version: 66.02
glider: 106
mission: 8
dive: 85
start: 10 5 107 16 10 40
data:
$ID,106
$MISSION,8
$DIVE,85
$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,-49560.156
$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,34
$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
$GPS1,160253,4743.165,-12251.199,12,2.3,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.39
$_SM_ANGLEo,-63.2
$GPS2,160935,4743.167,-12251.205,14,2.2,33,18.3
$SPEED_LIMITS,0.193,0.217
$TGT_NAME,ctd1
$TGT_LATLONG,4743.140,-12251.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.172,-0.088
$KALMAN_X,3134.8,-83.7,-37.3,-839.3,7.5
$KALMAN_Y,1878.4,34.5,-40.8,4943.8,82.1
$MHEAD_RNG_PITCHd_Wd,98.9,260,-16.6,-7.037
$D_GRID,159
$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,-97.8,0.0,0.0,0,101,0.00,0.00,-72.97,0.000,2,0.000,0.000,464,1809,3439
$GC,103,-1.43,-127.1,2.1,-4.7,12,134,14.70,2.55,-7.50,0.000,4,0.206,0.062,2782,3193,3738
$GC,286,-1.43,-127.1,17.2,-6.2,40,293,0.00,2.45,0.00,0.000,6,0.000,0.036,2783,1798,3740
$GC,364,-1.43,-127.1,21.6,-5.2,50,366,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1798,3740
$GC,555,-1.43,-127.1,31.8,-5.2,65,559,0.00,2.53,0.00,0.000,4,0.000,0.048,2782,3201,3740
$GC,601,-1.43,-127.1,34.4,-5.4,68,605,0.00,2.47,0.00,0.000,6,0.000,0.035,2783,1797,3740
$GC,796,-1.43,-127.1,45.2,-5.6,83,800,0.00,2.50,0.00,0.000,4,0.000,0.048,2782,3197,3741
$GC,840,-1.43,-127.1,48.0,-6.0,86,848,0.00,2.47,0.00,0.000,6,0.000,0.035,2782,1803,3741
$GC,1037,-1.43,-127.1,59.1,-5.7,102,1038,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1802,3741
$GC,1228,-1.43,-127.1,69.6,-5.5,117,1232,0.00,2.50,0.00,0.000,4,0.000,0.048,2782,3200,3741
$GC,1305,-1.43,-127.1,74.1,-5.5,122,1313,0.00,2.47,0.00,0.000,6,0.000,0.035,2782,1806,3741
$GC,1502,-1.43,-127.1,84.4,-5.4,138,1503,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1806,3741
$GC,1694,-1.43,-127.1,94.5,-5.3,153,1698,0.00,2.50,0.00,0.000,4,0.000,0.048,2783,3197,3741
$STATE,1703,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1703,begin apogee
$GC,1711,-0.38,0.0,95.2,5.0,153,1816,1.10,0.00,101.53,0.669,6,0.094,0.000,3009,1732,3218
$STATE,1817,end apogee,CONTROL_FINISHED_OK
$STATE,1817,begin climb
$GC,1819,1.43,127.1,96.6,0.0,162,1931,1.83,2.72,99.25,0.638,4,0.052,0.078,3416,337,2699
$GC,1962,1.43,127.1,86.0,10.8,173,1969,0.00,2.50,0.00,0.000,6,0.000,0.033,3416,1740,2698
$GC,2158,1.43,127.1,65.6,10.6,189,2160,0.00,0.00,0.00,0.000,6,0.000,0.000,3415,1742,2698
$GC,2351,1.43,127.1,46.5,9.9,204,2352,0.00,0.00,0.00,0.000,6,0.000,0.000,3415,1741,2698
$GC,2538,1.43,127.1,27.6,10.0,219,2540,0.00,0.00,0.00,0.000,6,0.000,0.000,3415,1742,2698
$GC,2731,1.43,127.1,8.9,9.2,242,2738,0.00,2.67,0.00,0.000,4,0.000,0.074,3415,337,2698
$STATE,2788,end climb,SURFACE_DEPTH_REACHED
$STATE,2788,begin surface coast
$FINISH,2.1,1.022025
$STATE,2822,end surface coast,CONTROL_FINISHED_OK
$STATE,2822,begin surface
$SM_CCo,2851,94.90,0.583,0,0,1791,350.04
$SM_GC,0.23,0.00,0.00,94.90,0.000,0.000,0.583,460,1808,1791,-12.14,0.20,350.04
$IRIDIUM_FIX,4722.92,-12250.84,051007,191916
$TT8_MAMPS,0.072865
$HUMID,2125
$INTERNAL_PRESSURE,8.47689
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.5,52.2
$24V_AH,23.9,7.860
$10V_AH,10.1,6.852
$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,31.525,35.575,200.775,94.900,0.000,41.295,34.317,182.979,0.500,0.000,3477.000,34.229,481.004,1630.731,392.854,479.069,390.884,33.331,664.846,0.000,430.813,0.000,5.484
$DEVICE_MAMPS,205.556,78.234,668.824,582.920,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,171.809,0.000,0.000,0.000,0.000,0.000,0.000,3477.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6446,256
$CFSIZE,260034560,254337024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051007,170033,4743.050,-12250.827,13,1.6,13,18.3