version: 66.02
glider: 106
mission: 8
dive: 81
start: 10 5 107 12 0 4
data:
$ID,106
$MISSION,8
$DIVE,81
$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,-49479.059
$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,39
$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
$GPS1,115223,4743.135,-12251.133,13,3.2,32,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.33
$_SM_ANGLEo,-63.0
$GPS2,115859,4743.121,-12251.142,15,3.7,34,18.3
$SPEED_LIMITS,0.193,0.217
$TGT_NAME,ctd1
$TGT_LATLONG,4743.140,-12251.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.183,0.063
$KALMAN_X,3358.5,-229.9,0.2,-875.2,-9.4
$KALMAN_Y,1782.3,-197.9,81.6,5068.3,-27.9
$MHEAD_RNG_PITCHd_Wd,52.7,180,-16.6,-7.037
$D_GRID,163
$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,-97.8,0.0,0.0,0,106,0.00,0.00,-77.78,0.000,2,0.000,0.000,462,1806,3569
$GC,108,-1.43,-127.1,2.5,-5.5,13,134,14.65,2.67,-3.72,0.000,4,0.204,0.081,2783,396,3739
$GC,286,-1.43,-127.1,19.0,-6.7,40,292,0.00,2.45,0.00,0.000,6,0.000,0.033,2783,1803,3741
$GC,355,-1.43,-127.1,22.7,-5.1,47,359,0.00,2.50,0.00,0.000,4,0.000,0.050,2783,3194,3741
$GC,420,-1.43,-127.1,26.5,-6.0,51,427,0.00,2.47,0.00,0.000,6,0.000,0.035,2783,1807,3741
$GC,616,-1.43,-127.1,37.4,-5.7,67,617,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1806,3741
$GC,807,-1.43,-127.1,47.4,-5.2,82,808,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1806,3741
$GC,995,-1.43,-127.1,57.8,-5.5,97,996,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1806,3741
$GC,1186,-1.43,-127.1,68.7,-5.8,112,1190,0.00,2.50,0.00,0.000,4,0.000,0.049,2783,3191,3741
$GC,1231,-1.43,-127.1,71.1,-5.6,115,1235,0.00,2.45,0.00,0.000,6,0.000,0.036,2783,1798,3742
$GC,1426,-1.43,-127.1,81.9,-5.8,130,1428,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1798,3741
$GC,1619,-1.43,-127.1,92.5,-5.5,145,1623,0.00,2.53,0.00,0.000,4,0.000,0.048,2784,3198,3741
$STATE,1662,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1662,begin apogee
$GC,1670,-0.38,0.0,95.3,5.3,148,1775,1.10,0.00,101.03,0.668,6,0.093,0.000,3009,1729,3218
$STATE,1775,end apogee,CONTROL_FINISHED_OK
$STATE,1776,begin climb
$GC,1778,1.43,127.1,96.5,0.0,157,1889,1.83,2.75,98.80,0.637,4,0.052,0.077,3414,336,2699
$GC,1920,1.43,127.1,86.0,10.9,168,1928,0.00,2.47,0.00,0.000,6,0.000,0.034,3415,1728,2698
$GC,2117,1.43,127.1,65.7,10.7,184,2118,0.00,0.00,0.00,0.000,6,0.000,0.000,3415,1729,2697
$GC,2309,1.43,127.1,46.4,10.1,199,2310,0.00,0.00,0.00,0.000,6,0.000,0.000,3415,1729,2697
$GC,2497,1.43,127.1,27.4,9.8,214,2501,0.00,2.67,0.00,0.000,4,0.000,0.074,3415,331,2697
$GC,2534,1.43,127.1,23.1,11.0,216,2542,0.00,2.47,0.00,0.000,6,0.000,0.034,3415,1732,2697
$GC,2738,1.43,127.1,5.2,7.3,244,2745,0.00,2.53,0.00,0.000,4,0.000,0.050,3415,3131,2697
$STATE,2748,end climb,SURFACE_DEPTH_REACHED
$STATE,2749,begin surface coast
$FINISH,1.3,1.022040
$STATE,2789,end surface coast,CONTROL_FINISHED_OK
$STATE,2789,begin surface
$SM_CCo,2819,94.78,0.581,0,0,1790,350.04
$SM_GC,0.31,0.00,0.00,94.78,0.000,0.000,0.581,460,1791,1790,-12.14,-0.25,350.04
$IRIDIUM_FIX,4729.30,-12249.89,051007,141452
$TT8_MAMPS,0.06903
$HUMID,2128
$INTERNAL_PRESSURE,8.47689
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.1,51.6
$24V_AH,23.9,7.511
$10V_AH,10.1,6.538
$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,31.475,35.550,199.825,94.775,0.000,39.657,41.267,173.915,0.500,39.190,3396.810,35.627,473.280,1614.275,393.417,475.873,380.156,33.333,662.818,0.000,426.411,0.000,5.484
$DEVICE_MAMPS,204.022,81.302,668.057,580.619,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,169.064,0.000,0.000,0.000,0.000,0.000,0.000,3436.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6440,252
$CFSIZE,260034560,254464000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051007,124950,4743.223,-12250.763,24,1.5,37,18.3