version: 66.02
glider: 106
mission: 8
dive: 96
start: 10 6 107 4 14 41
data:
$ID,106
$MISSION,8
$DIVE,96
$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,-49795.473
$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,19
$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
$GPS1,035923,4743.470,-12250.791,16,2.5,35,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.46
$_SM_ANGLEo,-63.0
$GPS2,041335,4743.455,-12250.736,15,6.2,34,18.3
$SPEED_LIMITS,0.193,0.217
$TGT_NAME,6_EC
$TGT_LATLONG,4743.563,-12250.725
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.006,0.193
$KALMAN_X,3109.8,76.0,-8.0,-420.2,9.0
$KALMAN_Y,1824.8,32.6,-18.8,5513.9,-25.2
$MHEAD_RNG_PITCHd_Wd,343.4,201,-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,-97.8,0.0,0.0,0,99,0.00,0.00,-73.00,0.000,2,0.000,0.000,460,1810,3449
$GC,102,-1.43,-127.1,2.1,-4.7,12,127,14.65,0.00,-7.28,0.000,6,0.204,0.000,2781,1810,3739
$GC,194,-1.43,-127.1,11.4,-8.1,26,200,0.00,2.67,0.00,0.000,4,0.000,0.071,2781,391,3741
$GC,226,-1.43,-127.1,13.8,-7.3,31,232,0.00,2.45,0.00,0.000,6,0.000,0.034,2781,1802,3742
$GC,298,-1.43,-127.1,17.8,-5.3,42,304,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1803,3743
$GC,375,-1.43,-127.1,22.0,-5.3,51,377,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1803,3742
$GC,566,-1.43,-127.1,33.0,-5.6,66,567,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1803,3742
$GC,755,-1.43,-127.1,43.9,-5.8,81,756,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1803,3742
$GC,943,-1.43,-127.1,55.0,-6.1,96,947,0.00,2.47,0.00,0.000,4,0.000,0.049,2781,3191,3742
$GC,1009,-1.43,-127.1,59.0,-6.5,101,1013,0.00,2.47,0.00,0.000,6,0.000,0.036,2781,1785,3742
$GC,1204,-1.43,-127.1,70.4,-5.9,116,1205,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1785,3742
$GC,1395,-1.43,-127.1,81.1,-5.7,131,1396,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1785,3742
$GC,1586,-1.43,-127.1,92.1,-5.8,146,1590,0.00,2.53,0.00,0.000,4,0.000,0.048,2781,3189,3742
$STATE,1629,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1629,begin apogee
$GC,1637,-0.38,0.0,95.1,6.0,149,1743,1.12,0.00,102.30,0.663,6,0.095,0.000,3011,1725,3218
$STATE,1744,end apogee,CONTROL_FINISHED_OK
$STATE,1744,begin climb
$GC,1746,1.43,127.1,96.5,0.0,158,1855,1.83,0.00,100.00,0.634,6,0.054,0.000,3415,1725,2698
$GC,2045,1.43,127.1,70.7,10.1,182,2050,0.00,2.67,0.00,0.000,4,0.000,0.078,3414,327,2698
$GC,2096,1.43,127.1,65.0,10.5,185,2103,0.00,2.47,0.00,0.000,6,0.000,0.034,3415,1727,2698
$GC,2292,1.43,127.1,45.5,10.1,201,2293,0.00,0.00,0.00,0.000,6,0.000,0.000,3415,1728,2698
$GC,2483,1.43,127.1,26.6,10.1,216,2484,0.00,0.00,0.00,0.000,6,0.000,0.000,3415,1728,2698
$GC,2677,1.43,127.1,7.9,8.7,240,2683,0.00,2.67,0.00,0.000,4,0.000,0.075,3415,327,2697
$STATE,2715,end climb,SURFACE_DEPTH_REACHED
$STATE,2715,begin surface coast
$FINISH,-0.4,1.010431
$STATE,2787,end surface coast,CONTROL_FINISHED_OK
$STATE,2787,begin surface
$SM_CCo,2817,94.75,0.578,0,0,1790,350.04
$SM_GC,0.30,0.00,0.00,94.75,0.000,0.000,0.578,463,1809,1790,-12.13,0.25,350.04
$IRIDIUM_FIX,4726.11,-12253.53,061007,080836
$TT8_MAMPS,0.06903
$HUMID,2109
$INTERNAL_PRESSURE,8.47689
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.5,52.1
$24V_AH,23.9,8.848
$10V_AH,10.1,7.761
$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,30.875,25.650,202.300,94.750,0.000,115.661,175.075,292.312,0.500,0.000,3896.000,35.312,480.779,1733.356,386.447,471.640,719.229,33.335,653.064,0.000,423.526,0.000,5.485
$DEVICE_MAMPS,204.022,78.234,663.455,577.551,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,172.530,0.000,0.000,0.000,0.000,0.000,0.000,3896.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6452,257
$CFSIZE,260034560,253956096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061007,050414,4743.741,-12250.667,10,1.7,27,18.3