7,9,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.35
$_SM_ANGLEo,-63.3
$GPS2,090257,4742.950,-12251.234,15,1.8,15,18.3
$SPEED_LIMITS,0.193,0.217
$TGT_NAME,ctd1
$TGT_LATLONG,4743.140,-12251.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.129,0.144
$KALMAN_X,3586.3,-267.8,4.0,-1181.4,-10.7
$KALMAN_Y,2043.5,-319.3,46.4,4648.6,17.1
$MHEAD_RNG_PITCHd_Wd,23.6,457,-16.6,-7.037
$D_GRID,155
$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,-97.8,0.0,0.0,0,106,0.00,0.00,-79.05,0.000,2,0.000,0.000,461,1811,3615
$GC,108,-1.43,-126.4,2.5,-5.6,13,134,14.77,2.70,-2.60,0.000,4,0.208,0.083,2782,396,3737
$GC,285,-1.43,-127.1,19.9,-6.3,40,292,0.00,2.45,0.00,0.000,6,0.000,0.033,2782,1809,3738
$GC,355,-1.43,-127.1,23.8,-5.9,46,359,0.00,2.47,0.00,0.000,4,0.000,0.050,2782,3189,3738
$GC,433,-1.43,-127.1,28.6,-6.2,51,440,0.00,2.45,0.00,0.000,6,0.000,0.035,2782,1808,3738
$GC,629,-1.43,-127.1,39.9,-6.0,67,630,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1808,3738
$GC,818,-1.43,-127.1,51.2,-6.4,82,819,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1806,3739
$GC,1009,-1.43,-127.1,61.7,-5.1,97,1013,0.00,2.50,0.00,0.000,4,0.000,0.049,2781,3195,3738
$GC,1060,-1.43,-127.1,64.7,-5.6,100,1067,0.00,2.47,0.00,0.000,6,0.000,0.035,2781,1801,3738
$GC,1257,-1.43,-127.1,75.2,-5.1,116,1258,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1801,3739
$GC,1447,-1.43,-127.1,85.5,-5.6,131,1451,0.00,2.50,0.00,0.000,4,0.000,0.049,2782,3192,3738
$GC,1498,-1.43,-127.1,88.7,-5.7,134,1506,0.00,2.47,0.00,0.000,6,0.000,0.036,2782,1797,3739
$STATE,1617,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1617,begin apogee
$GC,1623,-0.38,0.0,95.4,5.7,144,1728,1.15,0.00,100.00,0.670,6,0.097,0.000,3014,1723,3218
$STATE,1729,end apogee,CONTROL_FINISHED_OK
$STATE,1729,begin climb
$GC,1731,1.43,127.1,96.6,0.0,153,1834,1.80,0.00,97.75,0.640,6,0.053,0.000,3414,1723,2698
$GC,2017,1.43,127.1,71.5,10.6,176,2018,0.00,0.00,0.00,0.000,6,0.000,0.000,3413,1723,2697
$GC,2207,1.43,127.1,52.4,10.0,191,2208,0.00,0.00,0.00,0.000,6,0.000,0.000,3413,1723,2697
$GC,2397,1.43,127.1,33.0,9.6,206,2401,0.00,2.65,0.00,0.000,4,0.000,0.079,3413,336,2697
$GC,2429,1.43,127.1,29.6,10.7,208,2433,0.00,2.45,0.00,0.000,6,0.000,0.035,3413,1737,2696
$GC,2629,1.43,127.1,10.3,9.3,231,2635,0.00,2.67,0.00,0.000,4,0.000,0.076,3413,339,2696
$GC,2674,1.43,127.1,6.5,8.5,238,2681,0.00,2.45,0.00,0.000,6,0.000,0.034,3413,1745,2696
$STATE,2698,end climb,SURFACE_DEPTH_REACHED
$STATE,2698,begin surface coast
$FINISH,-0.4,1.022051
$STATE,2772,end surface coast,CONTROL_FINISHED_OK
$STATE,2772,begin surface
$SM_CCo,2798,213.75,0.567,0,0,735,609.08
$SM_GC,0.11,0.00,0.00,213.75,0.000,0.000,0.567,461,1807,735,-12.14,0.20,609.08
$IRIDIUM_FIX,4726.11,-12253.53,051007,121207
$TT8_MAMPS,0.06903
$HUMID,2107
$INTERNAL_PRESSURE,8.37923
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.4,52.0
$24V_AH,23.9,7.269
$10V_AH,10.1,6.319
$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,31.075,30.450,197.750,213.750,0.000,195.171,390.349,112.415,0.500,0.000,4065.000,15.472,476.206,1840.443,511.934,440.710,833.781,33.326,776.795,0.000,422.145,0.000,6.717
$DEVICE_MAMPS,207.857,82.836,669.591,566.813,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,169.747,0.000,0.000,0.000,0.000,0.000,0.000,4065.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6436,253
$CFSIZE,260034560,254541824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051007,095523,4743.131,-12251.011,12,5.1,31,18.3