version: 66.02
glider: 106
mission: 8
dive: 66
start: 10 4 107 18 49 27
data:
$ID,106
$MISSION,8
$DIVE,66
$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,-49169.973
$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,20
$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
$GPS1,182705,4743.652,-12250.795,13,2.1,32,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.24
$_SM_ANGLEo,-62.0
$GPS2,184821,4743.553,-12250.792,11,1.9,11,18.3
$SPEED_LIMITS,0.193,0.217
$TGT_NAME,6_EC
$TGT_LATLONG,4743.563,-12250.725
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.180,0.070
$KALMAN_X,4997.8,26.5,31.6,-2366.1,-22.5
$KALMAN_Y,4786.7,-162.9,-63.0,2978.8,-27.2
$MHEAD_RNG_PITCHd_Wd,50.4,86,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-1.39,-97.8,0.0,0.0,0,119,0.00,0.00,-90.57,0.000,6,0.000,0.000,461,1802,3617
$GC,123,-1.43,-127.1,2.2,-4.5,15,148,14.70,2.53,-2.78,0.000,4,0.205,0.061,2781,3194,3739
$GC,400,-1.43,-127.1,24.3,-6.0,52,404,0.00,2.45,0.00,0.000,6,0.000,0.036,2781,1797,3741
$GC,595,-1.43,-127.1,34.4,-5.3,67,599,0.00,2.53,0.00,0.000,4,0.000,0.047,2781,3204,3741
$GC,792,-1.43,-127.1,45.2,-5.6,81,799,0.00,2.50,0.00,0.000,6,0.000,0.035,2782,1799,3741
$GC,989,-1.43,-127.1,55.6,-5.0,97,990,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1798,3742
$GC,1179,-1.43,-127.1,65.7,-5.4,112,1183,0.00,2.50,0.00,0.000,4,0.000,0.048,2782,3195,3742
$GC,1238,-1.43,-127.1,69.1,-5.2,116,1242,0.00,2.45,0.00,0.000,6,0.000,0.036,2781,1796,3742
$GC,1433,-1.43,-127.1,79.6,-5.2,131,1435,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1796,3742
$GC,1624,-1.43,-127.1,90.4,-5.8,146,1625,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1796,3741
$STATE,1709,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1709,begin apogee
$GC,1715,-0.38,0.0,95.3,5.6,153,1820,1.15,0.00,101.05,0.671,6,0.094,0.000,3015,1722,3218
$STATE,1821,end apogee,CONTROL_FINISHED_OK
$STATE,1821,begin climb
$GC,1823,1.43,127.1,96.4,0.0,162,1930,1.83,2.75,98.32,0.641,4,0.052,0.079,3416,340,2699
$GC,1955,1.43,127.1,86.8,10.7,173,1959,0.00,2.45,0.00,0.000,6,0.000,0.033,3416,1738,2698
$GC,2157,1.43,127.1,65.9,10.6,189,2159,0.00,0.00,0.00,0.000,6,0.000,0.000,3416,1739,2697
$GC,2348,1.43,127.1,46.4,10.3,204,2350,0.00,0.00,0.00,0.000,6,0.000,0.000,3416,1739,2697
$GC,2537,1.43,127.1,27.6,9.8,219,2542,0.00,2.67,0.00,0.000,4,0.000,0.074,3415,338,2697
$GC,2569,1.43,127.1,24.1,11.3,221,2574,0.00,2.45,0.00,0.000,6,0.000,0.034,3416,1742,2697
$GC,2772,1.43,127.1,5.6,8.1,248,2779,0.00,2.67,0.00,0.000,4,0.000,0.076,3415,334,2696
$STATE,2783,end climb,SURFACE_DEPTH_REACHED
$STATE,2783,begin surface coast
$FINISH,-0.4,1.000464
$STATE,2857,end surface coast,CONTROL_FINISHED_OK
$STATE,2857,begin surface
$SM_CCo,2884,116.53,0.578,0,0,1587,400.08
$SM_GC,0.28,0.00,0.00,116.53,0.000,0.000,0.578,464,1809,1587,-12.13,0.25,400.08
$IRIDIUM_FIX,4726.11,-12252.58,041007,222240
$TT8_MAMPS,0.069797
$HUMID,2132
$INTERNAL_PRESSURE,8.45736
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.4,52.4
$24V_AH,23.9,5.987
$10V_AH,10.1,5.234
$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,31.000,30.675,199.375,116.525,0.000,196.681,192.966,505.037,0.500,0.000,4411.000,11.625,487.166,1878.880,420.807,472.607,1045.328,33.337,688.754,0.000,445.949,0.000,5.486
$DEVICE_MAMPS,204.789,79.001,671.125,578.318,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,175.299,0.000,0.000,0.000,0.000,0.000,0.000,4411.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6449,261
$CFSIZE,260034560,254943232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041007,194015,4743.550,-12250.425,12,1.7,13,18.3