version: 66.02
glider: 106
mission: 8
dive: 80
start: 10 5 107 11 0 57
data:
$ID,106
$MISSION,8
$DIVE,80
$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,-49442.797
$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
$GPS1,105359,4743.256,-12250.709,14,2.1,33,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.36
$_SM_ANGLEo,-62.7
$GPS2,105951,4743.239,-12250.720,12,1.8,12,18.3
$SPEED_LIMITS,0.193,0.217
$TGT_NAME,ctd1
$TGT_LATLONG,4743.140,-12251.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.170,-0.092
$KALMAN_X,3420.9,-245.6,17.8,-413.2,-45.9
$KALMAN_Y,1810.8,-255.5,88.7,5310.2,-20.5
$MHEAD_RNG_PITCHd_Wd,223.4,394,-16.6,-7.037
$D_GRID,166
$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,22,begin dive
$GC,25,-1.39,-97.8,0.0,0.0,0,101,0.00,0.00,-73.10,0.000,2,0.000,0.000,462,1812,3459
$GC,103,-1.43,-127.1,2.2,-4.9,12,134,14.73,2.55,-6.80,0.000,4,0.205,0.061,2783,3195,3740
$GC,384,-1.43,-127.1,23.5,-5.9,50,392,0.00,2.50,0.00,0.000,6,0.000,0.035,2783,1809,3742
$GC,581,-1.43,-127.1,33.3,-5.0,66,585,0.00,2.50,0.00,0.000,4,0.000,0.048,2783,3194,3742
$GC,672,-1.43,-127.1,38.1,-5.3,72,679,0.00,2.50,0.00,0.000,6,0.000,0.036,2783,1798,3742
$GC,868,-1.43,-127.1,48.8,-5.5,88,870,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1797,3742
$GC,1058,-1.43,-127.1,59.3,-5.6,103,1062,0.00,2.53,0.00,0.000,4,0.000,0.048,2783,3198,3742
$GC,1143,-1.43,-127.1,64.3,-5.5,109,1147,0.00,2.47,0.00,0.000,6,0.000,0.036,2783,1796,3742
$GC,1339,-1.43,-127.1,75.4,-5.5,124,1343,0.00,2.53,0.00,0.000,4,0.000,0.047,2783,3201,3742
$GC,1384,-1.43,-127.1,78.2,-6.1,127,1389,0.00,2.47,0.00,0.000,6,0.000,0.035,2783,1795,3742
$GC,1580,-1.43,-127.1,89.0,-5.5,142,1581,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1795,3742
$STATE,1691,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1691,begin apogee
$GC,1697,-0.38,0.0,95.4,5.6,151,1802,1.15,0.00,100.47,0.671,6,0.093,0.000,3016,1720,3217
$STATE,1803,end apogee,CONTROL_FINISHED_OK
$STATE,1803,begin climb
$GC,1806,1.43,127.1,97.0,0.0,160,1917,1.77,2.72,98.43,0.638,4,0.051,0.080,3412,344,2698
$GC,1956,1.43,127.1,86.2,10.6,172,1960,0.00,2.45,0.00,0.000,6,0.000,0.033,3412,1740,2698
$GC,2158,1.43,127.1,65.8,10.3,188,2159,0.00,0.00,0.00,0.000,6,0.000,0.000,3412,1740,2697
$GC,2348,1.43,127.1,46.8,10.2,203,2349,0.00,0.00,0.00,0.000,6,0.000,0.000,3412,1741,2697
$GC,2538,1.43,127.1,27.5,10.1,218,2539,0.00,0.00,0.00,0.000,6,0.000,0.000,3412,1741,2697
$GC,2731,1.43,127.1,10.0,8.5,241,2736,0.00,0.00,0.00,0.000,6,0.000,0.000,3412,1741,2697
$GC,2802,1.45,144.0,5.2,6.2,252,2809,0.00,0.00,5.25,0.682,2,0.000,0.000,3412,1742,2669
$STATE,2810,end climb,SURFACE_DEPTH_REACHED
$STATE,2810,begin surface coast
$FINISH,-0.4,1.002364
$STATE,2901,end surface coast,CONTROL_FINISHED_OK
$STATE,2901,begin surface
$SM_CCo,2927,91.40,0.581,0,0,1790,350.04
$SM_GC,0.33,0.00,0.00,91.40,0.000,0.000,0.581,462,1806,1790,-12.13,0.17,350.04
$IRIDIUM_FIX,4726.11,-12253.53,051007,131316
$TT8_MAMPS,0.070564
$HUMID,2129
$INTERNAL_PRESSURE,8.47689
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.3,51.7
$24V_AH,23.9,7.427
$10V_AH,10.1,6.466
$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,30.925,25.425,204.150,91.400,0.000,38.510,36.294,162.001,0.500,40.930,3465.070,13.988,497.539,1672.147,382.466,486.239,360.202,33.334,664.629,0.000,459.856,0.000,5.485
$DEVICE_MAMPS,204.789,83.603,681.863,580.619,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,179.415,0.000,0.000,0.000,0.000,0.000,0.000,3506.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6421,267
$CFSIZE,260034560,254488576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051007,115223,4743.135,-12251.133,13,3.2,32,18.3