version: 66.02
glider: 107
mission: 8
dive: 12
start: 9 21 107 9 32 51
data:
$ID,107
$MISSION,8
$DIVE,12
$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,-13163.587
$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,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
$GPS1,092705,4738.870,-12253.261,12,2.8,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-59.3
$GPS2,093145,4738.886,-12253.208,11,1.6,11,18.3
$SPEED_LIMITS,0.144,0.204
$TGT_NAME,H5
$TGT_LATLONG,4738.532,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.006,-0.204
$KALMAN_X,806.3,172.2,-89.1,-1310.8,24.0
$KALMAN_Y,1217.2,222.7,78.2,-2339.5,11.1
$MHEAD_RNG_PITCHd_Wd,163.5,656,-19.2,-8.333
$D_GRID,136
$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,-55.47,0.000,2,0.000,0.000,362,1997,2907
$GC,84,-1.60,-97.8,2.1,-4.8,9,145,11.30,2.60,-41.15,0.000,4,0.158,0.071,2376,3403,3814
$GC,388,-1.60,-97.8,25.3,-8.6,51,396,0.00,2.50,0.00,0.000,6,0.000,0.040,2376,2002,3815
$GC,585,-1.60,-97.8,41.4,-8.0,67,589,0.00,2.58,0.00,0.000,4,0.000,0.060,2376,3407,3815
$GC,709,-1.60,-97.8,52.4,-8.7,76,716,0.00,2.53,0.00,0.000,6,0.000,0.041,2376,1999,3816
$GC,905,-1.60,-97.8,69.2,-8.9,92,909,0.00,2.58,0.00,0.000,4,0.000,0.061,2376,3403,3816
$GC,989,-1.60,-97.8,77.0,-9.0,98,997,0.00,2.50,0.00,0.000,6,0.000,0.041,2376,2001,3816
$GC,1186,-1.60,-97.8,93.9,-8.6,114,1190,0.00,2.60,0.00,0.000,4,0.000,0.061,2376,3403,3816
$STATE,1255,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1255,begin apogee
$GC,1261,-0.38,0.0,100.2,7.9,119,1340,1.33,0.00,74.38,0.577,6,0.117,0.000,2637,2416,3415
$STATE,1341,end apogee,CONTROL_FINISHED_OK
$STATE,1341,begin climb
$GC,1343,1.60,97.8,102.8,0.0,126,1425,2.12,2.70,73.03,0.568,4,0.083,0.072,3078,3822,3015
$GC,1444,1.68,163.2,99.9,4.6,134,1500,0.00,2.47,48.35,0.565,6,0.000,0.035,3078,2415,2748
$GC,1688,1.69,172.5,82.5,7.8,154,1701,0.00,2.62,6.80,0.575,4,0.000,0.069,3078,1014,2709
$GC,1799,1.69,172.5,72.9,8.6,162,1807,0.00,2.53,0.00,0.000,6,0.000,0.043,3078,2417,2709
$GC,1995,1.69,172.5,56.0,8.8,178,1999,0.00,2.67,0.00,0.000,4,0.000,0.065,3078,1017,2709
$GC,2040,1.69,172.5,52.0,8.5,181,2048,0.00,2.53,0.00,0.000,6,0.000,0.041,3078,2426,2709
$GC,2236,1.69,174.0,35.7,8.2,197,2241,0.00,2.72,0.00,0.000,4,0.000,0.064,3078,1013,2709
$GC,2269,1.69,174.0,33.0,8.5,199,2273,0.00,2.50,0.00,0.000,6,0.000,0.040,3080,2431,2709
$GC,2466,1.71,183.4,17.3,7.8,217,2480,0.10,2.62,7.57,0.548,4,0.075,0.064,3104,1016,2665
$GC,2512,1.71,183.4,13.3,8.4,224,2519,0.00,2.47,0.00,0.000,6,0.000,0.040,3104,2422,2665
$GC,2586,1.72,192.0,7.6,7.8,235,2598,0.00,2.60,5.95,0.546,4,0.000,0.063,3104,1016,2631
$GC,2658,1.76,226.0,2.9,6.4,246,2678,0.00,2.47,14.45,0.528,2,0.000,0.039,3104,2427,2550
$STATE,2678,end climb,SURFACE_DEPTH_REACHED
$STATE,2678,begin surface coast
$FINISH,0.8,1.020655
$STATE,2710,end surface coast,CONTROL_FINISHED_OK
$STATE,2710,begin surface
$SM_CCo,2735,96.90,0.502,0,0,1784,400.08
$SM_GC,0.89,0.00,0.00,96.90,0.000,0.000,0.502,361,1991,1784,-10.90,-0.25,400.08
$IRIDIUM_FIX,4719.74,-11932.79,210907,121256
$TT8_MAMPS,0.079768
$HUMID,2114
$INTERNAL_PRESSURE,8.51595
$TCM_TEMP,19.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,9.6,9.1
$ALTIM_BOTTOM_PING,75.1,76.0
$24V_AH,23.7,16.268
$10V_AH,9.4,10.657
$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,27.150,51.300,230.525,96.900,0.000,40.303,36.667,112.390,0.500,62.270,3173.730,11.573,472.900,1451.863,450.020,476.666,288.437,33.344,744.393,0.000,459.244,0.000,4.169
$DEVICE_MAMPS,158.002,72.098,576.784,502.385,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,168.615,0.000,0.000,0.000,0.000,0.000,0.000,3236.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,19.871,51.000
$DATA_FILE_SIZE,6440,254
$CFSIZE,260034560,256405504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,210907,102105,4738.690,-12253.167,9,2.5,28,18.3