version: 66.02
glider: 107
mission: 8
dive: 4
start: 9 21 107 2 6 41
data:
$ID,107
$MISSION,8
$DIVE,4
$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,-12961.227
$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,24
$R_STBD_OVSHOOT,27
$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
$GPS1,015953,4739.001,-12251.959,14,2.3,33,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-56.6
$GPS2,020537,4739.003,-12251.944,12,1.3,28,18.3
$SPEED_LIMITS,0.144,0.204
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.135,0.153
$KALMAN_X,195.4,160.3,129.3,674.2,70.3
$KALMAN_Y,67.0,64.4,43.1,-781.1,17.8
$MHEAD_RNG_PITCHd_Wd,300.2,1031,-19.3,-8.333
$D_GRID,128
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-1.60,-97.8,0.0,0.0,0,92,0.00,0.00,-66.70,0.000,2,0.000,0.000,361,2005,2899
$GC,95,-1.60,-97.8,2.2,-4.5,11,150,11.15,2.55,-36.42,0.000,4,0.156,0.071,2377,3398,3815
$GC,235,-1.60,-97.8,12.6,-8.7,33,242,0.00,2.47,0.00,0.000,6,0.000,0.038,2377,1984,3815
$GC,307,-1.60,-97.8,18.8,-8.9,44,314,0.00,2.58,0.00,0.000,4,0.000,0.058,2377,3400,3816
$GC,346,-1.60,-97.8,22.2,-8.4,49,351,0.00,2.45,0.00,0.000,6,0.000,0.038,2377,1995,3815
$GC,548,-1.60,-97.8,38.5,-8.2,65,552,0.00,2.55,0.00,0.000,4,0.000,0.059,2377,3398,3816
$GC,579,-1.60,-97.8,41.2,-8.9,67,587,0.00,2.47,0.00,0.000,6,0.000,0.039,2377,2000,3816
$GC,776,-1.60,-97.8,57.1,-8.2,83,780,0.00,2.55,0.00,0.000,4,0.000,0.061,2377,3398,3816
$GC,847,-1.60,-97.8,63.6,-9.1,88,855,0.00,2.47,0.00,0.000,6,0.000,0.041,2377,2004,3816
$GC,1043,-1.60,-97.8,81.0,-8.6,104,1048,0.00,2.60,0.00,0.000,4,0.000,0.063,2377,3397,3816
$GC,1135,-1.60,-97.8,89.2,-8.4,111,1140,0.00,2.53,0.00,0.000,6,0.000,0.042,2377,2002,3816
$STATE,1260,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1260,begin apogee
$GC,1266,-0.38,0.0,100.2,8.9,121,1347,1.35,0.00,74.57,0.565,6,0.110,0.000,2641,2420,3414
$STATE,1348,end apogee,CONTROL_FINISHED_OK
$STATE,1348,begin climb
$GC,1350,1.60,97.8,102.7,0.0,128,1435,2.05,2.70,72.47,0.558,4,0.082,0.067,3080,1011,3016
$GC,1466,1.66,144.6,98.2,5.7,137,1511,0.00,2.53,34.60,0.558,6,0.000,0.043,3079,2413,2824
$GC,1699,1.67,151.4,80.6,7.9,156,1712,0.00,2.65,4.75,0.584,4,0.000,0.066,3079,1014,2796
$GC,1770,1.67,151.4,74.6,8.7,161,1778,0.00,2.53,0.00,0.000,6,0.000,0.043,3079,2419,2796
$GC,1967,1.67,156.9,59.3,8.0,177,1972,0.00,0.00,3.80,0.584,6,0.000,0.000,3079,2419,2775
$GC,2155,1.69,170.8,45.0,7.5,192,2172,0.00,2.62,10.07,0.552,4,0.000,0.064,3080,1016,2718
$GC,2312,1.69,171.1,31.9,8.3,204,2316,0.00,2.47,0.00,0.000,6,0.000,0.041,3080,2421,2717
$GC,2510,1.70,181.9,16.0,7.7,223,2524,0.00,2.60,7.90,0.544,4,0.000,0.063,3079,1012,2673
$GC,2583,1.71,185.9,10.5,8.1,234,2592,0.00,2.50,2.70,0.571,6,0.000,0.041,3080,2421,2656
$GC,2658,1.75,217.5,5.4,6.5,245,2689,0.15,2.62,22.65,0.517,4,0.064,0.064,3122,1007,2528
$STATE,2721,end climb,SURFACE_DEPTH_REACHED
$STATE,2721,begin surface coast
$FINISH,0.8,1.020664
$STATE,2742,end surface coast,CONTROL_FINISHED_OK
$STATE,2743,begin surface
$SM_CCo,2768,118.28,0.495,0,0,1579,450.13
$SM_GC,0.97,0.00,0.00,118.28,0.000,0.000,0.495,360,2006,1579,-10.90,0.17,450.13
$IRIDIUM_FIX,4722.92,-12253.53,210907,050538
$TT8_MAMPS,0.075933
$HUMID,2122
$INTERNAL_PRESSURE,8.50619
$TCM_TEMP,19.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,10.0,9.4
$ALTIM_BOTTOM_PING,75.5,64.3
$24V_AH,23.1,15.605
$10V_AH,9.6,10.101
$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,26.975,50.975,233.525,118.275,0.000,40.732,37.375,150.827,0.500,66.420,3318.580,29.600,478.778,1468.913,478.531,498.284,333.514,32.327,784.599,0.000,464.573,0.000,4.171
$DEVICE_MAMPS,155.701,71.331,583.687,494.715,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,171.175,0.000,0.000,0.000,0.000,0.000,0.000,3385.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,19.871,51.000
$DATA_FILE_SIZE,6446,258
$CFSIZE,260034560,256663552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,210907,025533,4739.319,-12252.072,12,1.7,12,18.3