version: 66.02
glider: 106
mission: 8
dive: 75
start: 10 5 107 5 43 40
data:
$ID,106
$MISSION,8
$DIVE,75
$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,-49326.621
$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,37
$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
$GPS1,052723,4743.420,-12250.969,10,3.8,29,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.22
$_SM_ANGLEo,-57.0
$GPS2,054235,4743.336,-12251.053,11,2.5,30,18.3
$SPEED_LIMITS,0.193,0.217
$TGT_NAME,ctd1
$TGT_LATLONG,4743.140,-12251.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.039,-0.189
$KALMAN_X,3918.6,-210.4,-88.0,-1252.4,-15.9
$KALMAN_Y,2449.4,-354.7,-169.2,5208.6,19.6
$MHEAD_RNG_PITCHd_Wd,150.1,369,-16.6,-7.037
$D_GRID,164
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.39,-97.8,0.0,0.0,0,150,0.00,0.00,-122.38,0.000,2,0.000,0.000,462,1812,3523
$GC,153,-1.43,-127.1,2.1,-5.0,20,179,14.80,2.75,-5.05,0.000,4,0.208,0.082,2782,392,3740
$GC,430,-1.43,-127.1,23.9,-5.9,57,434,0.00,2.45,0.00,0.000,6,0.000,0.032,2782,1806,3743
$GC,625,-1.43,-127.1,34.6,-5.2,72,630,0.00,2.65,0.00,0.000,4,0.000,0.068,2782,397,3744
$GC,744,-1.43,-127.1,41.6,-6.0,80,750,0.00,2.42,0.00,0.000,6,0.000,0.032,2782,1802,3743
$GC,939,-1.43,-127.1,52.0,-5.3,96,944,0.00,2.50,0.00,0.000,4,0.000,0.050,2782,3202,3743
$GC,998,-1.43,-127.1,55.4,-6.0,100,1003,0.00,2.47,0.00,0.000,6,0.000,0.036,2781,1793,3744
$GC,1194,-1.43,-127.1,66.2,-5.8,115,1195,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1792,3744
$GC,1386,-1.43,-127.1,77.1,-5.8,130,1390,0.00,2.53,0.00,0.000,4,0.000,0.048,2782,3200,3743
$GC,1424,-1.43,-127.1,79.6,-6.0,132,1431,0.00,2.47,0.00,0.000,6,0.000,0.035,2782,1801,3743
$GC,1620,-1.43,-127.1,90.4,-5.4,148,1622,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1801,3743
$STATE,1706,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1707,begin apogee
$GC,1712,-0.38,0.0,95.1,5.5,155,1818,1.15,0.00,98.93,0.670,6,0.092,0.000,3016,1725,3217
$STATE,1819,end apogee,CONTROL_FINISHED_OK
$STATE,1819,begin climb
$GC,1821,1.43,127.1,96.3,0.0,164,1926,1.80,0.00,98.60,0.640,6,0.049,0.000,3416,1726,2699
$GC,2115,1.43,127.1,71.2,10.3,188,2119,0.00,2.65,0.00,0.000,4,0.000,0.078,3415,340,2700
$GC,2147,1.43,127.1,67.8,10.6,190,2151,0.00,2.42,0.00,0.000,6,0.000,0.034,3415,1734,2700
$GC,2349,1.43,127.1,47.1,10.0,206,2350,0.00,0.00,0.00,0.000,6,0.000,0.000,3415,1736,2701
$GC,2540,1.43,127.1,28.5,9.8,221,2541,0.00,0.00,0.00,0.000,6,0.000,0.000,3415,1736,2700
$GC,2733,1.43,127.1,10.4,7.1,244,2739,0.00,2.67,0.00,0.000,4,0.000,0.074,3416,333,2700
$STATE,2803,end climb,SURFACE_DEPTH_REACHED
$STATE,2803,begin surface coast
$FINISH,1.2,1.022034
$STATE,2850,end surface coast,CONTROL_FINISHED_OK
$STATE,2850,begin surface
$SM_CCo,2879,94.82,0.582,0,0,1791,350.04
$SM_GC,0.31,0.00,0.00,94.82,0.000,0.000,0.582,460,1806,1791,-12.14,0.17,350.04
$IRIDIUM_FIX,4729.30,-12301.43,051007,090920
$TT8_MAMPS,0.069797
$HUMID,2110
$INTERNAL_PRESSURE,8.48665
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.1,52.4
$24V_AH,23.9,6.986
$10V_AH,10.1,6.068
$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,31.525,30.725,197.525,94.825,0.000,74.861,81.505,551.527,0.500,0.000,4131.000,31.498,477.849,1681.999,427.474,482.203,843.810,33.327,699.421,0.000,439.601,0.000,6.990
$DEVICE_MAMPS,207.857,82.069,669.591,582.153,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,175.437,0.000,0.000,0.000,0.000,0.000,0.000,4131.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6425,262
$CFSIZE,260034560,254644224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051007,063402,4743.065,-12250.954,8,1.5,13,18.3