version: 66.02
glider: 106
mission: 8
dive: 53
start: 10 4 107 4 59 0
data:
$ID,106
$MISSION,8
$DIVE,53
$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,400
$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,-48880.777
$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,25
$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
$GPS1,044147,4743.359,-12250.733,12,3.3,32,18.3
$_CALLS,3
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,0.09
$_SM_ANGLEo,-53.2
$GPS2,045754,4743.414,-12250.694,11,2.5,30,18.3
$SPEED_LIMITS,0.193,0.217
$TGT_NAME,6_EC
$TGT_LATLONG,4743.563,-12250.725
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.045,0.188
$KALMAN_X,4490.8,132.3,-14.5,-1797.0,24.4
$KALMAN_Y,5764.8,69.8,-34.9,1477.5,18.6
$MHEAD_RNG_PITCHd_Wd,328.1,279,-16.6,-7.037
$D_GRID,167
$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,-97.8,0.0,0.0,0,154,0.00,0.00,-127.38,0.000,2,0.000,0.000,462,1814,3546
$GC,157,-1.43,-127.1,2.1,-5.1,21,183,14.57,2.67,-4.78,0.000,4,0.202,0.081,2783,401,3738
$GC,434,-1.43,-127.1,23.8,-5.7,59,439,0.00,2.45,0.00,0.000,6,0.000,0.032,2782,1814,3743
$GC,629,-1.43,-127.1,33.0,-4.7,74,634,0.00,2.67,0.00,0.000,4,0.000,0.069,2782,398,3743
$GC,821,-1.43,-127.1,43.4,-5.4,88,825,0.00,2.42,0.00,0.000,6,0.000,0.032,2783,1803,3743
$GC,1016,-1.43,-127.1,53.9,-5.5,103,1020,0.00,2.50,0.00,0.000,4,0.000,0.050,2782,3195,3743
$GC,1075,-1.43,-127.1,57.2,-5.7,107,1079,0.00,2.45,0.00,0.000,6,0.000,0.036,2783,1799,3743
$GC,1270,-1.43,-127.1,67.0,-4.8,122,1272,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1798,3743
$GC,1461,-1.43,-127.1,76.7,-5.1,137,1466,0.00,2.65,0.00,0.000,4,0.000,0.073,2783,401,3743
$GC,1494,-1.43,-127.1,78.7,-6.2,139,1498,0.00,2.42,0.00,0.000,6,0.000,0.034,2782,1801,3743
$GC,1689,-1.43,-127.1,89.7,-5.5,154,1693,0.00,2.50,0.00,0.000,4,0.000,0.050,2782,3199,3743
$STATE,1785,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1786,begin apogee
$GC,1793,-0.38,0.0,95.3,5.5,161,1898,1.10,0.00,101.10,0.670,6,0.094,0.000,3008,1726,3219
$STATE,1899,end apogee,CONTROL_FINISHED_OK
$STATE,1899,begin climb
$GC,1901,1.43,127.1,96.6,0.0,170,2005,1.83,0.00,98.93,0.647,6,0.055,0.000,3411,1727,2699
$GC,2188,1.43,127.1,71.3,10.5,193,2189,0.00,0.00,0.00,0.000,6,0.000,0.000,3411,1727,2701
$GC,2378,1.43,127.1,52.1,10.1,208,2383,0.00,2.67,0.00,0.000,4,0.000,0.079,3411,330,2702
$GC,2410,1.43,127.1,48.7,10.5,210,2414,0.00,2.45,0.00,0.000,6,0.000,0.035,3411,1732,2702
$GC,2612,1.43,127.1,28.4,10.3,226,2613,0.00,0.00,0.00,0.000,6,0.000,0.000,3411,1733,2702
$GC,2807,1.43,127.1,10.6,7.2,249,2812,0.00,0.00,0.00,0.000,6,0.000,0.000,3411,1735,2701
$GC,2878,1.44,131.6,5.6,6.8,260,2886,0.00,2.75,2.55,0.715,4,0.000,0.075,3411,331,2681
$STATE,2890,end climb,SURFACE_DEPTH_REACHED
$STATE,2890,begin surface coast
$FINISH,-0.5,1.014630
$STATE,2970,end surface coast,CONTROL_FINISHED_OK
$STATE,2970,begin surface
$SM_CCo,2999,115.20,0.583,0,0,1587,400.08
$SM_GC,0.24,0.00,0.00,115.20,0.000,0.000,0.583,462,1815,1587,-12.13,0.45,400.08
$IRIDIUM_FIX,4726.11,-12250.84,041007,080848
$TT8_MAMPS,0.071331
$HUMID,2120
$INTERNAL_PRESSURE,8.46712
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.4,52.1
$24V_AH,23.9,4.783
$10V_AH,10.1,4.199
$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,30.850,35.900,202.575,115.200,0.000,116.878,104.307,472.751,0.500,20.900,4290.100,33.044,504.323,1795.700,440.655,532.650,835.670,33.333,741.808,0.000,485.783,0.000,5.486
$DEVICE_MAMPS,201.721,80.535,714.844,582.920,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,183.795,0.000,0.000,0.000,0.000,0.000,0.000,4311.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6437,274
$CFSIZE,260034560,255356928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041007,055139,4743.623,-12250.868,10,2.0,10,18.3