version: 66.02
glider: 107
mission: 8
dive: 2
start: 9 21 107 0 3 6
data:
$ID,107
$MISSION,8
$DIVE,2
$D_SURF,2
$D_FLARE,2
$D_TGT,100
$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,40
$T_MISSION,60
$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,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51588
$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,450
$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,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-12885.298
$T_RSLEEP,5
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,363
$PITCH_MAX,3698
$C_PITCH,2730
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,13
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,152
$ROLL_MAX,3928
$C_ROLL_DIVE,2000
$C_ROLL_CLIMB,2420
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,679
$VBD_MAX,4028
$C_VBD,3415
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-10.282682
$PRESSURE_SLOPE,0.0001156423
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,25
$ALTIM_TOP_PING_RANGE,10
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,12
$ALTIM_PULSE,1
$ALTIM_SENSITIVITY,4
$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,0.004345139
$SEABIRD_T_H,0.00064258272
$SEABIRD_T_I,2.3711646e-05
$SEABIRD_T_J,2.2769887e-06
$SEABIRD_C_G,-10.006271
$SEABIRD_C_H,1.1385506
$SEABIRD_C_I,-0.0022333476
$SEABIRD_C_J,0.00024018179
$GPS1,235617,4739.311,-12252.632,12,2.6,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-49.7
$GPS2,000205,4739.322,-12252.593,12,2.3,31,18.3
$SPEED_LIMITS,0.144,0.204
$TGT_NAME,H1
$TGT_LATLONG,4739.000,-12252.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.128,-0.160
$KALMAN_X,39.6,39.6,39.6,227.9,101.9
$KALMAN_Y,22.4,22.4,22.4,-82.9,57.6
$MHEAD_RNG_PITCHd_Wd,123.1,950,-19.3,-8.333
$D_GRID,124
$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,-1.60,-97.8,0.0,0.0,0,130,0.00,0.00,-103.47,0.000,2,0.000,0.000,358,1994,3057
$GC,133,-1.60,-97.8,2.2,-4.0,17,188,11.02,2.60,-34.53,0.000,4,0.152,0.077,2376,599,3814
$GC,287,-1.60,-97.8,12.5,-8.8,41,294,0.00,2.42,0.00,0.000,6,0.000,0.035,2376,2012,3815
$GC,359,-1.60,-97.8,18.0,-7.4,52,366,0.00,2.50,0.00,0.000,4,0.000,0.059,2376,3397,3815
$GC,504,-1.60,-97.8,29.6,-8.3,66,508,0.00,2.45,0.00,0.000,6,0.000,0.039,2376,2009,3815
$GC,706,-1.60,-97.8,46.2,-8.3,82,710,0.00,2.53,0.00,0.000,4,0.000,0.061,2376,3397,3815
$GC,856,-1.60,-97.8,58.8,-8.5,93,864,0.00,2.47,0.00,0.000,6,0.000,0.041,2376,2000,3815
$GC,1179,-1.60,-97.8,85.4,-8.9,119,1183,0.00,2.55,0.00,0.000,4,0.000,0.064,2376,3397,3815
$GC,1290,-1.60,-97.8,95.3,-8.7,127,1295,0.00,2.47,0.00,0.000,6,0.000,0.044,2376,2006,3815
$STATE,1352,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1352,begin apogee
$GC,1358,-0.38,0.0,100.7,8.5,132,1439,1.33,0.00,73.55,0.555,6,0.104,0.000,2643,2408,3414
$STATE,1440,end apogee,CONTROL_FINISHED_OK
$STATE,1440,begin climb
$GC,1442,1.60,97.8,103.7,0.0,139,1523,2.08,0.00,72.53,0.546,6,0.076,0.000,3082,2408,3015
$GC,1839,1.65,136.6,82.0,6.1,171,1875,0.00,2.62,28.27,0.544,4,0.000,0.065,3082,1013,2857
$GC,2007,1.67,150.1,69.8,7.6,184,2023,0.00,2.50,9.65,0.551,6,0.000,0.044,3082,2433,2802
$GC,2347,1.67,155.8,42.7,8.0,211,2360,0.00,2.67,3.78,0.565,4,0.000,0.063,3082,1010,2778
$GC,2444,1.68,158.1,34.9,8.2,218,2453,0.00,2.50,1.45,0.599,6,0.000,0.041,3082,2411,2770
$GC,2641,1.69,172.1,19.8,7.5,234,2654,0.00,0.00,10.05,0.532,6,0.000,0.000,3082,2411,2712
$GC,2720,1.71,184.5,13.7,7.6,246,2732,0.00,0.00,8.55,0.528,6,0.000,0.000,3082,2411,2662
$GC,2798,1.72,195.4,7.3,7.7,258,2812,0.10,2.65,7.65,0.528,4,0.077,0.062,3108,1011,2617
$GC,2844,1.74,208.0,3.7,7.6,265,2863,0.00,2.50,9.25,0.522,6,0.000,0.041,3107,2431,2565
$STATE,2880,end climb,SURFACE_DEPTH_REACHED
$STATE,2880,begin surface coast
$FINISH,0.4,1.001812
$STATE,2928,end surface coast,CONTROL_FINISHED_OK
$STATE,2928,begin surface
$SM_CCo,2953,118.30,0.486,0,0,1580,450.13
$SM_GC,1.12,0.00,0.00,118.30,0.000,0.000,0.486,358,1983,1580,-10.91,-0.48,450.13
$IRIDIUM_FIX,4722.92,-12254.47,210907,030321
$TT8_MAMPS,0.073632
$HUMID,2087
$INTERNAL_PRESSURE,8.52572
$TCM_TEMP,19.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,9.4,9.2
$ALTIM_BOTTOM_PING,75.5,70.3
$24V_AH,23.7,15.426
$10V_AH,9.7,9.949
$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,26.725,37.000,224.725,118.300,0.000,0.000,0.000,0.000,0.500,20.760,3099.240,32.399,493.850,1586.210,495.040,523.569,72.610,30.182,805.086,0.000,497.642,0.000,4.169
$DEVICE_MAMPS,151.866,77.467,599.027,485.511,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,184.216,0.000,0.000,0.000,0.000,0.000,0.000,3120.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,19.871,51.000
$DATA_FILE_SIZE,6433,278
$CFSIZE,260034560,256712704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,210907,005503,4739.107,-12252.273,13,1.9,13,18.3