version: 66.02
glider: 106
mission: 8
dive: 84
start: 10 5 107 15 12 21
data:
$ID,106
$MISSION,8
$DIVE,84
$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,-49525.297
$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,23
$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
$GPS1,145925,4743.196,-12250.818,34,1.7,38,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.37
$_SM_ANGLEo,-63.6
$GPS2,151115,4743.188,-12250.833,13,1.6,13,18.3
$SPEED_LIMITS,0.193,0.217
$TGT_NAME,ctd1
$TGT_LATLONG,4743.140,-12251.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.173,-0.087
$KALMAN_X,3169.7,-126.0,-31.9,-372.4,5.8
$KALMAN_Y,1747.2,-27.4,-18.2,5157.4,19.5
$MHEAD_RNG_PITCHd_Wd,225.0,227,-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,-73.10,0.000,2,0.000,0.000,461,1809,3440
$GC,104,-1.43,-127.1,2.1,-4.8,12,136,14.68,2.55,-7.47,0.000,4,0.205,0.062,2782,3188,3740
$GC,386,-1.43,-127.1,22.7,-5.8,51,393,0.00,2.47,0.00,0.000,6,0.000,0.035,2782,1800,3741
$GC,582,-1.43,-127.1,33.4,-5.4,67,586,0.00,2.53,0.00,0.000,4,0.000,0.048,2782,3202,3741
$GC,766,-1.43,-127.1,44.1,-6.0,80,773,0.00,2.50,0.00,0.000,6,0.000,0.035,2782,1800,3742
$GC,962,-1.43,-127.1,55.3,-5.7,96,964,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1798,3742
$GC,1153,-1.43,-127.1,66.1,-5.5,111,1157,0.00,2.53,0.00,0.000,4,0.000,0.048,2782,3205,3742
$GC,1238,-1.43,-127.1,71.1,-5.8,117,1243,0.00,2.47,0.00,0.000,6,0.000,0.035,2782,1794,3742
$GC,1434,-1.43,-127.1,82.0,-5.5,132,1438,0.00,2.53,0.00,0.000,4,0.000,0.047,2782,3202,3742
$GC,1468,-1.43,-127.1,83.7,-5.8,134,1472,0.00,2.47,0.00,0.000,6,0.000,0.035,2782,1792,3742
$GC,1663,-1.43,-127.1,94.5,-5.4,149,1664,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1792,3742
$STATE,1673,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1673,begin apogee
$GC,1679,-0.38,0.0,95.2,5.5,150,1785,1.15,0.00,101.80,0.673,6,0.097,0.000,3014,1730,3218
$STATE,1786,end apogee,CONTROL_FINISHED_OK
$STATE,1786,begin climb
$GC,1788,1.43,127.1,96.5,0.0,159,1897,1.83,2.75,99.32,0.640,4,0.052,0.077,3416,338,2698
$GC,1931,1.43,127.1,86.0,10.7,171,1935,0.00,2.45,0.00,0.000,6,0.000,0.033,3416,1734,2698
$GC,2133,1.43,127.1,65.2,10.0,187,2134,0.00,0.00,0.00,0.000,6,0.000,0.000,3416,1735,2698
$GC,2324,1.43,127.1,46.0,10.2,202,2325,0.00,0.00,0.00,0.000,6,0.000,0.000,3416,1736,2698
$GC,2513,1.43,127.1,26.9,9.9,217,2514,0.00,0.00,0.00,0.000,6,0.000,0.000,3416,1736,2697
$GC,2706,1.43,127.1,8.4,7.6,241,2712,0.00,0.00,0.00,0.000,6,0.000,0.000,3416,1736,2698
$STATE,2756,end climb,SURFACE_DEPTH_REACHED
$STATE,2757,begin surface coast
$FINISH,-0.4,1.000595
$STATE,2844,end surface coast,CONTROL_FINISHED_OK
$STATE,2844,begin surface
$SM_CCo,2871,94.65,0.583,0,0,1791,350.04
$SM_GC,0.31,0.00,0.00,94.65,0.000,0.000,0.583,463,1809,1791,-12.13,0.25,350.04
$IRIDIUM_FIX,4726.11,-12252.58,051007,191920
$TT8_MAMPS,0.072098
$HUMID,2123
$INTERNAL_PRESSURE,8.47689
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.2,51.7
$24V_AH,23.9,7.787
$10V_AH,10.1,6.780
$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,30.950,25.450,201.125,94.650,0.000,121.066,188.877,161.557,0.500,0.000,3812.000,13.662,492.218,1746.580,389.822,475.344,599.533,33.335,659.884,0.000,449.601,0.000,5.484
$DEVICE_MAMPS,204.789,86.671,673.426,582.920,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,176.092,0.000,0.000,0.000,0.000,0.000,0.000,3812.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6429,262
$CFSIZE,260034560,254369792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051007,160253,4743.165,-12251.199,12,2.3,31,18.3