version: 66.02
glider: 107
mission: 8
dive: 10
start: 9 21 107 7 42 45
data:
$ID,107
$MISSION,8
$DIVE,10
$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,400
$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,-13110.581
$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,22
$R_STBD_OVSHOOT,23
$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
$GPS1,073657,4739.212,-12253.389,13,1.9,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-58.6
$GPS2,074141,4739.215,-12253.360,11,7.1,30,18.3
$SPEED_LIMITS,0.144,0.204
$TGT_NAME,H4
$TGT_LATLONG,4739.000,-12253.603
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.104,-0.176
$KALMAN_X,542.0,236.1,-53.6,-1331.8,-47.4
$KALMAN_Y,944.1,265.4,95.4,-1514.5,29.2
$MHEAD_RNG_PITCHd_Wd,192.3,500,-19.3,-8.333
$D_GRID,130
$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,-97.8,0.0,0.0,0,81,0.00,0.00,-55.58,0.000,2,0.000,0.000,358,1998,2897
$GC,84,-1.60,-97.8,2.1,-4.0,9,139,11.30,2.62,-36.85,0.000,4,0.161,0.071,2374,3407,3813
$GC,389,-1.60,-97.8,26.5,-9.0,50,397,0.00,2.53,0.00,0.000,6,0.000,0.040,2374,1998,3815
$GC,585,-1.60,-97.8,43.2,-9.1,66,590,0.00,2.60,0.00,0.000,4,0.000,0.060,2374,3403,3815
$GC,731,-1.60,-97.8,55.9,-9.3,77,735,0.00,2.47,0.00,0.000,6,0.000,0.041,2374,2000,3815
$GC,925,-1.60,-97.8,72.5,-8.6,92,930,0.00,2.58,0.00,0.000,4,0.000,0.061,2374,3407,3815
$GC,965,-1.60,-97.8,76.1,-9.4,95,969,0.00,2.50,0.00,0.000,6,0.000,0.042,2374,1994,3815
$GC,1167,-1.60,-97.8,93.7,-8.3,111,1171,0.00,2.60,0.00,0.000,4,0.000,0.065,2375,3409,3815
$STATE,1243,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1243,begin apogee
$GC,1249,-0.38,0.0,100.2,8.2,116,1328,1.35,0.00,74.38,0.568,6,0.117,0.000,2638,2419,3415
$STATE,1329,end apogee,CONTROL_FINISHED_OK
$STATE,1329,begin climb
$GC,1331,1.60,97.8,102.2,0.0,123,1412,2.12,0.00,73.25,0.564,6,0.082,0.000,3080,2418,3015
$GC,1600,1.65,134.3,86.9,6.2,145,1637,0.00,2.70,26.73,0.562,4,0.000,0.067,3080,1011,2867
$GC,1716,1.65,134.3,77.7,9.1,154,1720,0.00,2.50,0.00,0.000,6,0.000,0.042,3080,2420,2866
$GC,1911,1.66,144.8,62.4,7.7,169,1924,0.00,2.62,7.65,0.570,4,0.000,0.065,3080,1010,2823
$GC,1982,1.66,148.5,56.7,8.1,174,1991,0.00,2.50,2.55,0.595,6,0.000,0.040,3080,2413,2809
$GC,2179,1.67,156.9,41.3,7.9,190,2192,0.00,2.60,5.78,0.567,4,0.000,0.064,3080,1013,2775
$GC,2263,1.68,165.4,34.5,7.8,196,2275,0.00,2.50,6.35,0.556,6,0.000,0.039,3080,2419,2739
$GC,2467,1.70,179.3,18.2,7.5,214,2480,0.00,0.00,9.52,0.541,6,0.000,0.000,3079,2418,2684
$GC,2546,1.71,185.6,12.1,8.0,226,2553,0.00,0.00,4.60,0.555,6,0.000,0.000,3080,2418,2658
$GC,2619,1.76,225.7,7.5,6.0,237,2656,0.15,2.62,29.05,0.517,4,0.065,0.063,3118,1016,2495
$STATE,2700,end climb,SURFACE_DEPTH_REACHED
$STATE,2700,begin surface coast
$FINISH,0.3,1.008238
$STATE,2728,end surface coast,CONTROL_FINISHED_OK
$STATE,2728,begin surface
$SM_CCo,2753,91.80,0.499,0,0,1783,400.08
$SM_GC,1.08,0.00,0.00,91.80,0.000,0.000,0.499,360,2017,1783,-10.90,0.45,400.08
$IRIDIUM_FIX,4722.92,-12256.21,210907,101045
$TT8_MAMPS,0.0767
$HUMID,2138
$INTERNAL_PRESSURE,8.52572
$TCM_TEMP,19.80
$XPDR_PINGS,1
$ALTIM_TOP_PING,9.9,9.4
$ALTIM_BOTTOM_PING,75.5,76.2
$24V_AH,23.7,16.103
$10V_AH,9.5,10.520
$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,27.275,39.425,239.850,91.800,0.000,33.503,37.215,103.401,0.750,58.100,3158.900,31.636,471.342,1484.259,434.023,497.185,269.152,33.338,724.100,0.000,461.319,0.000,4.172
$DEVICE_MAMPS,161.070,70.564,595.192,498.550,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,168.881,0.000,0.000,0.000,0.000,0.000,0.000,3217.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,19.871,51.000
$DATA_FILE_SIZE,6460,254
$CFSIZE,260034560,256471040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210907,083057,4739.050,-12253.590,13,1.8,13,18.3