version: 66.02
glider: 106
mission: 8
dive: 90
start: 10 5 107 21 29 53
data:
$ID,106
$MISSION,8
$DIVE,90
$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,-49668.43
$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,18
$R_STBD_OVSHOOT,35
$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
$GPS1,210514,4743.085,-12250.820,14,1.7,31,18.3
$_CALLS,5
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,0.41
$_SM_ANGLEo,-63.2
$GPS2,212847,4743.063,-12250.792,11,3.2,30,18.3
$SPEED_LIMITS,0.193,0.217
$TGT_NAME,ctd1
$TGT_LATLONG,4743.140,-12251.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.171,0.091
$KALMAN_X,3027.9,72.6,7.3,-418.8,23.4
$KALMAN_Y,1828.3,194.7,14.6,4590.5,-7.4
$MHEAD_RNG_PITCHd_Wd,279.7,296,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.39,-97.8,0.0,0.0,0,105,0.00,0.00,-78.88,0.000,6,0.000,0.000,462,1811,3618
$GC,108,-1.43,-127.1,2.4,-5.4,13,133,14.73,2.53,-2.70,0.000,4,0.206,0.061,2781,3196,3740
$GC,384,-1.43,-127.1,24.7,-6.0,50,389,0.00,2.47,0.00,0.000,6,0.000,0.035,2781,1790,3742
$GC,580,-1.43,-127.1,34.7,-5.1,65,584,0.00,2.53,0.00,0.000,4,0.000,0.048,2781,3195,3743
$GC,771,-1.43,-127.1,44.8,-5.1,79,775,0.00,2.47,0.00,0.000,6,0.000,0.036,2782,1790,3742
$GC,966,-1.43,-127.1,54.6,-5.2,94,968,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1790,3743
$GC,1157,-1.43,-127.1,64.3,-5.3,109,1162,0.00,2.53,0.00,0.000,4,0.000,0.048,2781,3195,3743
$GC,1222,-1.43,-127.1,68.0,-5.3,113,1229,0.00,2.47,0.00,0.000,6,0.000,0.035,2781,1800,3743
$GC,1418,-1.43,-127.1,78.6,-5.2,129,1419,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1800,3743
$GC,1609,-1.43,-127.1,88.5,-5.1,144,1610,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1800,3743
$STATE,1744,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1744,begin apogee
$GC,1750,-0.38,0.0,95.5,5.2,155,1856,1.15,0.00,101.90,0.665,6,0.097,0.000,3013,1726,3217
$STATE,1857,end apogee,CONTROL_FINISHED_OK
$STATE,1857,begin climb
$GC,1859,1.43,127.1,96.5,0.0,164,1970,1.80,2.72,98.88,0.637,4,0.054,0.078,3412,334,2698
$GC,1988,1.43,127.1,87.4,10.7,174,1996,0.00,2.50,0.00,0.000,6,0.000,0.034,3412,1736,2698
$GC,2185,1.43,127.1,67.4,10.0,190,2189,0.00,2.67,0.00,0.000,4,0.000,0.074,3412,338,2697
$GC,2230,1.43,127.1,62.4,11.3,193,2234,0.00,2.45,0.00,0.000,6,0.000,0.034,3412,1741,2697
$GC,2432,1.43,127.1,40.9,10.8,209,2434,0.00,0.00,0.00,0.000,6,0.000,0.000,3412,1742,2697
$GC,2623,1.43,127.1,21.8,9.6,224,2627,0.00,2.67,0.00,0.000,4,0.000,0.074,3412,340,2697
$GC,2675,1.43,127.1,16.4,10.1,230,2681,0.00,2.45,0.00,0.000,6,0.000,0.034,3412,1746,2696
$GC,2747,1.43,127.1,10.0,8.6,241,2753,0.00,2.70,0.00,0.000,4,0.000,0.075,3412,334,2696
$GC,2766,1.43,127.1,8.5,8.3,244,2772,0.00,2.45,0.00,0.000,6,0.000,0.034,3412,1741,2696
$STATE,2816,end climb,SURFACE_DEPTH_REACHED
$STATE,2816,begin surface coast
$FINISH,-0.4,1.006846
$STATE,2897,end surface coast,CONTROL_FINISHED_OK
$STATE,2897,begin surface
$SM_CCo,2924,94.57,0.578,0,0,1790,350.04
$SM_GC,0.35,0.00,0.00,94.57,0.000,0.000,0.578,462,1808,1790,-12.14,0.23,350.04
$IRIDIUM_FIX,4726.11,-12252.58,061007,010123
$TT8_MAMPS,0.069797
$HUMID,2124
$INTERNAL_PRESSURE,8.47689
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.1,51.5
$24V_AH,23.9,8.305
$10V_AH,10.1,7.257
$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,31.025,35.825,200.775,94.575,0.000,198.590,340.788,472.231,0.500,0.000,4558.000,30.873,496.239,1896.020,390.316,511.400,1164.531,33.339,677.866,0.000,465.092,0.000,5.485
$DEVICE_MAMPS,206.323,82.069,664.989,577.551,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,177.247,0.000,0.000,0.000,0.000,0.000,0.000,4558.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6452,264
$CFSIZE,260034560,254152704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051007,222126,4743.229,-12251.098,40,1.4,41,18.3