version: 66.02
glider: 107
mission: 8
dive: 13
start: 9 21 107 10 27 8
data:
$ID,107
$MISSION,8
$DIVE,13
$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,-13180.137
$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,26
$R_STBD_OVSHOOT,22
$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
$GPS1,102105,4738.690,-12253.167,9,2.5,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-59.4
$GPS2,102602,4738.709,-12253.112,15,1.4,15,18.3
$SPEED_LIMITS,0.144,0.204
$TGT_NAME,H5
$TGT_LATLONG,4738.532,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.088,-0.152
$KALMAN_X,967.9,133.9,-89.5,-1311.9,100.5
$KALMAN_Y,1404.6,200.6,54.6,-2811.0,40.3
$MHEAD_RNG_PITCHd_Wd,191.7,346,-22.7,-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,-1.84,-70.7,0.0,0.0,0,75,0.00,0.00,-49.58,0.000,2,0.000,0.000,361,1991,2786
$GC,78,-1.87,-97.8,2.0,-3.8,8,145,10.93,2.60,-47.50,0.000,4,0.160,0.077,2317,3395,3814
$GC,328,-1.87,-97.8,23.1,-9.6,45,336,0.00,2.47,0.00,0.000,6,0.000,0.041,2317,2009,3815
$GC,525,-1.87,-97.8,42.3,-10.2,61,530,0.00,2.58,0.00,0.000,4,0.000,0.061,2317,3397,3815
$GC,609,-1.87,-97.8,51.3,-10.8,67,617,0.00,2.47,0.00,0.000,6,0.000,0.041,2317,2007,3816
$GC,806,-1.87,-97.8,71.3,-10.0,83,810,0.00,2.58,0.00,0.000,4,0.000,0.062,2317,3395,3816
$GC,898,-1.87,-97.8,81.0,-10.7,90,902,0.00,2.45,0.00,0.000,6,0.000,0.043,2317,2002,3816
$STATE,1086,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1086,begin apogee
$GC,1091,-0.38,0.0,100.8,10.2,105,1173,1.67,0.00,74.65,0.578,6,0.117,0.000,2644,2418,3414
$STATE,1174,end apogee,CONTROL_FINISHED_OK
$STATE,1174,begin climb
$GC,1176,1.87,97.8,103.6,0.0,112,1261,2.30,2.70,72.62,0.569,4,0.078,0.067,3139,1007,3015
$GC,1345,1.88,105.4,94.5,7.7,125,1357,0.00,2.53,5.35,0.585,6,0.000,0.041,3138,2412,2985
$GC,1554,1.89,111.1,78.5,7.9,142,1567,0.00,2.62,3.97,0.597,4,0.000,0.066,3139,1013,2960
$GC,1638,1.89,111.1,71.5,8.4,148,1646,0.00,2.50,0.00,0.000,6,0.000,0.040,3139,2414,2959
$GC,1835,1.90,121.5,56.9,7.5,164,1847,0.00,0.00,7.53,0.573,6,0.000,0.000,3138,2414,2918
$GC,2036,1.90,121.5,40.6,8.3,180,2040,0.00,2.60,0.00,0.000,4,0.000,0.064,3138,1011,2918
$GC,2169,1.90,121.5,29.2,8.6,190,2173,0.00,2.47,0.00,0.000,6,0.000,0.040,3139,2423,2918
$GC,2367,1.91,132.8,13.5,7.4,211,2380,0.00,0.00,8.10,0.548,6,0.000,0.000,3138,2424,2872
$GC,2446,1.95,159.8,8.3,6.2,223,2470,0.00,0.00,19.65,0.527,6,0.000,0.000,3138,2424,2763
$GC,2536,2.00,205.5,3.2,4.7,237,2569,0.12,0.95,28.00,0.512,3,0.073,0.054,3169,2942,2576
$STATE,2569,end climb,SURFACE_DEPTH_REACHED
$STATE,2569,begin surface coast
$FINISH,0.3,1.009447
$STATE,2622,end surface coast,CONTROL_FINISHED_OK
$STATE,2622,begin surface
$SM_CCo,2648,100.18,0.500,0,0,1784,400.08
$SM_GC,0.93,0.00,0.00,100.18,0.000,0.000,0.500,362,1995,1784,-10.89,-0.14,400.08
$IRIDIUM_FIX,4722.92,-12251.79,210907,131350
$TT8_MAMPS,0.074399
$HUMID,2104
$INTERNAL_PRESSURE,8.52572
$TCM_TEMP,19.70
$XPDR_PINGS,1
$ALTIM_TOP_PING,10.0,9.4
$ALTIM_BOTTOM_PING,75.4,76.3
$24V_AH,23.7,16.344
$10V_AH,9.4,10.723
$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,27.675,33.975,219.875,100.175,0.000,37.757,35.756,125.871,0.750,37.370,3130.630,15.923,460.098,1416.055,430.092,472.381,295.269,33.342,718.091,0.000,451.747,0.000,4.170
$DEVICE_MAMPS,159.536,77.467,597.493,500.084,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,166.047,0.000,0.000,0.000,0.000,0.000,0.000,3168.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,19.871,51.000
$DATA_FILE_SIZE,6439,250
$CFSIZE,260034560,256380928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,210907,111345,4738.604,-12253.188,15,2.0,15,18.3