version: 66.02
glider: 106
mission: 8
dive: 101
start: 10 6 107 9 15 33
data:
$ID,106
$MISSION,8
$DIVE,101
$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,-49935.5
$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,28
$R_STBD_OVSHOOT,38
$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
$GPS1,090441,4743.611,-12250.666,9,2.9,28,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.39
$_SM_ANGLEo,-63.3
$GPS2,091428,4743.618,-12250.641,10,4.6,29,18.3
$SPEED_LIMITS,0.193,0.217
$TGT_NAME,6_EC
$TGT_LATLONG,4743.563,-12250.725
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.158,-0.111
$KALMAN_X,3394.4,49.0,22.2,-589.0,39.2
$KALMAN_Y,1741.7,-102.9,-17.4,6032.8,-0.1
$MHEAD_RNG_PITCHd_Wd,216.5,146,-16.6,-7.037
$D_GRID,168
$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,-73.15,0.000,2,0.000,0.000,461,1799,3444
$GC,104,-1.43,-127.1,2.1,-5.0,12,135,14.90,2.55,-7.30,0.000,4,0.210,0.061,2784,3188,3739
$GC,385,-1.43,-127.1,23.6,-6.6,51,393,0.00,2.47,0.00,0.000,6,0.000,0.035,2783,1807,3741
$GC,582,-1.43,-127.1,32.9,-4.8,67,583,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1807,3741
$GC,773,-1.43,-127.1,42.9,-5.3,82,774,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1807,3741
$GC,961,-1.43,-127.1,52.7,-5.3,97,962,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1806,3741
$GC,1153,-1.43,-127.1,62.8,-5.2,112,1157,0.00,2.50,0.00,0.000,4,0.000,0.048,2783,3194,3741
$GC,1204,-1.43,-127.1,65.9,-5.8,115,1211,0.00,2.50,0.00,0.000,6,0.000,0.036,2783,1795,3741
$GC,1401,-1.43,-127.1,76.2,-5.2,131,1402,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1795,3741
$GC,1591,-1.43,-127.1,86.2,-5.2,146,1595,0.00,2.50,0.00,0.000,4,0.000,0.048,2783,3192,3741
$GC,1657,-1.43,-127.1,90.0,-5.7,151,1661,0.00,2.45,0.00,0.000,6,0.000,0.036,2783,1800,3741
$STATE,1749,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1749,begin apogee
$GC,1754,-0.38,0.0,95.1,5.4,158,1860,1.15,0.00,100.97,0.671,6,0.100,0.000,3014,1726,3218
$STATE,1861,end apogee,CONTROL_FINISHED_OK
$STATE,1861,begin climb
$GC,1864,1.43,127.1,96.6,0.0,167,1968,1.83,0.00,99.10,0.640,6,0.054,0.000,3415,1726,2699
$GC,2157,1.43,127.1,71.2,10.3,191,2158,0.00,0.00,0.00,0.000,6,0.000,0.000,3415,1726,2697
$GC,2347,1.43,127.1,51.7,10.4,206,2348,0.00,0.00,0.00,0.000,6,0.000,0.000,3415,1726,2697
$GC,2537,1.43,127.1,32.3,10.3,221,2538,0.00,0.00,0.00,0.000,6,0.000,0.000,3415,1726,2697
$GC,2728,1.43,127.1,13.4,10.0,241,2734,0.00,2.67,0.00,0.000,4,0.000,0.080,3415,333,2697
$GC,2767,1.43,127.1,9.7,9.3,247,2773,0.00,2.45,0.00,0.000,6,0.000,0.034,3415,1741,2696
$STATE,2830,end climb,SURFACE_DEPTH_REACHED
$STATE,2830,begin surface coast
$FINISH,-0.2,1.021976
$STATE,2911,end surface coast,CONTROL_FINISHED_OK
$STATE,2911,begin surface
$SM_CCo,2938,94.75,0.584,0,0,1791,350.04
$SM_GC,0.34,0.00,0.00,94.75,0.000,0.000,0.584,462,1807,1791,-12.13,0.20,350.04
$IRIDIUM_FIX,4729.30,-12252.58,061007,131335
$TT8_MAMPS,0.069797
$HUMID,2135
$INTERNAL_PRESSURE,8.47689
$TCM_TEMP,19.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.0,51.7
$24V_AH,23.9,9.239
$10V_AH,10.1,8.139
$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,31.300,20.300,200.075,94.750,0.000,75.094,147.099,166.816,0.500,0.000,3747.000,30.762,494.452,1772.696,392.674,470.447,516.107,33.335,649.171,0.000,428.178,0.000,5.485
$DEVICE_MAMPS,210.158,82.836,671.125,583.687,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,180.772,0.000,0.000,0.000,0.000,0.000,0.000,3747.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6464,269
$CFSIZE,260034560,253804544
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061007,100707,4743.487,-12250.980,11,1.4,27,18.3