version: 66.02
glider: 106
mission: 8
dive: 91
start: 10 5 107 22 44 27
data:
$ID,106
$MISSION,8
$DIVE,91
$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,609.0799
$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,-49679.516
$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,41
$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
$GPS1,222126,4743.229,-12251.098,40,1.4,41,18.3
$_CALLS,5
$_XMS_NAKs,9
$_XMS_TOUTs,4
$_SM_DEPTHo,0.41
$_SM_ANGLEo,-63.0
$GPS2,224321,4743.218,-12251.063,10,1.7,10,18.3
$SPEED_LIMITS,0.193,0.217
$TGT_NAME,ctd1
$TGT_LATLONG,4743.140,-12251.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.077,-0.177
$KALMAN_X,3096.7,95.9,23.2,-866.7,28.5
$KALMAN_Y,1858.2,191.7,22.3,4841.7,-23.0
$MHEAD_RNG_PITCHd_Wd,138.1,165,-16.6,-7.037
$D_GRID,165
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-1.39,-97.8,0.0,0.0,0,102,0.00,0.00,-73.72,0.000,2,0.000,0.000,462,1808,3463
$GC,106,-1.43,-127.1,2.0,-4.8,12,137,14.68,2.70,-6.97,0.000,4,0.205,0.082,2781,404,3739
$GC,387,-1.43,-127.1,22.8,-6.1,51,394,0.00,2.45,0.00,0.000,6,0.000,0.032,2781,1799,3740
$GC,583,-1.43,-127.1,33.5,-5.5,67,584,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1799,3741
$GC,774,-1.43,-127.1,43.5,-5.1,82,778,0.00,2.50,0.00,0.000,4,0.000,0.050,2781,3198,3740
$GC,820,-1.43,-127.1,46.1,-5.7,85,824,0.00,2.45,0.00,0.000,6,0.000,0.035,2781,1801,3741
$GC,1015,-1.43,-127.1,56.3,-5.4,100,1019,0.00,2.50,0.00,0.000,4,0.000,0.048,2781,3195,3742
$GC,1061,-1.43,-127.1,59.1,-6.1,103,1065,0.00,2.45,0.00,0.000,6,0.000,0.035,2781,1798,3741
$GC,1256,-1.43,-127.1,70.3,-5.7,118,1260,0.00,2.50,0.00,0.000,4,0.000,0.048,2781,3191,3741
$GC,1289,-1.43,-127.1,72.2,-6.0,120,1293,0.00,2.45,0.00,0.000,6,0.000,0.035,2781,1791,3741
$GC,1484,-1.43,-127.1,83.6,-5.8,135,1485,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1791,3741
$GC,1675,-1.43,-127.1,94.2,-5.4,150,1679,0.00,2.50,0.00,0.000,4,0.000,0.048,2781,3192,3741
$STATE,1692,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1692,begin apogee
$GC,1699,-0.38,0.0,95.2,5.2,151,1805,1.10,0.00,101.40,0.665,6,0.094,0.000,3008,1725,3218
$STATE,1805,end apogee,CONTROL_FINISHED_OK
$STATE,1806,begin climb
$GC,1808,1.43,127.1,96.5,0.0,160,1919,1.83,2.72,99.10,0.636,4,0.053,0.077,3413,334,2698
$GC,1958,1.43,127.1,84.5,10.8,172,1962,0.00,2.47,0.00,0.000,6,0.000,0.035,3413,1741,2697
$GC,2160,1.43,127.1,63.8,9.9,188,2164,0.00,2.53,0.00,0.000,4,0.000,0.051,3413,3136,2697
$GC,2185,1.43,127.1,61.3,10.1,189,2192,0.00,2.53,0.00,0.000,6,0.000,0.037,3413,1738,2696
$GC,2381,1.43,127.1,41.8,10.0,205,2383,0.00,0.00,0.00,0.000,6,0.000,0.000,3413,1738,2696
$GC,2572,1.43,127.1,22.8,10.0,220,2573,0.00,0.00,0.00,0.000,6,0.000,0.000,3413,1738,2696
$STATE,2765,end climb,SURFACE_DEPTH_REACHED
$STATE,2766,begin surface coast
$FINISH,-0.3,1.021797
$STATE,2846,end surface coast,CONTROL_FINISHED_OK
$STATE,2846,begin surface
$SM_CCo,2873,213.27,0.563,0,0,736,609.08
$SM_GC,0.30,0.00,0.00,213.27,0.000,0.000,0.563,460,1802,736,-12.14,0.03,609.08
$IRIDIUM_FIX,4726.11,-12250.84,061007,020208
$TT8_MAMPS,0.06903
$HUMID,2088
$INTERNAL_PRESSURE,8.38899
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.2,51.7
$24V_AH,23.9,8.432
$10V_AH,10.1,7.352
$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,31.000,35.475,200.500,213.275,0.000,191.856,174.098,560.384,0.500,0.000,4423.000,10.457,488.363,1881.734,502.950,460.577,1094.931,33.332,780.285,0.000,443.924,0.000,5.484
$DEVICE_MAMPS,204.789,82.069,664.989,562.978,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,174.076,0.000,0.000,0.000,0.000,0.000,0.000,4423.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6454,259
$CFSIZE,260034560,254103552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051007,233639,4742.947,-12250.916,11,1.9,11,18.3