version: 66.02
glider: 107
mission: 8
dive: 15
start: 9 21 107 12 21 13
data:
$ID,107
$MISSION,8
$DIVE,15
$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,-13228.802
$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,18
$R_STBD_OVSHOOT,34
$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
$GPS1,120837,4738.603,-12252.602,14,1.2,30,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-59.2
$GPS2,122008,4738.608,-12252.502,13,1.5,30,18.3
$SPEED_LIMITS,0.144,0.204
$TGT_NAME,H6
$TGT_LATLONG,4738.532,-12252.401
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.005,-0.144
$KALMAN_X,1352.2,117.9,10.5,-1019.9,121.9
$KALMAN_Y,1766.6,166.2,15.9,-3285.6,69.4
$MHEAD_RNG_PITCHd_Wd,159.8,188,-27.6,-8.333
$D_GRID,135
$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,-2.18,-48.1,0.0,0.0,0,81,0.00,0.00,-55.58,0.000,2,0.000,0.000,358,2014,2913
$GC,84,-2.23,-83.1,2.1,-4.3,9,139,10.45,2.53,-36.75,0.000,4,0.157,0.071,2239,3398,3755
$GC,388,-2.23,-83.1,32.5,-10.4,47,397,0.00,2.50,0.00,0.000,6,0.000,0.040,2239,1998,3757
$GC,585,-2.23,-83.1,53.1,-10.8,63,590,0.00,2.58,0.00,0.000,4,0.000,0.060,2239,3392,3757
$GC,749,-2.23,-83.1,72.5,-12.3,75,757,0.00,2.50,0.00,0.000,6,0.000,0.042,2239,1999,3757
$GC,945,-2.23,-83.1,94.5,-12.0,91,950,0.00,2.55,0.00,0.000,4,0.000,0.061,2239,3392,3757
$STATE,988,end dive,TARGET_DEPTH_EXCEEDED
$STATE,988,begin apogee
$GC,994,-0.38,0.0,100.1,12.1,94,1064,2.05,0.00,63.80,0.571,6,0.121,0.000,2642,2412,3415
$STATE,1065,end apogee,CONTROL_FINISHED_OK
$STATE,1065,begin climb
$GC,1067,2.23,83.1,102.7,0.0,100,1134,2.70,0.00,62.12,0.562,6,0.081,0.000,3216,2412,3076
$GC,1322,2.23,87.0,86.1,7.9,121,1334,0.00,2.65,2.47,0.613,4,0.000,0.066,3216,1016,3060
$GC,1412,2.24,92.8,79.1,7.7,128,1426,0.00,2.45,4.40,0.591,6,0.000,0.041,3216,2409,3034
$GC,1613,2.24,92.8,61.6,9.0,144,1618,0.00,2.58,0.00,0.000,4,0.000,0.064,3216,1016,3034
$GC,1685,2.24,92.8,55.1,8.7,149,1692,0.00,2.50,0.00,0.000,6,0.000,0.039,3216,2420,3034
$GC,1881,2.24,93.6,38.4,8.2,165,1882,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,2420,3034
$GC,2073,2.25,99.0,23.3,7.7,180,2086,0.00,2.62,4.12,0.566,4,0.000,0.062,3216,1016,3011
$GC,2138,2.25,102.8,17.8,7.9,187,2146,0.00,2.47,2.65,0.581,6,0.000,0.038,3216,2428,2995
$GC,2213,2.26,107.6,12.3,7.8,198,2225,0.00,2.67,3.05,0.573,4,0.000,0.061,3216,1010,2976
$GC,2404,2.36,189.7,5.8,-1.2,227,2471,0.12,2.47,60.15,0.514,6,0.076,0.039,3245,2429,2640
$GC,2538,2.40,221.2,2.2,4.7,248,2545,0.00,0.00,5.43,0.538,2,0.000,0.000,3245,2428,2608
$STATE,2546,end climb,SURFACE_DEPTH_REACHED
$STATE,2546,begin surface coast
$FINISH,0.4,1.020625
$STATE,2584,end surface coast,CONTROL_FINISHED_OK
$STATE,2584,begin surface
$SM_CCo,2610,106.70,0.500,0,0,1784,400.08
$SM_GC,1.07,0.00,0.00,106.70,0.000,0.000,0.500,360,1995,1784,-10.90,-0.14,400.08
$IRIDIUM_FIX,4722.92,-12256.21,210907,161621
$TT8_MAMPS,0.075166
$HUMID,2127
$INTERNAL_PRESSURE,8.54525
$TCM_TEMP,19.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,9.9,9.3
$ALTIM_BOTTOM_PING,75.9,0.0
$24V_AH,23.1,16.521
$10V_AH,9.3,10.866
$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,28.300,35.575,208.200,106.700,0.000,120.071,169.859,164.942,0.500,62.260,3464.740,31.046,465.562,1500.539,429.931,483.277,556.123,33.340,709.739,0.000,448.385,0.000,4.401
$DEVICE_MAMPS,157.235,70.564,612.833,500.084,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,169.197,0.000,0.000,0.000,0.000,0.000,0.000,3527.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,19.871,51.000
$DATA_FILE_SIZE,6447,255
$CFSIZE,260034560,256307200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210907,130735,4738.478,-12252.475,12,2.5,31,18.3