version: 66.02
glider: 107
mission: 8
dive: 3
start: 9 21 107 1 13 53
data:
$ID,107
$MISSION,8
$DIVE,3
$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,-12930.998
$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,27
$R_STBD_OVSHOOT,25
$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
$GPS1,010803,4739.104,-12252.177,13,1.8,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-57.1
$GPS2,011251,4739.105,-12252.143,12,1.8,12,18.3
$SPEED_LIMITS,0.144,0.204
$TGT_NAME,H1
$TGT_LATLONG,4739.000,-12252.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.052,-0.135
$KALMAN_X,136.3,117.7,108.8,546.6,99.7
$KALMAN_Y,18.4,20.1,20.7,-471.9,14.3
$MHEAD_RNG_PITCHd_Wd,140.7,264,-27.6,-8.333
$D_GRID,127
$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,-2.18,-48.1,0.0,0.0,0,94,0.00,0.00,-67.57,0.000,2,0.000,0.000,358,1982,2922
$GC,97,-2.24,-90.0,2.1,-3.5,11,152,10.30,2.55,-36.65,0.000,4,0.153,0.081,2238,602,3784
$GC,401,-2.24,-90.0,33.4,-11.2,49,409,0.00,2.45,0.00,0.000,6,0.000,0.035,2239,2002,3785
$GC,598,-2.24,-90.0,54.9,-11.2,65,603,0.00,2.62,0.00,0.000,4,0.000,0.071,2239,602,3785
$GC,637,-2.24,-90.0,59.7,-12.6,68,642,0.00,2.45,0.00,0.000,6,0.000,0.038,2239,1998,3785
$GC,965,-2.24,-90.0,98.5,-11.5,94,970,0.00,2.58,0.00,0.000,4,0.000,0.065,2240,3409,3785
$STATE,977,end dive,TARGET_DEPTH_EXCEEDED
$STATE,977,begin apogee
$GC,983,-0.38,0.0,100.1,11.4,95,1056,2.08,0.00,68.55,0.555,6,0.119,0.000,2644,2415,3414
$STATE,1057,end apogee,CONTROL_FINISHED_OK
$STATE,1057,begin climb
$GC,1059,2.24,90.0,102.9,0.0,101,1136,2.80,2.65,66.68,0.551,4,0.081,0.067,3218,1022,3046
$GC,1302,2.24,90.0,85.4,8.7,120,1307,0.00,2.50,0.00,0.000,6,0.000,0.044,3218,2425,3045
$GC,1630,2.24,90.0,56.8,8.8,146,1634,0.00,2.60,0.00,0.000,4,0.000,0.064,3218,1011,3045
$GC,1768,2.24,92.1,44.4,8.1,156,1775,0.00,2.50,0.00,0.000,6,0.000,0.041,3218,2414,3045
$GC,1964,2.24,92.1,27.8,8.3,172,1965,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,2414,3045
$GC,2158,2.24,95.1,11.9,8.0,194,2166,0.00,2.70,3.03,0.565,4,0.000,0.074,3218,3818,3027
$GC,2225,2.27,114.4,7.2,6.1,204,2244,0.00,2.45,13.75,0.520,6,0.000,0.037,3218,2413,2947
$GC,2311,2.33,169.3,4.2,2.0,217,2354,0.00,2.60,36.28,0.502,4,0.000,0.065,3218,1014,2722
$STATE,2417,end climb,SURFACE_DEPTH_REACHED
$STATE,2417,begin surface coast
$FINISH,0.3,1.020849
$STATE,2524,end surface coast,CONTROL_FINISHED_OK
$STATE,2524,begin surface
$SM_CCo,2550,142.20,0.486,0,0,1580,450.13
$SM_GC,0.95,0.00,0.00,142.20,0.000,0.000,0.486,361,2004,1580,-10.90,0.11,450.13
$IRIDIUM_FIX,4719.74,-12251.79,210907,050535
$TT8_MAMPS,0.075933
$HUMID,2117
$INTERNAL_PRESSURE,8.54525
$TCM_TEMP,19.90
$XPDR_PINGS,1
$ALTIM_TOP_PING,9.7,9.1
$ALTIM_BOTTOM_PING,76.2,67.6
$24V_AH,23.7,15.515
$10V_AH,9.6,10.030
$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,27.925,34.100,188.275,142.200,0.000,0.000,0.000,0.000,0.750,37.350,2661.650,12.502,450.278,1372.299,433.872,450.636,65.206,31.407,706.050,0.000,443.827,0.000,4.160
$DEVICE_MAMPS,153.400,80.535,564.512,486.278,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,166.254,0.000,0.000,0.000,0.000,0.000,0.000,2699.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,19.871,51.000
$DATA_FILE_SIZE,6438,250
$CFSIZE,260034560,256692224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210907,015953,4739.001,-12251.959,14,2.3,33,18.3